CN116620774B - Method for realizing document storage and cross-floor conveying by utilizing intelligent stereoscopic warehouse - Google Patents

Abstract

The invention provides a method for realizing document storage and cross-floor conveying by utilizing an intelligent stereoscopic warehouse, wherein the method comprises the following steps: step 1: acquiring document management requirements of an intelligent stereoscopic warehouse; step 2: acquiring a library image in a target library; step 3: determining current transportation state information of a target document according to the library image; step 4: and judging the continuing transportation demand of the target document according to the document management demand and the current transportation state information, determining the transfer priority when the continuing transportation demand exists in the target document, and dispatching the first continuing robot with priority dispatch to carry out document management on the target document. According to the method for realizing document storage and cross-floor conveying by utilizing the intelligent stereoscopic warehouse, the first continuing robot is scheduled to conduct document management according to the transfer priority determined by the judging result of the continuing transportation demand judgment of the target document, so that the robots waiting for a long time in the document transfer process are avoided, and the document storage and transportation efficiency is greatly improved.

Description

Method for realizing document storage and cross-floor conveying by utilizing intelligent stereoscopic warehouse

Technical Field

The invention relates to the technical field of material transportation or storage, in particular to a method for realizing document storage and cross-floor conveying by utilizing an intelligent stereoscopic warehouse.

Background

At present, along with the rapid development of information technologies such as big data, the internet of things and cloud computing, the development of library humanization and intelligence has become a normal state, and the development of library humanization and intelligence utilizes mature information technology to achieve the purposes of efficient diversity and rich technological sense of management and service means, change the impressing impression of masses on the traditional borrowing mode of libraries, and improve user experience.

The application number is: the invention patent of CN202210500226.2 discloses a navigation system and a navigation method according to a library robot, wherein the system comprises: the library robot comprises a controller, a mobile chassis and an RFID scanner, wherein the mobile chassis and the RFID scanner are electrically connected with the controller; an RFID bar code is stuck on the spine of the library book; the defect that in the prior art, when a library robot performs content scanning in an RFID bar code, the running line is a fan-shaped winding line when the robot is not involved in winding, so that the running time of the robot is prolonged, and the content in the RFID bar code cannot be scanned in the set time is effectively avoided by combining with other structures.

However, when books are transported by robots in libraries, more than one robot (such as a sorting robot for sorting books, a carrying robot for carrying books, a lifting machine for conveying books across floors, etc.) may be involved, when a plurality of robots cooperate to work, the problem of job connection is involved, the situation that the plurality of robots cooperate to work is not considered in the prior art, when the situation that the robots work connection exists, the phenomenon that the robots wait too long in the process of transferring books is easily caused, and the efficiency of book management is low.

In view of the above, the invention provides a method for realizing document storage and cross-floor conveying by utilizing an intelligent stereoscopic warehouse.

Disclosure of Invention

The invention aims to provide a method for realizing document storage and cross-floor conveying by utilizing an intelligent stereoscopic warehouse, which is used for judging the continuous conveying requirement of a target document, and dispatching a first continuous robot which is preferentially dispatched to carry out document management on the target document according to the transfer priority of the target document determined by judging the continuous conveying requirement, so that the condition that the robots wait too long in the process of transferring the target document is avoided, and the document storage and conveying efficiency is greatly improved.

The method for realizing document storage and cross-floor conveying by utilizing the intelligent stereoscopic warehouse provided by the embodiment of the invention comprises the following steps:

step 1: acquiring document management requirements of an intelligent stereoscopic warehouse;

step 2: acquiring a library image in a target library;

step 3: determining current transportation state information of a target document according to the library image;

step 4: and judging the continuing transportation requirement of the target document according to the document management requirement and the current transportation state information, and when the continuing transportation requirement exists in the target document, dispatching the first continuing robot which is preferentially dispatched to carry out corresponding document management on the target document according to the determined transferring priority of the target document.

Preferably, step 1: obtaining document management requirements of an intelligent stereoscopic warehouse, comprising:

acquiring document storage requirements which are input into self-service book returning equipment and pass verification, simultaneously acquiring receiving instructions of a plurality of target robots for document conveying in a target library, analyzing the receiving instructions, and acquiring document cross-floor conveying requirements;

the document storage requirement and the document trans-floor delivery requirement are taken together as document management requirements.

Preferably, analyzing the receiving instruction, and acquiring the cross-floor conveying requirement of the document includes:

Analyzing the receiving instruction to obtain the radio frequency identification tag of the target document being transported by the target robot;

determining a first floor of a target document in the intelligent stereoscopic warehouse according to the radio frequency identification tag;

acquiring first elevation information of a target robot;

acquiring a building record of an intelligent stereoscopic warehouse;

analyzing the building records to obtain second elevation information of each floor of the intelligent stereoscopic warehouse;

determining a second floor of the target robot relative to the intelligent stereoscopic warehouse according to the first elevation information and the second elevation information;

if the first floor and the second floor are inconsistent, the transportation task of the corresponding target machine to the target document is taken as a document cross-floor transportation requirement.

Preferably, step 2: acquiring library images in a target library, comprising:

acquiring a library three-dimensional design drawing of a target library;

according to the library three-dimensional design drawing, a plurality of shooting devices are simulated in a target library, and a plurality of simulated setting layouts are obtained;

acquiring a shooting comprehensive judgment model;

inputting the simulation setting layout into a shooting comprehensive judgment model to obtain a shooting whole face value output by the shooting comprehensive judgment model;

taking the simulation setting layout with the largest shooting whole face value as a target shooting point position layout;

According to the target shooting point position layout, arranging an actual shooting device in a target library;

and acquiring the library image shot by the actual shooting device.

Preferably, acquiring a shooting comprehensive decision model includes:

acquiring a pre-selection shooting comprehensive judgment record, and determining judgment factors of the pre-selection shooting comprehensive judgment record;

constructing a judgment factor according to different factor types of the judgment factor;

acquiring a standard judgment factor set;

matching each corresponding standard judgment factor in the judgment factor and standard judgment factor set to obtain a matching result;

if the matching result is that the matching is successful, the corresponding pre-selected shooting comprehensive judgment record is used as a training sample, the training sample is input into a preset neural network model, and the shooting comprehensive judgment model is obtained through training.

Preferably, step 4: judging the continuing transportation demand of the target document according to the document management demand and the current transportation state information, when the target document has the continuing transportation demand, according to the determined transfer priority of the target document, dispatching the first continuing robot which is preferentially dispatched to carry out corresponding document management on the target document, comprising the following steps:

generating a management flow sequence of the target document based on the document management requirement;

Determining a current management flow in the management flow sequence according to the current transportation state information;

acquiring a first procedure position of a current management procedure in a management procedure sequence and a first robot type of an execution robot of the current management procedure;

acquiring first continuing flows at a preset number of second flow positions after the first flow positions in the management flow sequence;

sequentially traversing the first continuous flow, and acquiring a second robot type of an executing robot of the first continuous flow currently being traversed every time;

comparing the first robot type with the second robot type, and judging whether the robot type is changed or not;

if the robot type is changed, determining the transfer priority of the corresponding target document, and dispatching the first continuous robot with priority dispatch to perform corresponding document management on the target document according to the transfer priority of the target document.

Preferably, if the robot type is changed, determining a transfer priority of a corresponding target document, and according to the transfer priority of the target document, scheduling the first successive robot with priority scheduling to perform corresponding document management on the target document, including:

if the robot species changes, acquiring a first continuous flow when the robot species changes, and determining a third flow position of the first target flow in the management flow sequence as the first target flow;

Acquiring a first continuous flow between a first flow position and a third flow position in the management flow sequence, and taking the first continuous flow as a second target flow;

determining the execution time length of the second target process according to the process attribute of the second target process, and correlating with the corresponding target document;

accumulating and calculating each execution time length to obtain the total execution time length;

acquiring sequencing information of total execution time length corresponding to a target document;

determining the transfer priority of the target document according to the sorting information;

acquiring a target document with highest current transfer priority and taking the target document as a document to be transferred;

acquiring a first task type of a document to be transported;

and according to the first task type, determining a first continuous robot which is preferentially scheduled in the robot dynamic distribution diagram of the target library to perform corresponding document management.

Preferably, determining, according to the first task type, a first successive robot that is preferentially scheduled in the robot dynamic profile of the target library to perform corresponding document management includes:

determining a first dynamic position of a plurality of idle second successive robots from the robot dynamic profile;

acquiring a third robot type of the second continuous robot;

determining a second task type of a second continuous robot according to the third robot type;

Taking a second continuous robot with the same first task type and second task type as a third continuous robot;

determining a first dynamic position of a third continuous robot, taking the first dynamic position as a second dynamic position, and simultaneously, acquiring a first target position of a document to be transported;

taking a third continuing robot at a second dynamic position closest to the first target position as a first continuing robot, and controlling the first continuing robot to go to the first target position;

when the first continuing robot reaches the first target position, acquiring a second target position of the document to be transported;

the first splice robot is scheduled to transfer the document to be diverted to the second target location.

Preferably, the obtaining the second target location of the document to be transported includes:

acquiring a first target process of a document to be transferred and taking the first target process as a third target process;

acquiring a first continuing flow of which the next robot species of a third target flow in the management flow sequence changes, and taking the first continuing flow as a third continuing flow;

determining the position type of the second target position according to the third continuing flow;

if the position type is the transit position, taking a third target position of transit equipment of the document to be transited as a second target position;

And if the position type is the end position, determining a second target position based on the document management requirement.

The system for realizing document storage and cross-floor conveying by utilizing the intelligent stereoscopic warehouse provided by the embodiment of the invention is characterized by comprising the following components:

the document management requirement acquisition subsystem is used for acquiring the document management requirement of the intelligent stereoscopic warehouse;

the library image acquisition subsystem is used for acquiring library images in the target library;

the transportation state information determining subsystem is used for determining the current transportation state information of the target document according to the library image;

and the document management subsystem is used for judging the continuing transportation requirement of the target document according to the document management requirement and the current transportation state information, and when the continuing transportation requirement exists in the target document, the first continuing robot which is scheduled preferentially is scheduled to perform corresponding document management on the target document according to the determined transfer priority of the target document.

The beneficial effects of the invention are as follows:

according to the method, the target document is subjected to continuous transportation demand judgment, and the first continuous robot which is scheduled preferentially is scheduled to perform document management on the target document according to the transfer priority of the target document determined by the continuous transportation demand judgment, so that the condition that the robots wait too long in the process of transferring the target document is avoided, and the document storage and transportation efficiency is greatly improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

The technical scheme of the invention is further described in detail through the drawings and the embodiments.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a schematic diagram of a method for implementing document storage and cross-floor delivery using an intelligent stereoscopic warehouse in an embodiment of the invention;

FIG. 2 is a schematic diagram of a self-service book return apparatus in an embodiment of the invention;

FIG. 3 is a schematic view of a sorting robot in an embodiment of the invention;

FIG. 4 is a schematic view of a transfer robot according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a system for implementing document storage and cross-floor delivery using intelligent stereoscopic warehouse in an embodiment of the invention.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.

The embodiment of the invention provides a method for realizing document storage and cross-floor conveying by utilizing an intelligent stereoscopic warehouse, which is shown in fig. 1 and comprises the following steps:

step 1: acquiring document management requirements of an intelligent stereoscopic warehouse; the intelligent stereoscopic warehouse is as follows: the cooperation of the automatic storage equipment and the computer management system is utilized to realize the warehouse with high rationalization, automatic access and easy operation of the stereoscopic warehouse; the literature management requirements include: document storage requirements and document trans-floor delivery requirements; the literature storage requirements refer to: what documents need to be stored from where to where; the document trans-floor delivery requirements are: what documents need to be transported from where to where across floors;

step 2: acquiring a library image in a target library; the target library is: library for document management by using intelligent stereoscopic warehouse; the library image is: shooting images inside a shot target library, wherein shooting is performed by a shooting device preset in the target library;

Step 3: acquiring current transportation state information of a target document according to the library image; the target documents are: documents requiring document management according to the requirement of document management; the current transportation state information is: the destination document is currently being transported by what transportation device and at which process stage of the transportation process of the current transportation device;

step 4: and judging the continuing transportation requirement of the target document according to the document management requirement and the current transportation state information, and when the continuing transportation requirement exists in the target document, dispatching the first continuing robot which is preferentially dispatched to carry out corresponding document management on the target document according to the determined transferring priority of the target document. The following transportation requirement is judged as follows: judging whether the target document needs relay transportation or not; the following transportation requirements are, for example: the object documents to be sorted by which sorting robot are transferred to which transfer robot; the transfer priority is: the higher the transfer priority of the target document, the more preferentially the corresponding target document is transferred; the first successive robot of the priority dispatch is: a robot that can reach the location of the target document to be transported at the fastest speed. Document management is: the first relay robot transfers the target document to a position to be transferred, the position to be transferred being, for example: somewhere elevator, again for example: xx bin.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the method, the document management requirements are acquired, meanwhile, the current transportation state information of the target document is determined according to the acquired library images of the target library, the subsequent transportation requirements of the target document are judged according to the document management requirements and the current transportation state information, the transfer priority of the target document when the subsequent transportation requirements exist is judged, and the first subsequent robot which is scheduled preferentially is scheduled to perform corresponding document management.

According to the method, the target document is subjected to continuous transportation demand judgment, and the first continuous robot which is scheduled preferentially is scheduled to perform document management on the target document according to the transfer priority of the target document determined by the continuous transportation demand judgment, so that the condition that the robots wait too long in the process of transferring the target document is avoided, and the document storage and transportation efficiency is greatly improved.

In one embodiment, step 1: obtaining document management requirements of an intelligent stereoscopic warehouse, comprising:

acquiring document storage requirements which are input into self-service book returning equipment and pass verification, simultaneously acquiring receiving instructions of a plurality of target robots for document conveying in a target library, analyzing the receiving instructions, and acquiring document cross-floor conveying requirements; self-service book return devices are, for example: a self-service book returning machine, as shown in figure 2; judging whether the document storage requirement passes the verification, if the identity verification information of the verification requirement sender passes the verification of a verification platform carried by the self-service book returning equipment, the identity verification information can be: the method comprises the steps of reading an identity card, a human face and a borrowing card; the target robot is, for example: sorting robots (shown in fig. 3), handling robots (shown in fig. 4), lifts, etc.; the receiving instruction is as follows: a command signal received by the target robot;

The document storage requirement and the document trans-floor delivery requirement are taken together as document management requirements.

The working principle and the beneficial effects of the technical scheme are as follows:

the method and the device acquire the document cross-floor conveying requirement which is input into the self-service book returning equipment and acquired through the verified document storage requirement and the receiving instruction of the analysis target robot, and take the document storage requirement and the document cross-floor conveying requirement together as the document management requirement, so that the document management requirement is acquired more comprehensively.

In one embodiment, parsing the received instruction to obtain the document cross-floor delivery demand includes:

analyzing the receiving instruction to obtain the radio frequency identification tag of the target document being transported by the target robot; the radio frequency identification tag is as follows: the RFID electronic tag stuck on the target document belongs to the category of the prior art and is not described in detail;

determining a first floor of a target document in the intelligent stereoscopic warehouse according to the radio frequency identification tag; because the position of each book in the intelligent stereoscopic warehouse is fixed, after the identification radio frequency identification tag determines the book number, the first floor where the book is located can be determined according to the book position library (a plurality of book numbers corresponding to each other and the placement positions of the books corresponding to the book numbers are stored in the book position library), for example: 3 layers;

Acquiring first elevation information of a target robot; the first elevation information is: the height information (for example, 9 meters) of the target robot is obtained through a GPS technology, and the GPS technology belongs to the category of the prior art and is not described in detail;

acquiring a building record of an intelligent stereoscopic warehouse; the building records are: construction records of the intelligent stereoscopic warehouse;

analyzing the building records to obtain second elevation information of each floor of the intelligent stereoscopic warehouse; the second elevation information is: height information for each floor of the intelligent stereoscopic warehouse, for example: the first floor has a height of 5 meters, the second floor has a height of 9 meters, and the third floor has a height of 13 meters;

determining a second floor of the target robot relative to the intelligent stereoscopic warehouse according to the first elevation information and the second elevation information; the second floor is: the target robot is relative to the floor of the intelligent stereoscopic warehouse;

if the first floor and the second floor are inconsistent, the transportation task of the corresponding target machine to the target document is taken as a document cross-floor transportation requirement. The transportation tasks are as follows: from where the target file needs to be sent to where.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the method, the first floor of the target document in the intelligent stereoscopic warehouse is determined according to the radio frequency identification tag, and the first floor is acquired more accurately; building records of the intelligent stereoscopic warehouse are introduced, second elevation information of each floor is determined according to analysis results of the building records, and a second floor of the target robot relative to the intelligent stereoscopic warehouse is determined according to the acquired first elevation information and the acquired second elevation information, so that the acquisition process of the second floor is more suitable; and comparing the first floor with the second floor, and if the two floors are inconsistent, taking the transportation task of the corresponding target robot to the target document as the document cross-floor transportation demand, wherein the determination process of the document cross-floor transportation demand is more reasonable.

In one embodiment, step 2: acquiring library images in a target library, comprising:

acquiring a library three-dimensional design drawing of a target library; the three-dimensional design diagram of the library is as follows: design drawings of a target library;

according to the library three-dimensional design drawing, a plurality of shooting devices are simulated in a target library, and a plurality of simulated setting layouts are obtained; the shooting device is as follows: the panoramic camera is arranged in a simulation mode; when in simulation setting, setting is carried out according to a history monitoring setting record, and the history monitoring setting record is acquired through big data; the simulation setting layout is as follows: layout information corresponding to shooting points of the shooting device which is set in a simulation mode;

acquiring a shooting comprehensive judgment model; the shooting comprehensive judgment model is as follows: model training is carried out on a judgment process record for comprehensively judging shooting of a place according to a monitoring layout of the place by utilizing a plurality of workers, and training is carried out to a converged neural network model; the shooting comprehensiveness is: shooting the overall degree of the places, wherein the larger the range of the places is, the higher the shooting overall degree is;

inputting the simulation setting layout into a shooting comprehensive judgment model to obtain a shooting whole face value output by the shooting comprehensive judgment model; the higher the shot value of the whole face is, the more suitable the corresponding simulation setting layout is for the target library;

Taking the simulation setting layout with the largest shooting whole face value as a target shooting point position layout; the target shooting point position layout is as follows: the simulated setting layout is suitable for the target library;

according to the target shooting point position layout, arranging an actual shooting device in a target library; when the actual shooting device is laid out in the target library, determining the layout position of the actual shooting device according to the relative position of the target shooting point position layout to the library three-dimensional design model;

and acquiring the library image shot by the actual shooting device.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the library three-dimensional design drawing of the intelligent stereoscopic warehouse, a plurality of shooting devices are simulated in a target library to obtain a plurality of simulated setting layouts, the simulated setting layouts are input into a shooting comprehensive judgment model, the target shooting point location layout with the largest shooting whole face value output by the shooting comprehensive judgment model is determined, and the determination of the target shooting point location layout is more suitable and accurate; according to the arrangement of the target shooting point positions, the actual shooting devices are arranged in the target library, library images shot by the actual shooting devices are obtained, and the shooting range of the library images is more comprehensive.

In one embodiment, acquiring a shot integrity decision model includes:

acquiring a pre-selection shooting comprehensive judgment record, and determining judgment factors of the pre-selection shooting comprehensive judgment record; the pre-selection shooting comprehensive judgment record is as follows: shooting comprehensive judgment records of big data acquisition are as follows: manually recording a judging process for comprehensively judging shooting of a place according to a monitoring layout of the place; the judgment factors are as follows: judging the basis information;

constructing a judgment factor according to different factor types of the judgment factor; the factor types are: judging the information type of the basis information; the judgment factors are as follows: according to the information-based feature matrix constructed according to the information-based features of the information, the information-based features are extracted based on feature extraction technology, which belongs to the category of the prior art and is not described in detail, when the information-based feature matrix is constructed, each column of the matrix represents one information-based type, and each row of the matrix represents the information-based feature value corresponding to the information-based type;

acquiring a standard judgment factor set; the standard decision factor sets are: the method comprises the steps of collecting a plurality of standard judgment basis information feature matrixes, constructing the standard judgment basis information feature matrixes according to the basis information features of standard judgment basis information, and constructing the standard judgment basis information feature matrixes according to the construction principle of the standard judgment basis information feature matrixes and the basis information feature matrixes, so that the description is omitted;

Matching each corresponding standard judgment factor in the judgment factor and standard judgment factor set to obtain a matching result; the standard judgment factors are as follows: the standard judgment is based on the information feature matrix; the matching result is: matrix matching values of the judging factors and the corresponding standard judging factors are higher, and the judging factors represented by the corresponding judging factors are more reasonable;

if the matching result is that the matching is successful, the corresponding pre-selected shooting comprehensive judgment record is used as a training sample, the training sample is input into a preset neural network model, and the shooting comprehensive judgment model is obtained through training. The matching success is as follows: the matching values of the judging factors and the corresponding standard judging factors are all larger than or equal to a preset threshold value; the training samples are: the matching result is a preselected shooting comprehensive judgment record with successful uniform matching; the preset neural network model is as follows: the BP neural network model belongs to the category of the prior art and is not described in detail.

The working principle and the beneficial effects of the technical scheme are as follows:

when the shooting comprehensive judgment model is obtained, the preselected shooting comprehensive judgment records obtained through big data are not all available, so that the preselected shooting comprehensive judgment records are selected, when the preselected shooting comprehensive judgment records are selected, judgment factors are built according to different factor types of the judgment factors of the determined preselected shooting comprehensive judgment records, the judgment factors are matched with the standard judgment factors corresponding to each standard judgment factor in the standard judgment factor set, the preselected shooting comprehensive judgment records with successful matching results are determined as training samples, the training samples are input into the BP neural network model for training, the training convergence shooting comprehensive judgment model is obtained, the rationality of model training is improved, and the shooting comprehensive judgment accuracy is further improved.

In one embodiment, step 4: judging the continuing transportation demand of the target document according to the document management demand and the current transportation state information, when the target document has the continuing transportation demand, according to the determined transfer priority of the target document, dispatching the first continuing robot which is preferentially dispatched to carry out corresponding document management on the target document, comprising the following steps:

generating a management flow sequence of the target document based on the document management requirement; the management flow sequence is as follows: a plurality of management processes including context logic, such as: the literature management requirements are: conveying a book to a certain bin of the intelligent stereoscopic warehouse; the management flow sequence is as follows: firstly, books are sent to a sorting port, a sorting robot of the sorting port sorts and transports the books to a transport machine, the transport robot transports the books to a material box of a lifting machine, the lifting machine lifts the material box to a storage floor of the books, and after the material box reaches the storage floor, the material box transports the books to a warehouse where the books should be placed;

determining a current management flow in the management flow sequence according to the current transportation state information; the current management flow is, for example: sorting books by a sorting robot of the sorting port;

Acquiring a first procedure position of a current management procedure in a management procedure sequence and a first robot type of an execution robot of the current management procedure; the first process position is: the logic position of the current management flow in the management flow sequence; the execution robot is: the execution robot of the current management flow, for example: a sorting robot numbered xxx; the first robot category is, for example: a sorting robot;

acquiring first continuing flows at a preset number of second flow positions after the first flow positions in the management flow sequence; the preset number is set as follows: 3, can also be set up by the staff oneself; the first connection procedure is, for example: the sorting robot conveys books to a carrying machine;

sequentially traversing the first continuous flow, and acquiring a second robot type of an executing robot of the first continuous flow currently being traversed every time; the second robot category is, for example: a transfer robot;

comparing the first robot type with the second robot type, and judging whether the robot type is changed or not;

if the robot type is changed, determining the transfer priority of the corresponding target document, and dispatching the first continuous robot with priority dispatch to perform corresponding document management on the target document according to the transfer priority of the target document. When determining the transfer priority, determining according to the time spent in the management process between the second process position where the robot type of the first continuous process is changed and the first process position, the shorter the spent time is, the higher the transfer priority is, and the first continuous robot which is preferentially scheduled is, for example: the transfer robot closest to the sorting robot with the highest transfer priority.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the application, a current management flow is determined according to the current transportation state information, a first flow position of the current management flow in a management flow sequence and a first robot type of an executing robot of the current management flow are obtained, whether the robot type is changed or not is determined according to the traversing results of first continuous flows at a preset number of second flow positions behind the first flow position, and when the robot type is changed, the transfer priority of a target document is determined, and the determination of the transfer priority is more reasonable; according to the transfer priority, the first successive robots which are scheduled with priority perform corresponding document management on the target documents, so that the robots are prevented from waiting for too long, and the document management efficiency is improved.

In one embodiment, if the robot type changes, determining the transfer priority of the corresponding target document, and according to the transfer priority of the target document, scheduling the first successive robot with priority scheduling to perform corresponding document management on the target document includes:

if the robot species changes, acquiring a first continuous flow when the robot species changes, and determining a third flow position of the first target flow in the management flow sequence as the first target flow; the first target flow is as follows: a first continuing flow when the robot species is changed; the third flow position is: the first target process is in a sequential logic position in the management process sequence;

Acquiring a first continuous flow between a first flow position and a third flow position in the management flow sequence, and taking the first continuous flow as a second target flow;

determining the execution time length of the second target process according to the process attribute of the second target process, and correlating with the corresponding target document; the flow attributes are: the type of flow; the execution time length is as follows: the time spent for executing the second target flow is determined according to the historical average execution time of the flow type when the execution duration is determined;

accumulating and calculating each execution time length to obtain the total execution time length; the total execution time length is, for example: 10 minutes;

acquiring sequencing information of total execution time length corresponding to a target document; the ordering information is: a sequencing sequence from short to long according to the total execution duration;

determining the transfer priority of the target document according to the sorting information; the earlier the ranking position is, the higher the transfer priority of the target document is;

acquiring a target document with highest current transfer priority and taking the target document as a document to be transferred;

acquiring a first task type of a document to be transported; the first task type is: the type of process of the management process to be executed by the document to be transferred;

and according to the first task type, determining a first continuous robot which is preferentially scheduled in the robot dynamic distribution diagram of the target library to perform corresponding document management.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the method, the second target process between the first process position and the third position of the first continuous process when the types of robots are changed in the management process sequence is obtained, the execution time of the second target process is determined according to the process attribute of the second target process, the total execution time of target documents is calculated, the transfer priority of the target documents is determined according to the sorting information of the total execution time, the accuracy of obtaining the transfer priority is improved, the document to be transferred with the highest transfer priority is determined, the corresponding document management of the first continuous robot which is preferentially scheduled in the robot dynamic distribution diagram of the target library is determined according to the first task type of the document to be transferred, and the scheduling suitability is improved.

In one embodiment, determining, according to the first task type, a first successive robot that is preferentially scheduled in the robot dynamic profile of the target library to perform corresponding document management includes:

determining a first dynamic position of a plurality of idle second successive robots from the robot dynamic profile; the second continuing robot is: all idle robots in the library; the first dynamic position is: the real-time position of the second continuing robot in the library;

Acquiring a third robot type of the second continuous robot; the third robot is of the following kind: sorting robots, handling robots, lifting robots, etc.;

determining a second task type of a second continuous robot according to the third robot type; the second task type is: sorting tasks, carrying tasks, lifting tasks and the like;

taking a second continuous robot with the same first task type and second task type as a third continuous robot; when the first task type is consistent with the second task type, the second continuing robot can execute the transferring task corresponding to the document to be transferred, and the second continuing robot is used as a third continuing robot;

determining a first dynamic position of a third continuous robot, taking the first dynamic position as a second dynamic position, and simultaneously, acquiring a first target position of a document to be transported; the second dynamic position is: the real-time position of the third successive robot; the first target position is: real-time location of documents to be transported;

taking a third continuing robot at a second dynamic position closest to the first target position as a first continuing robot, and controlling the first continuing robot to go to the first target position;

when the first continuing robot reaches the first target position, acquiring a second target position of the document to be transported; the second target position is: where the document to be transported is to be transported, for example: the bin of a certain elevator;

The first splice robot is scheduled to transfer the document to be diverted to the second target location.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the method, the second task type of the second continuous robot is determined according to the third robot type of the second continuous robot determined in the dynamic distribution diagram of the robot, the third continuous robot of the second task type consistent with the first task type is determined, and according to the second dynamic position of the third continuous robot and the first target position of the target document, the third continuous robot closest to the first target position is determined as the first continuous robot, and the first continuous robot is controlled to transfer the document to be transferred to the second target position, so that the transfer efficiency is greatly improved.

In one embodiment, obtaining a second target location of the document to be transported includes:

acquiring a first target process of a document to be transferred and taking the first target process as a third target process; the third target flow is as follows: in a management flow sequence of a document to be transferred, a first continuing flow of changing the type of the robot closest to the current time;

acquiring a first continuing flow of which the next robot species of a third target flow in the management flow sequence changes, and taking the first continuing flow as a third continuing flow; the third continuing flow is as follows: in a management flow sequence of a document to be transferred, a first continuing flow when the robot species after the third target flow changes;

Determining the position type of the second target position according to the third continuing flow; the location types are classified as: a transit position and an end position; the transfer position is: the location of the transportation device in the hand of the user or during storage in the stereoscopic warehouse;

if the position type is the transit position, taking a third target position of transit equipment of the document to be transited as a second target position; the transfer equipment is as follows: transportation equipment for transporting documents to a user or to a stereoscopic warehouse; the third target position is: the real-time position of the transfer device;

and if the position type is the end position, determining a second target position based on the document management requirement. For example: when the document management requirements are: returning books, wherein the second target position is the storage position of the returned books in the intelligent stereoscopic warehouse; when the document management requirements are: and borrowing the books, wherein the second target position is the book taking port nearest to the borrower.

The working principle and the beneficial effects of the technical scheme are as follows:

according to the application, a third continuing flow is introduced, the position type of the second target position is determined according to the third continuing flow, when the position type is the transit position, the third target position of the transit equipment of the document to be transported is taken as the second target position, and when the position type is the end position, the second target position is determined directly according to the document management requirement, so that the acquisition efficiency of the second target position is improved.

The embodiment of the invention provides a system for realizing document storage and cross-floor conveying by utilizing an intelligent stereoscopic warehouse, which is shown in fig. 5 and comprises the following steps:

the document management requirement acquisition subsystem 1 is used for acquiring the document management requirement of the intelligent stereoscopic warehouse;

the library image acquisition subsystem 2 is used for acquiring library images in a target library;

a transportation state information determining subsystem 3 for determining current transportation state information of the target document according to the library image;

and the document management subsystem 4 is used for judging the continuous transportation requirement of the target document according to the document management requirement and the current transportation state information, and when the continuous transportation requirement exists in the target document, the first continuous robot which is scheduled preferentially is scheduled to perform corresponding document management on the target document according to the determined transfer priority of the target document.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (8)

1. The method for realizing document storage and cross-floor conveying by utilizing the intelligent stereoscopic warehouse is characterized by comprising the following steps of:

Step 1: acquiring document management requirements of an intelligent stereoscopic warehouse;

step 2: acquiring a library image in a target library;

step 3: determining current transportation state information of a target document according to the library image;

step 4: judging the continuing transportation demand of the target document according to the document management demand and the current transportation state information, when the continuing transportation demand exists in the target document, according to the determined transferring priority of the target document, dispatching a first continuing robot which is preferentially dispatched to correspondingly manage the target document, wherein the first continuing robot which is preferentially dispatched is: a robot capable of reaching a position of a target document to be transported at the fastest speed;

step 1: obtaining document management requirements of an intelligent stereoscopic warehouse, comprising:

acquiring document storage requirements which are input into self-service book returning equipment and pass verification, simultaneously acquiring receiving instructions of a plurality of target robots for document conveying in a target library, analyzing the receiving instructions, and acquiring document cross-floor conveying requirements;

the document storage requirement and the document cross-floor conveying requirement are taken as document management requirements together;

analyzing the receiving instruction to obtain the cross-floor conveying requirement of the document, comprising:

Analyzing the receiving instruction to obtain the radio frequency identification tag of the target document being transported by the target robot;

determining a first floor of a target document in the intelligent stereoscopic warehouse according to the radio frequency identification tag;

acquiring first elevation information of a target robot;

acquiring a building record of an intelligent stereoscopic warehouse;

analyzing the building records to obtain second elevation information of each floor of the intelligent stereoscopic warehouse;

determining a second floor of the target robot relative to the intelligent stereoscopic warehouse according to the first elevation information and the second elevation information;

if the first floor and the second floor are inconsistent, the transportation task of the corresponding target machine to the target document is taken as a document cross-floor transportation requirement.

2. The method for realizing document storage and cross-floor delivery by using intelligent stereoscopic warehouse according to claim 1, wherein step 2: acquiring library images in a target library, comprising:

acquiring a library three-dimensional design drawing of a target library;

according to the library three-dimensional design drawing, a plurality of shooting devices are simulated in a target library, and a plurality of simulated setting layouts are obtained;

acquiring a shooting comprehensive judgment model;

inputting the simulation setting layout into a shooting comprehensive judgment model to obtain a shooting whole face value output by the shooting comprehensive judgment model;

Taking the simulation setting layout with the largest shooting whole face value as a target shooting point position layout;

according to the target shooting point position layout, arranging an actual shooting device in a target library;

and acquiring the library image shot by the actual shooting device.

3. The method for realizing document storage and cross-floor delivery by using an intelligent stereoscopic warehouse according to claim 2, wherein obtaining a shooting comprehensive decision model comprises:

acquiring a pre-selection shooting comprehensive judgment record, and determining judgment factors of the pre-selection shooting comprehensive judgment record;

constructing a judgment factor according to different factor types of the judgment factor;

acquiring a standard judgment factor set;

matching each corresponding standard judgment factor in the judgment factor and standard judgment factor set to obtain a matching result;

if the matching result is that the matching is successful, the corresponding pre-selected shooting comprehensive judgment record is used as a training sample, the training sample is input into a preset neural network model, and the shooting comprehensive judgment model is obtained through training.

4. The method for realizing document storage and cross-floor delivery by using intelligent stereoscopic warehouse according to claim 1, wherein the step 4: judging the continuing transportation demand of the target document according to the document management demand and the current transportation state information, when the target document has the continuing transportation demand, according to the determined transfer priority of the target document, dispatching the first continuing robot which is preferentially dispatched to carry out corresponding document management on the target document, comprising the following steps:

Generating a management flow sequence of the target document based on the document management requirement;

determining a current management flow in the management flow sequence according to the current transportation state information;

acquiring a first procedure position of a current management procedure in a management procedure sequence and a first robot type of an execution robot of the current management procedure;

acquiring first continuing flows at a preset number of second flow positions after the first flow positions in the management flow sequence;

sequentially traversing the first continuous flow, and acquiring a second robot type of an executing robot of the first continuous flow currently being traversed every time;

comparing the first robot type with the second robot type, and judging whether the robot type is changed or not;

if the robot type is changed, determining the transfer priority of the corresponding target document, and dispatching the first continuous robot with priority dispatch to perform corresponding document management on the target document according to the transfer priority of the target document.

5. The method for realizing document storage and cross-floor delivery by utilizing an intelligent stereoscopic warehouse as set forth in claim 4, wherein if the robot type changes, determining the transfer priority of the corresponding target document, and according to the transfer priority of the target document, scheduling the first successive robot with priority scheduling to perform corresponding document management on the target document, comprising:

If the robot species changes, acquiring a first continuous flow when the robot species changes, and determining a third flow position of the first target flow in the management flow sequence as the first target flow;

acquiring a first continuous flow between a first flow position and a third flow position in the management flow sequence, and taking the first continuous flow as a second target flow;

determining the execution time length of the second target process according to the process attribute of the second target process, and correlating with the corresponding target document;

accumulating and calculating each execution time length to obtain the total execution time length;

acquiring sequencing information of total execution time length corresponding to a target document;

determining the transfer priority of the target document according to the sorting information;

acquiring a target document with highest current transfer priority and taking the target document as a document to be transferred;

acquiring a first task type of a document to be transported;

and according to the first task type, determining a first continuous robot which is preferentially scheduled in the robot dynamic distribution diagram of the target library to perform corresponding document management.

6. The method for implementing document storage and cross-floor delivery using an intelligent stereoscopic warehouse as claimed in claim 5, wherein determining a first successive robot of a prior dispatch in a robot dynamic profile of a target library for corresponding document management based on a first task type comprises:

Determining a first dynamic position of a plurality of idle second successive robots from the robot dynamic profile;

acquiring a third robot type of the second continuous robot;

determining a second task type of a second continuous robot according to the third robot type;

taking a second continuous robot with the same first task type and second task type as a third continuous robot;

determining a first dynamic position of a third continuous robot, taking the first dynamic position as a second dynamic position, and simultaneously, acquiring a first target position of a document to be transported;

taking a third continuing robot at a second dynamic position closest to the first target position as a first continuing robot, and controlling the first continuing robot to go to the first target position;

when the first continuing robot reaches the first target position, acquiring a second target position of the document to be transported;

the first splice robot is scheduled to transfer the document to be diverted to the second target location.

7. The method for realizing document storage and cross-floor delivery by utilizing intelligent stereoscopic warehouse according to claim 6, wherein obtaining the second target location of the document to be transferred comprises:

acquiring a first target process of a document to be transferred and taking the first target process as a third target process;

Acquiring a first continuing flow of which the next robot species of a third target flow in the management flow sequence changes, and taking the first continuing flow as a third continuing flow;

determining the position type of the second target position according to the third continuing flow;

if the position type is the transit position, taking a third target position of transit equipment of the document to be transited as a second target position;

and if the position type is the end position, determining a second target position based on the document management requirement.

8. Utilize intelligent stereoscopic warehouse to realize system that literature stored and transported across floor, characterized by comprising:

the document management requirement acquisition subsystem is used for acquiring the document management requirement of the intelligent stereoscopic warehouse;

the library image acquisition subsystem is used for acquiring library images in the target library;

the transportation state information determining subsystem is used for determining the current transportation state information of the target document according to the library image;

the document management subsystem is used for judging the continuing transportation requirement of the target document according to the document management requirement and the current transportation state information, when the continuing transportation requirement exists in the target document, the first continuing robot which is scheduled preferentially carries out corresponding document management on the target document according to the determined transfer priority of the target document, and the first continuing robot which is scheduled preferentially is: a robot capable of reaching a position of a target document to be transported at the fastest speed;

The document management needs acquisition subsystem performs the following operations:

acquiring document storage requirements which are input into self-service book returning equipment and pass verification, simultaneously acquiring receiving instructions of a plurality of target robots for document conveying in a target library, analyzing the receiving instructions, and acquiring document cross-floor conveying requirements;

the document storage requirement and the document cross-floor conveying requirement are taken as document management requirements together;

analyzing the receiving instruction to obtain the cross-floor conveying requirement of the document, comprising:

analyzing the receiving instruction to obtain the radio frequency identification tag of the target document being transported by the target robot;

determining a first floor of a target document in the intelligent stereoscopic warehouse according to the radio frequency identification tag;

acquiring first elevation information of a target robot;

acquiring a building record of an intelligent stereoscopic warehouse;

analyzing the building records to obtain second elevation information of each floor of the intelligent stereoscopic warehouse;

determining a second floor of the target robot relative to the intelligent stereoscopic warehouse according to the first elevation information and the second elevation information;

if the first floor and the second floor are inconsistent, the transportation task of the corresponding target machine to the target document is taken as a document cross-floor transportation requirement.