LU101993B1 - Picking method and system in unattended environment, and computer readable storage medium - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000003016 pheromone Substances 0.000 claims abstract description 72
- 238000004422 calculation algorithm Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 8
- 230000010365 information processing Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
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- 238000007726 management method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 238000013500 data storage Methods 0.000 description 2
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- 239000008186 active pharmaceutical agent Substances 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The present application relates to the field of intelligent warehousing, and provides a picking method and system in an unattended environment and a computer readable storage medium. The method includes: receiving picking order information and updating a task information pheromone according to a current handling task completion status and the picking order information by an upper computer; making intelligent main bodies move to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and loading goods corresponding to the picking order information to the intelligent main bodies by the intelligent target shelf according to task information corresponding to the task information pheromone. The technical solution provided by the present application enables both the average waiting time and the average handling time of each intelligent main body during picking to be shortened and both a fetching and handling task path per order and/or the total fetching and handling path to be optimized, thereby lowering the picking cost as a whole.
Description
PICKING METHOD AND SYSTEM IN UNATTENDED ENVIRONMENT, 01993
[0001] The present application relates to the field of intelligent warehousing, and more particularly to a picking method and system in an unattended environment, and a computer readable storage medium.
[0002] Intelligent warehousing refers to an intelligent logistics warehousing management system, concept or method realized in a mechatronics, interconnected, networked, informationized, and intelligentized manner, so as to achieve the purposes of improving warehousing, sorting, processing, handling and transferring, distributing and transporting and servicing capabilities, increasing operation and management efficiency and energy efficiency, and greatly lowering operation cost.
[0003] In the field of intelligent warehousing, picking in an unattended environment such as an intelligent warehouse and an unmanned supermarket is generally automatically carried out by an automated guided vehicle (AGV) under the control of a system. An existing picking method using the AGV is generally that after the AGV receives a picking instruction, it runs to a fetching point to fetch goods according to the instruction, and then returns to a shipment port to unload the goods along a predesigned path.
[0004] However, there is a need for improvements on the average waiting time, the picking time, a fetching and handling task path per order, and/or the total fetching and handling path of the above-mentioned existing picking method.
[0005] Embodiments of the present application provide a picking method and system in an unattended environment, and a computer-readable storage medium, so as to solve various problems of the existing picking method in the unattended environment. The technical solution is described as follows.
[0006] In one aspect, provided is a picking method in an unattended environment. The picking method includes:
[0007] receiving picking order information and updating a task information pheromone 1 according to a current handling task completion status and the picking order information by an LU101993 upper computer;
[0008] moving intelligent main bodies to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and
[0009] loading goods corresponding to the picking order information to the intelligent main bodies by the intelligent target shelf according to task information corresponding to the task information pheromone.
[0010] In one aspect, provided is an unmanned delivery system. The unmanned delivery system includes:
[0011] an upper computer, which is configured to receive picking order information and update a task information pheromone according to a current handling task completion status and the picking order information;
[0012] intelligent main bodies, which are configured to move to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and
[0013] an intelligent target shelf, which is configured to load goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone.
[0014] In one aspect, provided is a picking system in an unattended environment. The picking system includes a memory, a processor, and a computer program stored in the memory and being capable of running on the processor, and the computer program is loaded and executed by the one or more processors to implement operations performed by the picking method in the unattended environment.
[0015] In one aspect, provided is a computer readable storage medium in which a computer program is stored, and the computer program is loaded and executed by a processor to implement operations performed by the picking method in an unattended environment.
[0016] It may be known from the above technical solution provided in the present application that the upper computer receives the picking order information, and updates the task information pheromone according to the current handling task completion status and the picking order information; the intelligent main bodies move to the intelligent target shelf to perform the picking task according to the task information pheromone; and the intelligent target shelf loads the goods corresponding to the picking order information to the intelligent main bodies 2 according to task information corresponding to the task information pheromone. Since the upper computer may update the task information pheromone in time, the intelligent main bodies may 0101998 perform the picking task according to a new task information pheromone. The technical solution provided by the present application enables both the average waiting time and the average handling time of each intelligent main body during picking to be shortened and both a fetching and handling task path per order and/or the total fetching and handling path to be optimized, thereby lowering the picking cost as a whole.
[0017] The following will briefly introduce accompanying drawings required for describing the embodiments, in order to describe the technical solutions in the embodiments of the present application more clearly. Obviously, the accompanying drawings in the following description show merely some embodiments of the present application. Those ordinarily skilled in the art may derive other accompanying drawings from these accompanying drawings without paying any creative efforts.
[0018] FIG. 1 is a flow diagram of a picking method in an unattended environment according to an embodiment of the present application;
[0019] FIG. 2 is a schematic diagram showing a structure of a picking system in an unattended environment according to an embodiment of the present application; and
[0020] FIG. 3 is a schematic diagram showing a functional structure of a picking system in an unattended environment according to another embodiment of the present application.
[0021] In order to make objectives, technical solutions and advantages of the present application clearer, implementations of the present application will be further described in detail below in conjunction with accompanying drawings.
[0022] Reference is made to FIG. 1, which is a picking method in an unattended environment according to an embodiment of the present application. The method mainly includes the following steps S101 to S103, which will be described in detail as follows.
[0023] In step S101, an upper computer receives picking order information and updates a task information pheromone according to a current handling task completion status and the picking order information.
[0024] In the embodiment of the present application, the picking order information includes 3 goods and properties thereof (for example, quantity, weight, size and the like of goods), basic LU101993 information and dynamic and static states of intelligent main bodies, related information of obstacles, and the like. Task information corresponding to the task information pheromone is formed after the current handling task completion status and the picking order information are superimposed. The task information pheromone is used to guide the intelligent main bodies to the intelligent target shelf of a handling task. It is supposed here that there are m rows and n columns, that is, a total of mxn intelligent shelves, in a goods storage region of a warehouse, so that there are a total of m-1 rows and n-1 columns, that is, a total of (m+n-2) intelligent main body channels. The intelligent main body channels have (m-1)x(n-1) intersections. Let a total of k incomplete handling tasks ask Kiosk is represented by positions of intelligent sub-shelves and task intensity information Bi , and Bi may be constructed by the count Keouns of the intelligent main bodies required for the handling tasks and the priority Pi of the task by adopting the following construction formula:
[0025] Br — Kcoun X Pr ;
[0026] The task information pheromone ph of an intersection (Yi, Yi) depends on information about displacements from this intersection to all incomplete handling task points as well as the task intensity information. The task information pheromone of each task point is a vector. If the vectors are simply accumulated, they will be counterbalanced, so that a real pheromone of this intersection may not be truly reflected. Accordingly, in the embodiment of the present application, the information pheromone of each task point is decomposed orthogonally along coordinate axis directions in a two-dimensional rectangular coordinate system. The task information pheromone of this intersection is obtained by accumulating the decomposed information pheromones in positive and negative coordinate axes, that is, in total of four directions. The intensity of the task information pheromone represents the amount of tasks in each direction.
[0027] As an embodiment of the present application, that the upper computer receives the picking order information and updates a task information pheromone according to a current handling task completion status and the picking order information may refer to that the upper computer performs split calculation on the picking order information to obtain handling task information; the upper computer determines whether a current incomplete handling task has been updated, and if the current incomplete handling task has been updated, calculates a global information pheromone according to current incomplete handling task information; and the 4 upper computer encodes the information pheromone to obtain a two-dimensional code, and then displays it in dynamic navigation regions of channels between the shelves, wherein the handling 0101993 task information includes goods category information and quantity. It should be noted that in the above-mentioned embodiment, an information processing system communicated with the upper computer sends the handling task information to the intelligent target shelf, and the information processing system regularly refreshes all the handling task completion statuses.
[0028] In step S102, the intelligent main bodies move to the intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group.
[0029] In the embodiment of the present application, the intelligent main bodies are individual intelligent bodies in the intelligent group. Here, the intelligent group is a group of intelligent main bodies capable of performing collaborative decision making and self-organizing to complete complex tasks, for example, a group of automated guided vehicles (AGV). As an embodiment of the present application, that intelligent main bodies move to an intelligent target shelf to perform a picking task according to the task information pheromone may refer to that the intelligent main bodies scan dynamic two-dimensional codes located in dynamic navigation regions of the channels between the shelves, and decode the dynamic two-dimensional codes to obtain the task information pheromone and position coordinate information. The intelligent main bodies select a path to move towards the intelligent target shelf according to a direction selection algorithm. The intelligent main bodies enter the intelligent target shelf after obtaining a specific entrance of the intelligent target shelf according to two-dimensional codes of static navigation regions. The above-mentioned direction selection algorithm may be the shortest path algorithm such as an A* algorithm. In the embodiment of the present application, the direction selection algorithm may include the following steps S1021 to S1026.
[0030] In step S1021, a target node, as well as an open table and a closed table of the A* algorithm are initialized, starting nodes which are current position of the intelligent main bodies are placed into the open table, and the closed table is blanked. In the embodiment of the present application, the open table may be used to store all the nodes traversed, the closed table may be used to store a target node that has been found, and the target node is a grid center point of a grid map.
[0031] In step S1022, it is determined whether the open table is blank, if the open table is blank, the algorithm ends, and otherwise, a node n is taken from a header of the open table.
[0032] In step S1023, it is determined whether the node n is the target node, if the node n is the target node, the algorithm proceeds to the step S1024, and otherwise, the algorithm ends;
[0033] In step S1024, all subsequent nodes of the node n are expanded to form directly related | 01993 child nodes, and it is determined whether these directly related child nodes are in the closed table, if these directly related child nodes are in the closed table, the algorithm proceeds to the step S1025, and otherwise, these directly related child nodes are placed into the open table.
[0034] In step S1025, the node n is placed into the closed table, and a cost estimation value f'(n) of each subsequent node of the node n is calculated by adopting a cost estimation function f(n) of the A* algorithm.
[0035] In step S1026, the minimum heap sorting, such as least binary heap sorting, is performed on the cost estimation value f'(n) in the open table, the node with the smallest cost estimation value f'(n) is placed at the header of the open table, and the algorithm returns to the step S1022. The above steps are repeated, until the target node appears in the closed table or the open table is blank.
[0036] In step S103, the intelligent target shelf loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone.
[0037] As an embodiment of the present application, that the intelligent target shelf loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone may refer to that the intelligent target shelf recognizes identities of the intelligent main bodies, triggers a delivery progress after successfully identifying them, loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone, and transmits goods placing information to the information processing system.
[0038] After that the target intelligent shelf loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone, the method further includes: the intelligent main bodies perform the delivery task according to the generated delivery map, and transport the goods corresponding to the picking order information to a target location. A method for generating the above delivery map includes: firstly, generating an initialization interface; then, collecting map parameters, these map parameters include the count of horizontal coordinate points, the count of vertical coordinate points, horizontal and vertical coordinates of starting coordinate points, horizontal and vertical intervals of each coordinate point, initial coordinates of shelves, sizes of shelves, the count of horizontal shelves, the count of vertical shelves, horizontal intervals of shelves, vertical intervals of shelves, coordinate points of upper left corners and lower right 6 corners of rectangular obstacles, and the like; calculating coordinates of all path points, as well as the coordinates of the shelves and the obstacles according to the above map parameters 9'998 storing the above coordinates in an adjacency matrix (characteristics of the adjacency matrix include each vertex has at most four sides and at least two sides, because the sequence number of the path points is identified from left to right and from top to bottom. Therefore, it is determined whether the two points should be adjacent according to designations of the two coordinate points), traversing a path point set, and finding whether there are points on the right and below the current traverse point, and if there are points on the right and below the current traverse point, storing a distance between the two points in positions corresponding to the designations of the two points in the adjacency matrix; performing the above operations for each traversal, until all the path points are traversed, wherein the adjacency matrix is a container for storing a map model, and the completion of the adjacency matrix refers to the completion of the relationship between the positions of the path points in the map and the path points; and after obtaining related information of the path points, a related API is called for drawing, and a delivery map with rectangular grids is generated.
[0039] As an embodiment of the present application, that the intelligent main bodies perform the delivery task according to the generated delivery map, and transport the goods corresponding to the picking order information to the target location may refer to that the intelligent main bodies rapidly move to a fast channel closest to the intelligent target shelf according to the generated delivery map, and the intelligent main bodies select a path of the fast channel according to the positions of the channels between the shelves, and go to a suitable branch unloading channel to perform an unloading task along a main unloading channel according to information of their carried goods after moving out of a shipment region via the fast channel.
[0040] It may be known from the above technical solution provided in the present application that the upper computer receives the picking order information and updates the task information pheromone according to the current handling task completion status and the picking order information; the intelligent main bodies move to the intelligent target shelf to perform a picking task according to the task information pheromone; and the intelligent target shelf loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone. Since the upper computer may update the task information pheromone in time, the intelligent main bodies may perform the delivery task according to new task information pheromone. Therefore, the technical solution provided by the present application enables both the average waiting time and the 7 average handling time of each intelligent main body during picking to be shortened and both a fetching and handling task path per order and/or the total fetching and handling path to be 1971998 optimized, thereby lowering the picking cost as a whole.
[0041] Reference is made to FIG. 2, which is a schematic diagram showing a structure of a picking system in an unattended environment according to an embodiment of the present application. The system may include an upper computer 201, intelligent main bodies 202, and an intelligent target shelf 203, wherein
[0042] the upper computer 201 is configured to receive picking order information and update a task information pheromone according to a current handling task completion status and the picking order information;
[0043] the intelligent main bodies 202 are configured to move to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and
[0044] the intelligent target shelf 203 is configured to load goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone.
[0045] In a possible implementation, an upper computer 203 includes a handling task information calculating module, a determining module and an encoding module, wherein
[0046] the handling task information calculating module is configured to perform split calculation on the picking order information to obtain handling task information, wherein the handling task information includes goods category information and quantity;
[0047] the determining module is configured to determine whether the current incomplete handling task has been updated, and if the current incomplete handling task has been updated, calculate a global information pheromone according to current incomplete handling task information; and
[0048] the encoding module is configured to encode the information pheromone to obtain a two-dimensional code, and then display it in dynamic navigation regions of channels between the shelves.
[0049] In a possible implementation, each of the intelligent main bodies 202 may include a decoding module, a path selecting module and an information acquiring module, wherein
[0050] the decoding module is configured to scan dynamic two-dimensional codes located in dynamic navigation regions of the channels between the shelves, and decode the dynamic two-dimensional codes to obtain the task information pheromone and position coordinate 8 information; LU101993
[0051] the path selecting module is configured to select a path to move towards the intelligent target shelf according to a direction selection algorithm; and
[0052] the information acquiring module is configured to acquire a specific entrance of the intelligent target shelf according to two-dimensional codes of static navigation regions and then enter the intelligent target shelf.
[0053] In a possible implementation, an intelligent target shelf 203 may include an identity recognizing module, a triggering module and a transmitting module, wherein
[0054] the identity recognizing module is configured to recognize identities of the intelligent main bodies;
[0055] the triggering module is configured to trigger a delivery progress after successfully identifying the intelligent main bodies, and load the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone; and
[0056] the transmitting module is configured to transmit goods placing information to the information processing system.
[0057] In a possible implementation, the intelligent main bodies 202 perform the delivery task according to the generated delivery map, and transport the goods corresponding to the picking order information to the target location. Particularly, the intelligent main bodies 202 rapidly move to a fast channel closest to the intelligent target shelf 203 according to the generated delivery map, select a path of the fast channel according to positions of the channels between the shelves, and go to a suitable branch unloading channel for an unloading task along a main unloading channel according to information of their carried goods after moving out of a shipment region via the fast channel.
[0058] It should be noted that the picking system provided by the above-mentioned embodiment is merely illustrated by the division of each of the above-mentioned functional modules when controlling the intelligent bus fleet. During actual application, it is possible to achieve the above-mentioned functional distribution by the different functional modules as required, i.e., an internal structure of the system is divided into different functional modules so as to achieve all or a part of the functions described above. In addition, the picking system in the unattended environment provided by the above-mentioned embodiment has the same concept with the embodiment of the picking method in the unattended environment, and the specific implementation process and technical effect of the picking system may specifically refer to the 9 embodiment of the method, the descriptions thereof will be omitted herein. LU101993
[0059] An embodiment of the present application further provides a picking system in an unattended environment as shown in FIG. 3 which is a schematic diagram showing a structure of the picking system in the unattended environment related to the embodiment of the present application. Specifically,
[0060] the picking system in the unattended environment may include components such as a processor 301 with one or more processing cores, a memory 302 with one or more computer readable storage media, a power supply 303 and an input unit 304. It should be understood for those skilled in the art that a structure of the picking system in the unattended environment as shown in FIG. 3 does not limit the picking system in the unattended environment, the picking system in the unattended environment may include more or less components than those in the figure, or be combined with some components, or be provided with different components.
[0061] The processor 301 is a control center of the picking system in the unattended environment, is connected with all portions of the overall picking system in the unattended environment by virtue of various interfaces and circuits and is used for performing various functions of the picking system in the unattended environment and processing data by operating or executing software programs and/or modules stored in the memory 302 and calling data stored in the memory 302 so as to monitor the picking system in the unattended environment as a whole. Optionally, the processor 301 may include one or more processing cores. Preferably, the processor 301 may be integrated with an application processor and a modulation and demodulation processor, wherein the application processor is mainly used for processing an operating system, a user interface, an application program and the like, and the modulation and demodulation processor is mainly used for processing wireless communication. It should be understood that the above-mentioned modulation and demodulation processor is not integrated into the processor 301.
[0062] The memory 302 may be configured to store the software programs and modules, and the processor 301 executes various functional applications and data processing by operating the software programs and modules stored in the memory 302. The memory 302 may mainly include a program storage region and a data storage region, wherein the program storage region may be used for storing an operating system, an application program required by at least one function (such as a sound playing function and an image playing function) and the like; and the data storage region may be used for storing data and the like created according to the use of the picking system in the unattended environment. In addition, the memory 302 may include a high-speed random access memory and may further include a nonvolatile memory such as at least one magnetic disk storage device, a flash memory device or other volatile solid-state memory devices. Accordingly, the memory 302 may further include a memory controller so as 01993 to provide access of the processor 301 to the memory 302.
[0063] The picking system in the unattended environment further includes the power supply 303 for supplying power to each component. Optionally, the power supply 303 may be logically connected with the processor 301 by a power management system, so that functions such as charging management, discharging management and power consumption management are achieved by the power management system. The power supply 303 may further include any component of one or more direct-current or alternating-current power supply, a recharging system, a power failure detection circuit, a power adapter or inverter, a power state indicator and the like.
[0064] The picking system in the unattended environment may further include the input unit 304 which may be configured to receive input figure or character information and generate keyboard, mouse, operating rod and optical or trackball signal inputs related to user setting and functional control.
[0065] Although it is not shown, the picking system in the unattended environment may further include a display unit and the like, the descriptions thereof will be omitted herein. Specifically, in the embodiment, the processor 301 of the picking system in the unattended environment may load executable files corresponding to progresses of one or more application programs to the memory 302 according to the following instructions, and the application programs stored in the memory 302 are operated by the processor 301, so that various functions are achieved. The instructions are described as follows: the upper computer receives the picking order information, and updates the task information pheromone according to the current handling task completion status and the picking order information; the intelligent main bodies move to the intelligent target shelf to perform the picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in the intelligent group; and the intelligent target shelf loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone.
[0066] The specific embodiment of each of the above-mentioned operations may refer to the foregoing embodiment, the descriptions thereof will be omitted herein.
[0067] It may be known from the above technical solution provided in the present application that the upper computer receives the picking order information and updates the task information pheromone according to the current handling task completion status and the picking order 11 information; the intelligent main bodies move to the intelligent target shelf to perform the picking task according to the task information pheromone; and the intelligent target shelf loads 01993 the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone. Since the upper computer may update the task information pheromone in time, the intelligent main bodies may perform the delivery task according to a new task information pheromone. The technical solution provided by the present application enables both the average waiting time and the average handling time of each intelligent main body during picking to be shortened and both a fetching and handling task path per order and/or the total fetching and handling path to be optimized, thereby lowering the picking cost as a whole.
[0068] It should be understood for those ordinarily skilled that all or a part of steps of various methods in the above-mentioned embodiments may be implemented by instructions or hardware related to instruction control, and the instructions may be stored in a computer readable storage medium and loaded and executed by a processor.
[0069] Therefore, an embodiment of the present application provides a computer readable storage medium in which a plurality of instructions are stored, and the instructions may be loaded by the processor, so as to perform steps of a picking method in an unattended environment provided by the embodiment of the present application. For example, the instructions may be used for performing the following steps: the upper computer receives the picking order information and updates the task information pheromone according to the current handling task completion status and the picking order information; the intelligent main bodies move to the intelligent target shelf to perform the picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and the intelligent target shelf loads the goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone.
[0070] The specific implementation of each of the above-mentioned operations may refer to the foregoing embodiment, the descriptions thereof will be omitted herein.
[0071] The computer readable storage medium may include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and the like.
[0072] The instructions stored in the computer readable storage medium may be used for performing the steps of any one picking method in an unattended environment provided by the embodiment of the present application. Therefore, beneficial effects which may be achieved by any one picking method in the unattended environment provided by the embodiment of the 12 present application may be achieved, specifically referring to the foregoing embodiments, the descriptions thereof will be omitted herein. HU101993
[0073] The picking method and system in the unattended environment as well as the computer readable storage medium according to the embodiments of the present application have been introduced in detail as above. The principle and implementations of the present application are described by applying specific examples herein, and the descriptions of the above-mentioned embodiments are merely intended to help the understanding of the method and the core concept thereof in the present application. Meanwhile, those skilled in the art may make modifications on the specific implementations and the application range according to the concept of the present application. In summary, the content of the specification should not be regarded as a limitation to the present application.
13
Claims (10)
1. A picking method in an unattended environment, comprising: receiving picking order information and updating a task information pheromone according to a current handling task completion status and the picking order information by an upper computer; making intelligent main bodies move to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and loading goods corresponding to the picking order information to the intelligent main bodies by the intelligent target shelf according to task information corresponding to the task information pheromone.
2. The picking method in an unattended environment according to claim 1, wherein the receiving picking order information and updating a task information pheromone according to a current handling task completion status and the picking order information by an upper computer comprises: performing split calculation on the picking order information by the upper computer to obtain handling task information, wherein the handling task information comprises goods category information and quantity; determining whether a current incomplete handling task has been updated by the upper computer, and if the current incomplete handling task has been updated, calculating a global information pheromone according to current incomplete handling task information; and encoding the information pheromone to obtain a two-dimensional code and then displaying it in dynamic navigation regions of channels between the shelves by the upper computer.
3. The picking method in an unattended environment according to claim 1, wherein the making intelligent main bodies move to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group comprises: scanning dynamic two-dimensional codes located in dynamic navigation regions of channels between the shelves and decoding the dynamic two-dimensional codes by the intelligent main bodies to obtain the task information pheromone and position coordinate information; 14 selecting a path to move towards the intelligent target shelf by the intelligent main bodies LU101993 according to a direction selection algorithm; and obtaining a specific entrance of the intelligent target shelf by the intelligent main bodies according to two-dimensional codes of static navigation regions and then making the intelligent main bodies enter the intelligent target shelf.
4. The picking method in an unattended environment according to claim 1, wherein the loading goods corresponding to the picking order information to the intelligent main bodies by the intelligent target shelf according to task information corresponding to the task information pheromone comprises: recognizing identities of the intelligent main bodies by the intelligent target shelf; triggering a delivery progress after successfully identifying the intelligent main bodies and loading the goods corresponding to the picking order information to the intelligent main bodies by the intelligent target shelf according to task information corresponding to the task information pheromone; and transmitting goods placing information to an information processing system by the intelligent target shelf.
5. The picking method in an unattended environment according to any one of claims 1 to 4, further comprises: performing a delivery task according to a generated delivery map and transporting the goods corresponding to the picking order information to a target location by the intelligent main bodies.
6. The picking method in an unattended environment according to claim 1, wherein the performing the delivery task according to a generated delivery map and transporting the goods corresponding to the picking order information to a target location by the intelligent main bodies comprises: making the intelligent main bodies rapidly move to a fast channel closest to the intelligent target shelf according to the generated delivery map; selecting a path of the fast channel by the intelligent main bodies according to positions of channels between shelves; and making the intelligent main bodies to go to a suitable branch unloading channel to perform an unloading task along a main unloading channel according to information of their carried goods after moving out of a shipment region via the fast channel.
7. A picking system in an unattended environment, comprising: LU101993 an upper computer, which is configured to receive picking order information and update a task information pheromone according to a current handling task completion status and the picking order information; intelligent main bodies, which are configured to move to an intelligent target shelf to perform a picking task according to the task information pheromone, wherein the intelligent main bodies are individual intelligent bodies in an intelligent group; and an intelligent target shelf, which is configured to load goods corresponding to the picking order information to the intelligent main bodies according to task information corresponding to the task information pheromone.
8. The picking system in an unattended environment according to claim 7, wherein the upper computer comprises: a handling task information calculating module, which is configured to perform split calculation on the picking order information to obtain handling task information, wherein the handling task information comprises goods category information and quantity; a determining module, which is configured to determine whether a current incomplete handling task has been updated, and if the current incomplete handling task has been updated, calculate a global information pheromone according to current incomplete handling task information; and an encoding module, which is configured to encode the information pheromone to obtain a two-dimensional code and then display it in dynamic navigation regions of channels between shelves.
9. A picking system in an unattended environment, comprising a memory, a processor and a computer program stored in the memory and being capable of running on the processor, wherein a computer program is loaded and executed by the one or more processors to implement steps of the method according to any one of claims 1 to 6.
10. A computer readable storage medium in which a computer program is stored, wherein the computer program implements steps of the step according to any one of claims 1 to 6 when being executed by the processor.
16
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| Application Number | Priority Date | Filing Date | Title |
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| LU101993A LU101993B1 (en) | 2020-08-21 | 2020-08-21 | Picking method and system in unattended environment, and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| LU101993A LU101993B1 (en) | 2020-08-21 | 2020-08-21 | Picking method and system in unattended environment, and computer readable storage medium |
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| Publication Number | Publication Date |
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| LU101993B1 true LU101993B1 (en) | 2021-03-08 |
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| LU101993A LU101993B1 (en) | 2020-08-21 | 2020-08-21 | Picking method and system in unattended environment, and computer readable storage medium |
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| LU (1) | LU101993B1 (en) |
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