WO2020211565A1

WO2020211565A1 - Rapid warehouse configuration method, apparatus, and storage medium

Info

Publication number: WO2020211565A1
Application number: PCT/CN2020/078047
Authority: WO
Inventors: 杨志钦; 郑晓琨; 刘俊斌; 高博; 王翔宇
Original assignee: 炬星科技（深圳）有限公司
Priority date: 2019-04-14
Filing date: 2020-03-05
Publication date: 2020-10-22
Also published as: CN110189068A; CN110189068B; JP2020172400A; JP6746819B1

Abstract

A rapid warehouse configuration method, comprising: after obtaining warehouse information of a warehouse, determining rack layout information in the warehouse according to the warehouse information and preconfigured warehouse deployment rules (S101); after arranging multiple sets of racks in the warehouse according to the rack layout information, using a robot to draw a depositary map in the warehouse (S102); and establishing a correspondence between preconfigured depositary place identifications of depositary places and each depositary place in the depositary map (S103). The method can implement the rapid deployment of racks in a warehouse; and after the racks are deployed, a depositary map can be drawn quickly. After the deployment of the warehouse, it is only needed to put goods into depositary places of the racks, and then the depositary map and the correspondence between depositary place identifications and depositary places are used to complete robot picking; and a surge in demand for goods from e-commerce companies during an event can be rapidly responded. Furthermore, the present invention further relates to an apparatus and a storage medium.

Description

Method, equipment and storage medium for quick configuration of warehouse

Technical field

This application relates to the field of smart devices, and in particular to a method, equipment and storage medium for rapid warehouse configuration.

Background technique

At present, e-commerce is developing very rapidly, and customer orders are increasing rapidly. In order to improve the efficiency of picking and meet the growing demand for orders, various logistics equipment manufacturers have introduced different types of equipment. The most representative one is AGV (Automated Guided Vehicle, automatic guided transport vehicle) and AS/RS (Automated Storage and Retrieval System, automatic warehousing system), the principles of the two are basically the same. They both put the goods in the bin, and then push the bin to the picking workstation through the robot, and then the picking staff will follow the system interface Prompt to pick the corresponding product.

Although these two types of equipment solve the problem of people moving during the picking process, the cost of the solution is high, and the overall change of the warehouse is large. It is difficult for ordinary e-commerce companies to afford and promote large-scale use. .

technical problem

In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a method, equipment and storage medium for rapid warehouse configuration.

Technical solutions

In the first aspect, a method for quickly configuring a warehouse, the method includes:

After obtaining the warehouse information of the warehouse, determine the shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; each group of the shelves includes multiple storage positions;

After arranging multiple sets of shelves in the warehouse according to the shelf layout information, use a robot to draw a warehouse map in the warehouse; the warehouse map includes: warehouse map, shelf position, and storage location;

Establish the corresponding relationship between the preset storage location mark of the storage location and each storage location in the storage map.

In the second aspect, the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program as in the first The warehouse quick configuration method described in any one of the aspects.

In a third aspect, this application provides a storage medium, characterized in that the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement On the one hand, any one of the warehouse quick configuration methods.

Beneficial effect

According to the method, equipment and storage medium for rapid warehouse configuration provided by the embodiments of this application, when the warehouse is deployed, only the warehouse information is required to quickly generate the shelf layout information corresponding to the warehouse, and after the shelf layout is completed, You can quickly create a warehouse map of the warehouse, and establish the corresponding relationship between the preset storage location mark of the storage location and each storage location in the storage map. The deployment and construction of the warehouse can be completed quickly and automatically, and the deployed warehouse only needs to put the goods into the storage position of the shelf, and then the corresponding relationship between the storage map and the storage position identification and the storage position can be used to complete the robot picking, which can respond quickly E-commerce companies have a surge in demand for goods during the event.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments in accordance with the present invention, and together with the specification are used to explain the principle of the present invention.

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, those of ordinary skill in the art are In other words, other drawings may be obtained based on these drawings without creative labor.

Figure 1 is a schematic diagram of a quick warehouse deployment provided by an embodiment of the application;

Figure 2 is a schematic structural diagram of a shelf provided by an embodiment of the application;

FIG. 3 is a schematic flowchart of a method for quickly configuring a warehouse according to an embodiment of the application;

FIG. 4 is a detailed flowchart diagram of step S101 shown in FIG. 3;

FIG. 5 is a schematic diagram of another process of a method for quickly configuring a warehouse according to an embodiment of the application;

FIG. 6 is a schematic diagram of another process of a method for quickly configuring a warehouse according to an embodiment of the application;

FIG. 7 is a detailed flowchart of step S102 in FIG. 3;

FIG. 8 is a schematic diagram of the structure of a shelf and a label provided by an embodiment of the application;

9 is a schematic diagram of a structure of coordinates in a warehouse provided by an embodiment of the application;

FIG. 10 is a schematic diagram of another process of a method for quickly configuring a warehouse according to an embodiment of the application;

FIG. 11 is a detailed flowchart of step S1021 in FIG. 7;

FIG. 12 is a detailed flowchart of step S1023 in FIG. 7;

FIG. 13 is a detailed flowchart of step S1023 in FIG. 7;

FIG. 14 is a detailed flowchart of step S1024 in FIG. 7;

FIG. 15 is a schematic diagram of another process of a method for quickly configuring a warehouse according to an embodiment of the application;

FIG. 16 is a schematic structural diagram of a warehouse quick configuration device provided by an embodiment of the application;

FIG. 17 is a schematic structural diagram of an electronic device provided by an embodiment of the application.

The best mode of the invention

Type here a paragraph describing the best mode of the invention.

Embodiments of the invention

Type here the description paragraph v/f of the embodiment of the present invention

Where f is the focal length of the camera.

S10236: Convert the third reference three-dimensional coordinates of the vertex to the target three-dimensional coordinates in the warehouse coordinate system according to the motion pose.

In the embodiment of the present application, the posture of the image sensor is T, then the target three-dimensional coordinate Pw=T*Pc, that is, the target posture is calculated.

Since the three-dimensional coordinates Pc are in the coordinate system of the image acquisition sensor, the target three-dimensional coordinates can be obtained through conversion according to the movement posture of the image acquisition sensor.

S10237: Calculate the plane coordinates of the identification code according to the three-dimensional coordinates of the target as the identification position.

In an embodiment of the present application, as shown in FIG. 14, the foregoing step S1024 may further include the following steps:

S10241: Determine the location area of the shelf corresponding to the same group of identifiers according to the identifier positions belonging to the same group of identifiers.

Referring to Figure 9, since the identifications on each shelf are the same group of identifications, the location area of the shelf can be determined according to the acquired identification information. In Figure 9, after the four corners of the shelf are determined, the four corners The enclosed area is the location area of the shelf.

S10242: Perform regional division of the location area according to the number of single-layer storage positions in the preset storage position information to obtain the plane coordinates of each layer of storage positions.

For each shelf, see Figure 8 for details. As shown in Figure 8, according to the positions of the eight signs a, b, c, d, e, f, g and h, eight signs on the warehouse floor are obtained At the same time, it can also calculate the linear distance between the four corners of the corresponding shelf. For example, the distance between (a,b) and (c,d) is 4 meters, and the distance between (a,b) and (g,h) is 1.6 meters. Assuming that the preset storage position information is that the width of the storage box is 0.5 meters and the length is 0.8 meters, it can be automatically calculated that the shelf has 8 storage boxes in the X-axis direction and two storage boxes in the Y-axis direction. The plane coordinates are the coordinates in the plane coordinate system composed of xy in Figure 9.

S10243: Use the plane coordinates of the storage position as the storage position.

In the foregoing embodiment, the identifiers set on the shelves can be used to locate the identified location, shelf location, and storage location. After the storage map is created, the robot can operate according to the storage map, but the robot is actually running As the running time accumulates, there will be some deviations in its position positioning. Since the position of the mark is determined at this time, then during the movement of the robot, these marks set on the shelf can also be used to determine the position of the robot. calibration.

As shown in Figure 15, the method may further include the following steps:

S1301: When the robot uses the warehouse map to pick goods, use the robot positioning system to collect the positioning position of the robot in the warehouse.

In the embodiment of the present application, the robot can perform positioning calibration at regular intervals according to a set time interval. In addition, it can also perform position calibration when a position error occurs when the robot picks goods.

When calibrating, you first need to obtain the positioning position collected by the robot using its own positioning system as the basis for calibration.

S1302: Obtain the identification information on the shelf collected by the robot at the positioning position, and calculate the calculated position of the robot according to the identification position corresponding to the identification information.

Refer to the foregoing process of calculating the marked position of the mark according to the position of the robot. On the contrary, when the marked mark position is known, the current calculated position of the robot can be calculated backward. The calculation process of the position will not be repeated here. For details, please refer to the foregoing description.

S1303: Calculate the position deviation between the calculated position and the positioning position.

S1304: Use the position deviation to calibrate the positioning position.

In the embodiment of the present application, calibration can be performed when a deviation occurs. In addition, the tolerance of the position deviation can be set as required, as long as the calibration is performed when the position deviation is greater than a preset value.

FIG. 16 is a schematic structural diagram of a warehouse rapid configuration device provided by an embodiment of the application. As shown in FIG. 16, the device specifically includes:

The layout information determining module 001 is configured to determine the shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules after acquiring the warehouse information of the warehouse; each group of the shelves includes multiple storage positions;

The map drawing module 002 is used to draw a storage map in the warehouse by a robot after multiple sets of shelves are arranged in the warehouse according to the shelf layout information; the storage map includes: shelf positions and storage positions;

The corresponding relationship establishment module 003 is used to establish the corresponding relationship between the preset storage location identifier of the storage location and each storage location in the storage map.

The warehouse quick configuration device provided in this embodiment can execute all the steps of the aforementioned warehouse quick configuration method, thereby realizing the technical effects of the aforementioned warehouse quick configuration method. For details, please refer to the aforementioned description of the warehouse quick configuration method. It is a concise description and will not be described here. Repeat.

FIG. 17 is a schematic structural diagram of an electronic device provided by an embodiment of the application. As shown in FIG. 17, the electronic device specifically includes:

The processor 1310, the memory 1320, and the transceiver 1330.

The processor 1310 may be a graphics processing unit GPU, a central processing unit (central processing unit, CPU), or a combination of a CPU and a hardware chip. The above hardware chip may be an application-specific integrated circuit (application-specific integrated circuit, ASIC), programmable logic device (programmable logic device, PLD) or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (field-programmable gate array, FPGA), generic array logic (generic array logic, GAL) or any combination.

The memory 1320 is used to store various applications, operating systems and data. The memory 1320 may transmit the stored data to the processor 1310. The memory 1320 may include volatile memory, nonvolatile random access memory (NVRAM), phase change RAM (PRAM), magnetoresistive random access memory (magetoresistive RAM, MRAM), etc., such as at least one disk storage device, electronically erasable programmable read-only memory (electrically erasable programmable read-only memory (EEPROM), flash memory devices, such as flash memory (flash memory, NOR) or flash memory (flash memory, NAND), semiconductor devices, such as solid state disks (SSD), etc. The memory 1320 may also include a combination of the aforementioned types of memories.

The transceiver 1330 is used to send and/or receive data. The transceiver 1330 may be an antenna or the like.

The working process of each device is as follows:

The processor 1310 is configured to, after acquiring the warehouse information of the warehouse, determine the shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; each group of the shelves includes multiple storage positions; After the shelf layout information has arranged multiple sets of shelves in the warehouse, a robot is used to draw a warehouse map in the warehouse; the warehouse map includes: warehouse map, shelf position, and storage position; establishing storage position presets The corresponding relationship between the storage location identifier and each storage location in the storage map.

The electronic device provided in this embodiment can perform all the steps of the aforementioned warehouse quick configuration method, thereby realizing the technical effects of the aforementioned warehouse quick configuration method. For details, please refer to the aforementioned description of the warehouse quick configuration method. It is a concise description and will not be repeated here.

The embodiment of the present application also provides a storage medium (computer-readable storage medium). The storage medium here stores one or more programs. Among them, the storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state hard disk; the memory may also include the above types of memory. combination.

When one or more programs in the storage medium can be executed by one or more processors, the above-mentioned method for rapid warehouse configuration executed on the side of the detection device based on real-time ground detection of the target object can be realized.

The processor is used to execute the detection program of the warehouse quick configuration method stored in the memory to implement the following steps of the warehouse quick configuration method executed on the warehouse quick configuration device side: after obtaining the warehouse information of the warehouse, according to the warehouse information And preset warehouse deployment rules to determine the shelf layout information in the warehouse; each group of shelves includes a plurality of storage positions; after multiple sets of shelves are arranged in the warehouse according to the shelf layout information, the robot is used to draw the The storage map in the warehouse; the storage map includes: shelf positions and storage location locations; establishing the corresponding relationship between the preset storage location identifier of the storage location and each storage location in the storage map.

The above are only specific embodiments of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined in this document can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features applied in this document.

Industrial applicability

The embodiment of the application provides that when deploying a warehouse, only the warehouse information is required to quickly generate shelf layout information corresponding to the warehouse, and after the shelf layout is completed, the warehouse map of the warehouse can also be quickly created, and Establish the corresponding relationship between the preset storage location mark of the storage location and each storage location in the storage map. This method can realize the rapid deployment of shelves in the warehouse, and after the shelves are deployed, the warehouse map can be drawn quickly. After the deployment of the warehouse, the warehouse map, storage location identification and storage location can be used only by placing the goods in the storage location of the shelf. The corresponding relationship of the robot to complete the robot picking can quickly respond to the rapid increase in the demand for goods by e-commerce companies during the event. Therefore, it has industrial applicability.

Claims

A method for quickly configuring a warehouse, the method comprising:

After obtaining the warehouse information of the warehouse, determine the shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; each group of the shelves includes multiple storage positions;

After arranging at least one set of shelves in the warehouse according to the shelf layout information, use a robot to draw a warehouse map in the warehouse; the warehouse map includes: a warehouse map, a shelf position, and a storage position;

Establish the corresponding relationship between the preset storage location mark of the storage location and each storage location in the storage map.
The method according to claim 1, wherein the warehouse information includes: warehouse area, the position of the door in the warehouse, and warehouse size, and the preset warehouse deployment rules include: operating lines, spacing between shelves, and shelf distance The distance to the warehouse wall.
The method according to claim 2, wherein determining the shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules includes:

Determine the shelf arrangement area in the warehouse according to the warehouse area, the position of the door in the warehouse, the warehouse size and the operation line;

According to the spacing between the shelves and the distance between the shelves and the warehouse wall, determine the number of shelves in the shelf arrangement area and determine the relative position of each shelf;

The shelf arrangement area, the number of shelves and the relative position of the shelves are determined as the shelf layout information.
The method according to claim 2, wherein the warehouse information further comprises: demand information of commodities expected to be stored in the warehouse,

The determining the shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules further includes:

According to the spacing between the shelves, the distance between the shelves and the warehouse wall, and the demand information, the number of shelves is determined in the shelf arrangement area, and the relative position of each shelf is determined.
The method according to claim 2, wherein the drawing a warehouse map in the warehouse using a robot comprises:

Generate a warehouse map of the warehouse according to the sensing data collected when the robot moves in the warehouse;

Acquire the movement pose of the robot in real time, and obtain the identification information of the identification on the shelf collected by the image acquisition sensor on the robot; at least one shelf is provided in the warehouse, and at least one set of identification is set on each shelf. Is provided with at least one mark on the outer contour surface;

Based on the movement pose and the identification information, determine the identification position of the identification in the warehouse map;

Determine the shelf position of the shelf and the storage position of the storage position on the shelf in the warehouse map according to the preset storage position information of the shelf and the identified position;

The storage map of the warehouse is determined according to the warehouse map, shelf positions and storage location positions.
The method according to claim 2, wherein the method further comprises:

Generate at least one set of identifiers corresponding to each shelf, and each set of identifiers includes at least one identifier;

The fixed position of each mark in the set of marks on the shelf is determined, and the corresponding relationship between each mark and its fixed position is established.
The method according to claim 6, wherein the establishing the corresponding relationship between the preset storage location identifier of the storage location and each storage location in the storage map comprises:

Fix the preset storage location identifiers on the respective corresponding storage locations.
The method according to any one of claims 1-7, wherein the method further comprises:

Obtain the attribute information of the commodity placed on the storage location;

The corresponding relationship between the attribute information of the commodity on the storage location and the preset storage location identification of the storage location is established.
An electronic device, comprising: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements any one of claims 1 to 7 when the program is executed Quick configuration method for warehouse.
A storage medium, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors, so as to realize the warehouse rapid configuration method according to any one of claims 1 to 7 .