CN117160877B - Article sorting method for logistics robot - Google Patents
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Abstract
The invention provides an article sorting method for a logistics robot, which relates to the technical field of data processing, and comprises the following steps: the method comprises the steps of receiving first scanning information of a first RFID scanner of a first logistics crawler to obtain a logistics item serial number, matching a sorting target area and a logistics robot model to conduct passing route planning, obtaining a plurality of transportation routes, collecting scheduled transportation tasks to conduct sorting route optimization on the first logistics item based on a sorting scheduling module, and scheduling the logistics robot to grasp the first logistics item from the first logistics crawler to begin sorting transportation based on the recommended sorting route and the logistics robot model.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to an article sorting method for a logistics robot.
Background
With the development of logistics business and the continuous innovation of technology, an automatic sorting system can be widely applied in the future, the further development of the logistics field is promoted, and the sorting system can identify and monitor the characteristics of the volume, the weight, the shape and the like of an express delivery in real time, so that the identification accuracy and the operation efficiency of the system are improved, and in the prior art, the sorting of articles is easy to block when encountering obstacles according to a fixed route, so that the technical problem of low sorting efficiency is caused.
Disclosure of Invention
The application provides an article sorting method for a logistics robot, which is used for solving the technical problems that in the prior art, the sorting efficiency is low because the articles are easy to block when encountering obstacles according to a fixed route.
In view of the above, the present application provides an article sorting method for a logistics robot.
In a first aspect, the present application provides a method of sorting items for a logistics robot, the method comprising: receiving first scanning information of a first RFID scanner of a first logistics crawler on a first logistics piece, wherein the first scanning information comprises an RFID electronic tag; according to the RFID electronic tag, obtaining a logistics item number, and matching a sorting target area and a logistics robot model; planning a passing path based on the sorting target area to obtain a plurality of transportation paths; collecting scheduled transportation tasks based on a sorting and scheduling module according to the transportation paths; optimizing the sorting path of the first logistics piece according to the scheduled transportation task, and generating a recommended sorting path; and scheduling a logistics robot to grasp the first logistics pieces from the first logistics crawler to begin sorting transportation based on the recommended sorting path and the logistics robot model.
In a second aspect, the present application provides an item sorting system for a logistics robot, the system comprising: the receiving module is used for receiving first scanning information of a first RFID scanner of the first logistics crawler on a first logistics piece, wherein the first scanning information comprises RFID electronic tags; the model matching module is used for obtaining the serial numbers of the logistics items according to the RFID electronic tag and matching the sorting target area and the model of the logistics robot; the route planning module is used for planning a passing route based on the sorting target area to obtain a plurality of transportation routes; the task acquisition module is used for acquiring scheduled transportation tasks based on the sorting scheduling module according to the transportation paths; the sorting path optimization module is used for optimizing the sorting path of the first logistics piece according to the scheduled transportation task and generating a recommended sorting path; and the sorting and transporting module is used for scheduling the logistics robot to grasp the first logistics piece from the first logistics crawler to begin sorting and transporting based on the recommended sorting path and the logistics robot model.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
the application provides an article sorting method for logistics robot relates to data processing technology field, has solved among the prior art article letter sorting and has stopped up when meetting the obstacle according to fixed route easily, leads to the low technical problem of letter sorting efficiency, has realized nimble adjustment letter sorting route, and then improves letter sorting efficiency.
Drawings
Fig. 1 is a schematic flow chart of an article sorting method for a logistics robot;
FIG. 2 is a schematic diagram of a process for extracting multiple transport paths in an article sorting method for a logistics robot;
FIG. 3 is a schematic flow chart of a recommended sorting path generated in the method for sorting articles by the logistics robot;
fig. 4 is a schematic structural view of an article sorting system for a logistics robot.
Reference numerals illustrate: the system comprises a receiving module 1, a model matching module 2, a path planning module 3, a task acquisition module 4, a sorting path optimizing module 5 and a sorting transportation module 6.
Detailed Description
The utility model provides a be used for commodity circulation robot's article letter sorting method for solve among the prior art article letter sorting according to fixed route and block up easily when meetting the obstacle, lead to the low technical problem of letter sorting efficiency.
Example 1
As shown in fig. 1, an embodiment of the present application provides an article sorting method for a logistics robot, the method including:
step A100: receiving first scanning information of a first RFID scanner of a first logistics crawler on a first logistics piece, wherein the first scanning information comprises an RFID electronic tag;
in this application, the article sorting method for a logistics robot provided in this embodiment is applied to an article sorting system of a logistics robot, in order to ensure sorting efficiency of sorting articles by the logistics robot, therefore, first scanning information of a first logistics part needs to be obtained by a first RFID scanner of a first logistics crawler, the process of the method can be that the sorted articles are scanned by the RFID scanner arranged on any logistics crawler when the logistics robot sorts the articles, the scanned information is recorded as first scanning information, the RFID scanner performs wireless communication with the RFID electronic tag through an antenna through a reading head sensor, reading or writing operation of a tag identification code and memory data can be realized, and the first scanning information contains the RFID electronic tag, the RFID electronic tag of which is tag data of the articles can be scanned in a perspective manner, and the sorting of the articles by the logistics robot is realized in the later stage as an important reference basis.
Step A200: according to the RFID electronic tag, obtaining a logistics item number, and matching a sorting target area and a logistics robot model;
in this application, in order to improve the matching degree of commodity circulation robot in carrying out the letter sorting in-process to the article, at first regard RFID electronic tags as basic data, carry out serialization processing to the RFID electronic tags of target article according to article logistics time, article category, thereby generate commodity circulation item category number, commodity circulation item category number is the commodity flow in-process and carries out the number range to the target article, the type and the number of the goods of each commodity of convenient record and seek and inquiry, thereby the letter sorting target area to target article matches with the commodity circulation robot type number, letter sorting target area is at certain letter sorting scope, be the operation unit of express mail subdivision production organization, the commodity circulation robot type is the commodity circulation robot that is used for the sign and distinguishes different categories, performance, specification, and then guarantee the article is sorted through the commodity circulation robot.
Step A300: planning a passing path based on the sorting target area to obtain a plurality of transportation paths;
further, as shown in fig. 2, step a300 of the present application further includes:
step a310: carrying out two-dimensional modeling on a preset sorting area to obtain a sorting area planar map, wherein the sorting area planar map comprises an obstacle identification area and map scale identifications;
step A320: taking the sorting target area as an end position, taking a first RFID scanner deployment area as a starting position, and avoiding the obstacle identification area in the sorting area plane map to generate a plurality of communication area sequences;
step a330: obtaining a passing width threshold value and a passing height threshold value according to the model number of the logistics robot and the first logistics piece size information, wherein the RFID electronic tag further comprises the first logistics piece size information;
step A340: analyzing the plurality of connected region sequences based on the map scale marks to obtain a plurality of height minimum values and a plurality of width minimum values;
step A350: and based on the passing width threshold and the passing height threshold, comparing with the plurality of height minimum values and the plurality of width minimum values, and extracting the plurality of transportation paths from the plurality of communication area sequences.
Further, step a350 of the present application includes:
step A351: based on the passing width threshold value and the passing height threshold value, comparing the passing width threshold value with the plurality of height minimum values and the plurality of width minimum values, and extracting a first-stage transportation path sorting result from the plurality of communication area sequences;
step A352: obtaining a path secondary sorting index, wherein the path secondary sorting index comprises a path gradient index and a path distance index;
step A353: constructing a path two-stage sorting function:
；
wherein,an elimination score characterizing the kth path,/->Characterizing the gradient of any segment of the kth path,/for the kth path>Characterizing grade threshold value->Characterizing the path length of any section with gradient greater than the gradient threshold value,/->Characterization of the sum of path lengths with gradient greater than the gradient threshold value, +.>Characterizing a path distance of a kth path;
step a354: traversing the first-stage transportation path sorting result, and obtaining a path elimination degree scoring result based on the path second-stage sorting function;
step a355: and deleting the first-stage transportation path sorting result of which the path elimination degree scoring result is greater than or equal to the elimination degree scoring threshold value to obtain the plurality of transportation paths.
In this application, in order to determine different sorting paths according to different target objects, it is necessary to plan a passing path with the obtained sorting target area as basic data, and the process may be to perform two-dimensional modeling on the preset sorting area first, that is, to determine the sorting process of the area for sorting the target objects, if the process is stationary, each variable will not change with time, and at this time, if the device is axisymmetric and the radial variable change is considered, the variable change is two-dimensional. The two-dimensional model established on the basis is recorded as a sorting area plane map, wherein the sorting area plane map comprises an obstacle identification area and a map scale identification, the obstacle identification area is obtained by identifying an area which is influenced by the sorting of the target objects caused by the obstacles existing in the sorting process of the target objects, the map scale identification is obtained by the ratio of the length of one line segment on the sorting area plane map to the actual length of a corresponding line segment on the ground of the target area, further, by taking the sorting target area as the end position of the sorting process of the target objects, taking the first RFID scanner deployment area as the start position of the sorting process of the target objects, the obstacle identification area is avoided in the sorting area plane map in the process of route planning, a plurality of communication area sequences are generated in the target area, the sequence of the plurality of communication areas refers to a sequence formed by adjacent areas which are not provided with obstacle marks, the colleague determines the maximum value and the minimum value of the passing width of the areas and the passing height of the areas in the sequence of the plurality of communication areas according to the model of the logistics robot and the size information of the first logistics piece, determines the passing width threshold according to the maximum value and the minimum value in the passing width of the areas, determines the passing height threshold according to the maximum value and the minimum value of the passing height of the areas, wherein the RFID electronic tag also comprises the size information of the first logistics piece, namely the size information of the height and the size information of the width of the first logistics piece, further, analyzes the size of the area proportion of the sequence of the plurality of communication areas according to the obtained map scale mark, determines the minimum size proportion of each communication area in the sequence of the plurality of communication areas, the minimum dimension ratio comprises a plurality of height minimum values and a plurality of width minimum values, and the height minimum values, the width minimum values and the communication area sequences have corresponding relations.
Meanwhile, the passing width threshold value and the passing height threshold value are used as reference basic data, and are compared with a plurality of height minimum values and a plurality of width minimum values obtained by analysis one by one, and the process can be as follows: the method comprises the steps of comparing a passing width threshold value and a passing height threshold value with a plurality of height minimum values and a plurality of width minimum values respectively, recording a height value of the height minimum values which meet the passing height threshold value in the plurality of height minimum values, recording a width value of the width minimum values which meet the passing width threshold value in the plurality of width minimum values, sequentially determining a plurality of transport paths in a plurality of communication area sequences, grading the plurality of transport paths according to the height value and the width value, taking the transport paths determined based on the height minimum values and the width minimum values as transport path sorting results and outputting transport path sorting results, further, secondarily screening a target sorting path based on the extracted first-stage transport path sorting results, obtaining path earphone sorting indexes, wherein the path second-stage sorting indexes comprise path gradient indexes and path distance indexes, the path gradient indexes comprise ascending slopes and descending slopes existing in the target paths, the path distance indexes refer to calculated lengths between starting points and ending points in the target paths, constructing a sorting function for the transport paths, constructing a sorting function for each of the sorted first-stage transport paths, sequentially sorting paths, and sequentially sorting the sorted first-stage sorting paths comprise the sorting results, and the sorting path sorting results comprise the sorting results of the first-stage sorting paths, and the sorting path sorting results are sequentially:
；
wherein,an elimination score characterizing the kth path,/->Characterizing the gradient of any segment of the kth path,/for the kth path>Characterizing grade threshold value->Characterizing the path length of any section with gradient greater than the gradient threshold value,/->Characterization of the sum of path lengths with gradient greater than the gradient threshold value, +.>Characterizing a path distance of a kth path;
the method comprises the steps of obtaining the elimination degree score of a kth path after adding the sum of path lengths with the gradient larger than a gradient threshold value and the path distance of the kth path, screening the kth path according to the elimination degree score of the kth path, and so on, correspondingly screening the transportation paths in each data node contained in the first-stage transportation path sorting result to obtain a path elimination degree score result, finally judging the path elimination degree score result and comparing the elimination degree score result with the elimination degree score threshold value, wherein the elimination degree score threshold value is set according to the average value of the elimination degree scores in a historical period, and deleting the first-stage transportation path sorting result with the path elimination degree score result larger than or equal to the elimination degree score threshold value, so that a plurality of transportation paths are extracted according to a plurality of screened communication area sequences, and a sorting basis is realized for the objects through a logistics robot.
Step A400: collecting scheduled transportation tasks based on a sorting and scheduling module according to the transportation paths;
in this application, in order to improve the sorting efficiency of the target objects in the target area, it is necessary to use the above-mentioned multiple transport paths as a basis, and the sorting and dispatching module is communicatively connected to the object sorting system for the logistics robot, where the sorting and dispatching module is a variety object for sorting the target objects according to the need, and different sorting and processing manners are adopted to sort the target objects to a designated position, so as to finally improve and improve logistics management, and at the same time, sort and dispatch the target objects according to the multiple transport paths based on the sorting and dispatching module, and finally output the sorted target objects as dispatched objects, and after integrating the dispatched transport paths of the dispatched objects, as dispatched transport tasks, so as to realize a limited role in sorting the objects by the logistics robot.
Step A500: optimizing the sorting path of the first logistics piece according to the scheduled transportation task, and generating a recommended sorting path;
further, as shown in fig. 3, step a500 of the present application further includes:
step A510: obtaining a first transport path of the plurality of transport paths;
step A520: carrying out transportation flow analysis on the first transportation path based on the scheduled transportation task, and generating a first transportation path flow parameter, wherein the first transportation path flow parameter represents the transportation quantity of the logistics in unit time of a preset length road section;
step a530: performing cross path analysis on the first transportation path to obtain a cross path set;
step a540: traversing the cross path set, collecting the scheduled transportation tasks of the cross paths, analyzing the transportation flow of the cross path set, and generating a cross path transportation flow parameter set;
step A550: carrying out path quality scoring on the first transportation path based on the cross path transportation flow parameter set and the first transportation path flow parameter to obtain a path transportation quality score, and adding a path transportation quality scoring set, wherein the path transportation quality scoring set corresponds to the transportation paths one by one;
step A560: and sorting the maximum value of the plurality of transportation paths based on the path transportation quality evaluation set, and generating the recommended sorting path.
Further, step a150 of the present application includes:
step A551: adding the cross-path transportation flow parameter set, and weighting based on a first preset weight to generate a first path quality scoring parameter;
step a552: weighting the first transportation path flow parameter based on a second preset weight to generate a second path quality scoring parameter;
step A553: and adding the first path quality scoring parameter and the second path quality scoring parameter to generate the path transportation quality score.
In the application, in order to sort the target objects in the target sorting and dispatching route better, the sorting route optimization of the first material flow in the corresponding transportation route based on the dispatched transportation task is first performed, namely the transportation route corresponding to the first material flow is extracted and determined in a plurality of transportation routes, namely the transportation route in the comparison result is recorded as the first transportation route according to the starting point and the ending point of the first material flow, further, the transportation flow analysis of the extracted first transportation route in the dispatched transportation task is performed, namely the quantity of dispatched transportation tasks contained in the first transportation route in unit time is recorded, the first transportation route flow parameter is generated according to the recording result, the first transportation path flow parameter characterizes the transportation quantity of logistics in unit time of a preset length road section, meanwhile, the preset length road section is the length of the first transportation path, further, the quantity analysis of the intersecting paths is carried out on intersecting nodes among paths contained in the first transportation path, an intersecting path set is obtained according to the intersecting quantity in the intersecting paths, traversing access is sequentially carried out on corresponding intersecting path data in data nodes contained in the intersecting path set, the scheduled transportation tasks in the intersecting paths are acquired and extracted, the quantity of the scheduled transportation tasks in the intersecting path set in unit time is analyzed, the transportation flow is divided into primary transportation flow, secondary transportation flow and tertiary transportation flow, wherein the primary transportation flow is the proportion of the scheduled tasks in the transportation quantity in unit time to be 80 percent or more, the ratio of the scheduled tasks in the transportation quantity in the unit time of the second-level transportation flow is more than or equal to 30% and less than 80%, and the ratio of the scheduled tasks in the transportation quantity in the unit time of the third-level transportation flow is less than or equal to 30%, so that a cross-path transportation flow parameter set is generated.
Further, the method comprises the steps of taking a cross-path transportation flow parameter set and a first transportation path flow parameter as evaluation reference basic data, scoring the path quality of a first transportation path, wherein the path quality is judged according to the path sorting smoothness, the path quality is higher as the path sorting smoothness is higher, so that the path transportation quality score is obtained and added to the path transportation quality score set, the path transportation quality in the path transportation quality score set and transportation paths in a plurality of transportation paths are in one-to-one correspondence, further summing the cross-path transportation flow parameter set, and weighting the sum result based on a first preset weight, the first preset weight is preset according to the influence degree of the cross-path transportation flow on the path quality, the first preset weight is a proportional relation, the first preset weight is higher as the influence degree is higher, the first path quality score parameter is generated, the first transportation path flow parameter is weighted according to a second preset weight, the influence degree of the path transportation quality in the path transportation score set is in a one-to-one correspondence relation, and the first preset weight is higher as the influence degree is higher, and the second path score parameter is generated.
Finally, the first path quality scoring parameter and the second path quality scoring parameter are summed, the summed result is recorded as the path transportation quality scoring to be output, and meanwhile, the maximum value sorting of a plurality of transportation paths is carried out in the path transportation quality scoring set, namely, the grading values corresponding to the plurality of transportation paths in the path transportation quality scoring set are sequenced in descending order, the data with the first position sequence at the moment is recorded as the maximum value, and the path corresponding to the maximum value in the plurality of transportation paths is recorded as the recommended sorting path to be output, so that the data is used as reference data when the articles are sorted by the logistics robot in the later period.
Further, step a552 of the present application includes:
step a5521: setting a blocking flow threshold, traversing the cross path transportation flow parameter set and comparing with the blocking flow threshold to generate a cross path blocking probability set;
step a5522: calculating a quantitative scaling factor of the cross-path congestion probability set greater than or equal to a congestion probability threshold;
step a5523: when the number proportion coefficient is larger than or equal to a number proportion coefficient threshold value, the first preset weight is larger than the second preset weight which is 2 times larger than the first preset weight;
step a5524: when the number scaling factor is smaller than the number scaling factor threshold, the second preset weight of 2 times is greater than the first preset weight by more than 1 time.
In the application, in order to improve the accuracy of sorting the first object flow, a blocking flow threshold in the sorting path is required to be set, the blocking flow threshold is determined according to the sorting flow speed of the target object in the sorting path in unit time, 30% of the speed lower than the average speed is recorded as the blocking flow threshold, the number of the cross path transportation contained in the cross path transportation flow parameter set is traversed and accessed in sequence, then the cross path transportation flow is taken as a quotient with the blocking flow threshold, the numerical ratio of the cross path transportation flow parameter set to the blocking flow threshold is obtained, the numerical ratio obtained by the quotient is recorded as a cross path blocking probability set after being integrated, the further ratio of the cross path blocking probability set to the blocking probability threshold is calculated, the blocking frequency of the target area in the history time period is divided by the total transportation frequency in the target area, and accordingly the number ratio coefficient of the cross path blocking probability set obtained by calculation is larger than or equal to the blocking probability threshold, when the number ratio coefficient is larger than or equal to the number ratio coefficient threshold, the blocking probability coefficient is regarded as the cross path transportation flow is smaller than the preset weight of the transportation flow, the number of the cross path transportation flow is calculated as the preset weight, the number of the cross path is larger than the preset weight, and the number of the preset weight is larger than the preset weight is 2, and the number of the preset object is larger than the preset by the number of the preset weight is larger than the number than 2, and the number of the preset weight is larger than the number than the 2, and the number is compared with the preset by the time and the value.
Step A600: and scheduling a logistics robot to grasp the first logistics pieces from the first logistics crawler to begin sorting transportation based on the recommended sorting path and the logistics robot model.
Further, step a600 of the present application further includes:
step a610: based on the model of the logistics robot, matching an idle logistics robot number set and a logistics robot distribution position set;
step a620: carrying out scheduling path analysis based on the distribution position set of the logistics robot to generate a plurality of nearest scheduling paths;
step a630: traversing the plurality of nearest scheduling paths to evaluate the path quality, and obtaining a plurality of scheduling path quality scores;
step A640: and screening the idle logistics robots with the maximum quality scores of the plurality of scheduling paths from the idle logistics robot number set to schedule, and grabbing the first logistics pieces from the first logistics crawler to begin sorting and transporting.
In this application, in order to make the sorting transportation of the first logistics items in the first logistics caterpillar band smoother, therefore, the above-mentioned generated recommended sorting path and the model of the logistics robot for sorting operation need to be used as basic data, the first logistics items are grabbed from the first logistics caterpillar band in the target area by the dispatch logistics robot, and the process thereof may be: the model information of the logistics robots is used as index data, the model of the idle logistics robots which do not perform sorting operation in a target area and the distribution points corresponding to the model information are subjected to data integration, an idle logistics robot number set and a logistics robot distribution position set are generated, meanwhile, data matching is conducted according to the index data, the number and the distribution positions of the logistics robots are determined, further, sorting paths of first logistics pieces are subjected to path scheduling analysis according to the logistics robot distribution position set, namely, the logistics robots which are minimum in distance from the first logistics pieces and idle are based on transportation paths in the target area are searched, a plurality of nearest dispatching paths are generated, further, the path quality evaluation of the nearest dispatching paths is conducted after the nearest dispatching paths are sequentially traversed, the path quality evaluation is identical to the transportation path quality evaluation, and accordingly a plurality of dispatching path quality scores are obtained.
In summary, the method for sorting articles for a logistics robot provided by the embodiment of the application at least comprises the following technical effects, and the sorting route is flexibly adjusted, so that the sorting efficiency is improved.
Example two
Based on the same inventive concept as the method for sorting articles for a logistics robot in the previous embodiment, as shown in fig. 4, the present application provides an article sorting system for a logistics robot, the system comprising:
the receiving module 1 is used for receiving first scanning information of a first RFID scanner of the first logistics crawler on a first logistics piece, wherein the first scanning information comprises RFID electronic tags;
the model matching module 2 is used for obtaining the serial numbers of the logistics items according to the RFID electronic tag and matching the sorting target area and the model of the logistics robot;
the route planning module 3 is used for planning a passing route based on the sorting target area to obtain a plurality of transportation routes;
the task acquisition module 4 is used for acquiring the scheduled transportation tasks based on the sorting and scheduling module according to the transportation paths;
the sorting path optimization module 5 is used for optimizing the sorting path of the first logistics piece according to the scheduled transportation task, and generating a recommended sorting path;
the sorting and transporting module 6 is used for scheduling the logistics robot to grab the first logistics piece from the first logistics crawler to begin sorting and transporting based on the recommended sorting path and the logistics robot model.
Further, the system further comprises:
the identification module is used for carrying out two-dimensional modeling on a preset sorting area to obtain a sorting area plane map, wherein the sorting area plane map comprises an obstacle identification area and map scale identifications;
the sequence generation module is used for avoiding the obstacle identification area in the sorting area plane map by taking the sorting target area as an end position and taking the first RFID scanner deployment area as a starting position, so as to generate a plurality of communication area sequences;
the threshold value acquisition module is used for acquiring a passing width threshold value and a passing height threshold value according to the model number of the logistics robot and the first logistics piece size information, wherein the RFID electronic tag further comprises the first logistics piece size information;
the sequence analysis module is used for analyzing the sequences of the plurality of connected areas based on the map scale marks to obtain a plurality of height minimum values and a plurality of width minimum values;
the first comparison module is used for comparing the passing width threshold value and the passing height threshold value with the plurality of height minimum values and the plurality of width minimum values, and extracting the plurality of transportation paths from the plurality of communication area sequences.
Further, the system further comprises:
the second comparison module is used for comparing the passing width threshold value and the passing height threshold value with the plurality of height minimum values and the plurality of width minimum values and extracting a first-stage transportation path sorting result from the plurality of communication area sequences;
the system comprises an index acquisition module, a path secondary sorting module and a path distance detection module, wherein the index acquisition module is used for acquiring a path secondary sorting index, and the path secondary sorting index comprises a path gradient index and a path distance index;
the function module is used for constructing a path two-stage sorting function:
；
wherein,an elimination score characterizing the kth path,/->Characterizing the gradient of any segment of the kth path,/for the kth path>Characterizing grade threshold value->Characterizing the path length of any section with gradient greater than the gradient threshold value,/->Characterization of the sum of path lengths with gradient greater than the gradient threshold value, +.>Characterizing a path distance of a kth path;
the first traversing module is used for traversing the first-stage transportation path sorting result and obtaining a path elimination degree scoring result based on the path second-stage sorting function;
and the deleting module is used for deleting the first-stage transportation path sorting result with the path elimination degree scoring result being greater than or equal to the elimination degree scoring threshold value to obtain the plurality of transportation paths.
Further, the system further comprises:
the route acquisition module is used for acquiring a first transportation route of the plurality of transportation routes;
the transportation flow analysis module is used for carrying out transportation flow analysis on the first transportation path based on the scheduled transportation task and generating a first transportation path flow parameter, wherein the first transportation path flow parameter characterizes the transportation quantity of logistics pieces in unit time of a preset length road section;
the cross path analysis module is used for carrying out cross path analysis on the first transportation path to obtain a cross path set;
the second traversing module is used for traversing the cross path set, collecting the scheduled transportation tasks of the cross paths, analyzing the transportation flow of the cross path set and generating a cross path transportation flow parameter set;
the adding module is used for scoring the path quality of the first transportation path based on the cross path transportation flow parameter set and the first transportation path flow parameter, obtaining a path transportation quality score and adding an access path transportation quality score set, wherein the path transportation quality score set corresponds to the transportation paths one by one;
and the maximum sorting module is used for sorting the maximum values of the plurality of transportation paths based on the path transportation quality evaluation set to generate the recommended sorting path.
Further, the system further comprises:
the first weighting module is used for adding the cross-path transportation flow parameter set, weighting the cross-path transportation flow parameter set based on first preset weights and generating first path quality scoring parameters;
the second weighting module is used for weighting the first transportation path flow parameter based on a second preset weight to generate a second path quality scoring parameter;
and the quality scoring module is used for summing the first path quality scoring parameter and the second path quality scoring parameter to generate the path transportation quality score.
Further, the system further comprises:
the probability set generation module is used for setting a blocking flow threshold value, traversing the cross path transportation flow parameter set and the blocking flow threshold value to obtain a ratio, and generating a cross path blocking probability set;
a first calculation module for calculating a number scaling factor of the cross path congestion probability set greater than or equal to a congestion probability threshold;
the second calculation module is used for enabling the first preset weight to be more than 2 times of the second preset weight when the quantity proportionality coefficient is larger than or equal to a quantity proportionality coefficient threshold value;
and the third calculation module is used for enabling the second preset weight to be 2 times greater than the first preset weight to be 1 time greater than the second preset weight when the quantity proportionality coefficient is smaller than the quantity proportionality coefficient threshold value.
Further, the system further comprises:
the first matching module is used for matching an idle logistics robot number set and a logistics robot distribution position set based on the logistics robot model;
the scheduling path analysis module is used for performing scheduling path analysis based on the distribution position set of the logistics robot and generating a plurality of nearest scheduling paths;
the evaluation module is used for traversing the plurality of nearest scheduling paths to evaluate the path quality and obtaining a plurality of scheduling path quality scores;
and the scheduling module is used for scheduling the idle logistics robots with maximum quality scores of the plurality of scheduling paths from the idle logistics robot number set, grabbing the first logistics pieces from the first logistics crawler and starting sorting and transportation.
The foregoing detailed description of the method for sorting objects by using the logistics robot will be clear to those skilled in the art, and the device disclosed in the embodiments of the present invention is relatively simple in description, and the relevant points refer to the description of the method section, since the device corresponds to the method disclosed in the embodiments.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An article sorting method for a logistics robot, comprising:
receiving first scanning information of a first RFID scanner of a first logistics crawler on a first logistics piece, wherein the first scanning information comprises an RFID electronic tag;
according to the RFID electronic tag, obtaining a logistics item number, and matching a sorting target area and a logistics robot model;
planning a passing path based on the sorting target area to obtain a plurality of transportation paths;
collecting scheduled transportation tasks based on a sorting and scheduling module according to the transportation paths;
optimizing the sorting path of the first logistics piece according to the scheduled transportation task, and generating a recommended sorting path;
scheduling a logistics robot to grasp the first logistics pieces from the first logistics crawler to begin sorting transportation based on the recommended sorting path and the logistics robot model;
the method for planning the traffic path based on the sorting target area, to obtain a plurality of transportation paths, comprises the following steps:
carrying out two-dimensional modeling on a preset sorting area to obtain a sorting area planar map, wherein the sorting area planar map comprises an obstacle identification area and map scale identifications;
taking the sorting target area as an end position, taking a first RFID scanner deployment area as a starting position, and avoiding the obstacle identification area in the sorting area plane map to generate a plurality of communication area sequences;
obtaining a passing width threshold value and a passing height threshold value according to the model number of the logistics robot and the first logistics piece size information, wherein the RFID electronic tag further comprises the first logistics piece size information;
analyzing the plurality of connected region sequences based on the map scale marks to obtain a plurality of height minimum values and a plurality of width minimum values;
and based on the passing width threshold and the passing height threshold, comparing with the plurality of height minimum values and the plurality of width minimum values, and extracting the plurality of transportation paths from the plurality of communication area sequences.
2. The method of claim 1, wherein the extracting the plurality of transportation paths from the plurality of connected region sequences based on the pass width threshold and the pass height threshold, as compared to the plurality of height minimums and the plurality of width minimums, further comprises:
based on the passing width threshold value and the passing height threshold value, comparing the passing width threshold value with the plurality of height minimum values and the plurality of width minimum values, and extracting a first-stage transportation path sorting result from the plurality of communication area sequences;
obtaining a path secondary sorting index, wherein the path secondary sorting index comprises a path gradient index and a path distance index;
constructing a path two-stage sorting function:
；
wherein,an elimination score characterizing the kth path,/->Characterizing the gradient of any segment of the kth path,/for the kth path>Characterizing grade threshold value->Characterizing the path length of any segment having a slope greater than a slope threshold,characterization gradient is greater thanSum of path lengths of gradient threshold, +.>Characterizing a path distance of a kth path;
traversing the first-stage transportation path sorting result, and obtaining a path elimination degree scoring result based on the path second-stage sorting function;
and deleting the first-stage transportation path sorting result of which the path elimination degree scoring result is greater than or equal to the elimination degree scoring threshold value to obtain the plurality of transportation paths.
3. The method of claim 1, wherein optimizing the sort path for the first flow based on the scheduled transportation task to generate a recommended sort path comprises:
obtaining a first transport path of the plurality of transport paths;
carrying out transportation flow analysis on the first transportation path based on the scheduled transportation task, and generating a first transportation path flow parameter, wherein the first transportation path flow parameter represents the transportation quantity of the logistics in unit time of a preset length road section;
performing cross path analysis on the first transportation path to obtain a cross path set;
traversing the cross path set, collecting the scheduled transportation tasks of the cross paths, analyzing the transportation flow of the cross path set, and generating a cross path transportation flow parameter set;
carrying out path quality scoring on the first transportation path based on the cross path transportation flow parameter set and the first transportation path flow parameter to obtain a path transportation quality score, and adding a path transportation quality scoring set, wherein the path transportation quality scoring set corresponds to the transportation paths one by one;
and sorting the maximum value of the plurality of transportation paths based on the path transportation quality evaluation set, and generating the recommended sorting path.
4. The method of claim 3, wherein scoring the path quality for the first transport path based on the set of cross-path transport flow parameters and the first transport path flow parameter, obtaining a path transport quality score, comprising:
adding the cross-path transportation flow parameter set, and weighting based on a first preset weight to generate a first path quality scoring parameter;
weighting the first transportation path flow parameter based on a second preset weight to generate a second path quality scoring parameter;
and adding the first path quality scoring parameter and the second path quality scoring parameter to generate the path transportation quality score.
5. The method as recited in claim 4, further comprising:
setting a blocking flow threshold, traversing the cross path transportation flow parameter set and comparing with the blocking flow threshold to generate a cross path blocking probability set;
calculating a quantitative scaling factor of the cross-path congestion probability set greater than or equal to a congestion probability threshold;
when the number proportion coefficient is larger than or equal to a number proportion coefficient threshold value, the first preset weight is larger than the second preset weight which is 2 times larger than the first preset weight;
when the number scaling factor is smaller than the number scaling factor threshold, the second preset weight of 2 times is greater than the first preset weight by more than 1 time.
6. The method of claim 1, wherein scheduling a logistics robot to begin sorting transportation from the first logistics track gripping the first logistics piece based on the recommended sorting path and the logistics robot model comprises:
based on the model of the logistics robot, matching an idle logistics robot number set and a logistics robot distribution position set;
carrying out scheduling path analysis based on the distribution position set of the logistics robot to generate a plurality of nearest scheduling paths;
traversing the plurality of nearest scheduling paths to evaluate the path quality, and obtaining a plurality of scheduling path quality scores;
and screening the idle logistics robots with the maximum quality scores of the plurality of scheduling paths from the idle logistics robot number set to schedule, and grabbing the first logistics pieces from the first logistics crawler to begin sorting and transporting.
7. An article sorting system for a logistics robot, comprising:
the receiving module is used for receiving first scanning information of a first RFID scanner of the first logistics crawler on a first logistics piece, wherein the first scanning information comprises RFID electronic tags;
the model matching module is used for obtaining the serial numbers of the logistics items according to the RFID electronic tag and matching the sorting target area and the model of the logistics robot;
the route planning module is used for planning a passing route based on the sorting target area to obtain a plurality of transportation routes;
the task acquisition module is used for acquiring scheduled transportation tasks based on the sorting scheduling module according to the transportation paths;
the sorting path optimization module is used for optimizing the sorting path of the first logistics piece according to the scheduled transportation task and generating a recommended sorting path;
the sorting transportation module is used for scheduling a logistics robot to grasp the first logistics pieces from the first logistics crawler and start sorting transportation based on the recommended sorting path and the logistics robot model;
the identification module is used for carrying out two-dimensional modeling on a preset sorting area to obtain a sorting area plane map, wherein the sorting area plane map comprises an obstacle identification area and map scale identifications;
the sequence generation module is used for avoiding the obstacle identification area in the sorting area plane map by taking the sorting target area as an end position and taking the first RFID scanner deployment area as a starting position, so as to generate a plurality of communication area sequences;
the threshold value acquisition module is used for acquiring a passing width threshold value and a passing height threshold value according to the model number of the logistics robot and the first logistics piece size information, wherein the RFID electronic tag further comprises the first logistics piece size information;
the sequence analysis module is used for analyzing the sequences of the plurality of connected areas based on the map scale marks to obtain a plurality of height minimum values and a plurality of width minimum values;
the first comparison module is used for comparing the passing width threshold value and the passing height threshold value with the plurality of height minimum values and the plurality of width minimum values, and extracting the plurality of transportation paths from the plurality of communication area sequences.
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