WO2022027357A1 - Procédé et système de prélèvement de marchandises dans un environnement inhabité, et support de stockage lisible par ordinateur - Google Patents

Procédé et système de prélèvement de marchandises dans un environnement inhabité, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2022027357A1
WO2022027357A1 PCT/CN2020/107200 CN2020107200W WO2022027357A1 WO 2022027357 A1 WO2022027357 A1 WO 2022027357A1 CN 2020107200 W CN2020107200 W CN 2020107200W WO 2022027357 A1 WO2022027357 A1 WO 2022027357A1
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information
intelligent
task
goods
bill
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PCT/CN2020/107200
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English (en)
Chinese (zh)
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程涛
于欣佳
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深圳技术大学
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Priority to PCT/CN2020/107200 priority Critical patent/WO2022027357A1/fr
Publication of WO2022027357A1 publication Critical patent/WO2022027357A1/fr

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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

Definitions

  • the present application relates to the field of intelligent warehousing, and in particular, to a method, system and computer-readable storage medium for picking up goods in an unmanned environment.
  • Smart warehousing is a smart logistics warehousing management system, management concept and method realized through mechatronics, materialization, networking, informatization and intelligence, etc. Transportation and service capabilities, improve operation, management efficiency, energy efficiency and greatly reduce operating costs.
  • AGVs automated guided vehicles
  • the existing AGV pick-up method is generally that after the AGV receives the pick-up instruction, it runs to the pick-up point to pick up the goods according to the instruction, and then returns to the delivery port to unload the goods under the pre-designed path.
  • the embodiments of the present application provide a method, system and computer-readable storage medium for picking up goods in an unmanned environment, so as to solve various problems of the existing methods for picking up goods in an unmanned environment.
  • the technical solution is as follows:
  • a method for picking up goods in an unmanned environment comprising:
  • the host computer receives the bill of lading information, and updates the task information pheromone according to the current handling task completion status and the bill of lading information;
  • the intelligent subject moves to the target intelligent shelf to perform the task of picking up the goods, and the intelligent subject is a single intelligent body in the intelligent group;
  • the target smart shelf executes loading the goods corresponding to the bill of lading information to the intelligent main body according to the task information corresponding to the task information and the pheromone.
  • a delivery system in an unmanned environment includes:
  • the upper computer is used to receive the bill of lading information, and update the task information pheromone according to the completion status of the current handling task and the information of the bill of lading;
  • an intelligent subject used for moving to the target intelligent shelf to perform the task of picking up goods according to the task information pheromone, and the intelligent subject is a single intelligent body in the intelligent group;
  • the target smart shelf is configured to load the goods corresponding to the bill of lading information to the intelligent main body according to the task information corresponding to the task information and the hormones.
  • a system for picking up goods in an unmanned environment comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program code consisting of the one or the Multiple processors are loaded and executed to implement the operations performed by the pickup method in an unmanned environment.
  • a computer-readable storage medium stores a computer program loaded and executed by a processor to implement operations performed by the method for picking up goods in an unmanned environment.
  • the host computer receives the delivery note information, and updates the task information pheromone according to the current handling task completion status and the delivery note information, and according to the task information pheromone, the intelligent subject moves to the target smart shelf to perform the delivery task.
  • the target smart shelf loads the goods corresponding to the bill of lading information to the intelligent main body according to the task information corresponding to the task information pheromone. Since the host computer can update the task information pheromone in time, the intelligent subject can perform the delivery task according to the new task information pheromone. Therefore, the technical solution provided in this application makes the average waiting time and pick-up time of each intelligent subject to be different when picking up the goods. Shortening, the task path of each pick-up and handling task and/or the total pick-up and handling path are optimized, and the overall pick-up cost is reduced.
  • FIG. 1 is a flowchart of a method for picking up goods in an unmanned environment provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a delivery system in an unmanned environment provided by an embodiment of the present application
  • FIG. 3 is a schematic functional structural diagram of a delivery system in an unmanned environment provided by another embodiment of the present application.
  • FIG. 1 it is a method for picking up goods in an unmanned environment provided by an embodiment of the present application.
  • the method mainly includes the following steps S101 to S103, which are described in detail as follows:
  • Step S101 The host computer receives the delivery note information, and updates the task information pheromone according to the current handling task completion status and the delivery note information.
  • the bill of lading information includes the goods and their attributes (for example, the quantity, weight, size, etc. of the goods), the basic information and dynamic and static status of the intelligent subject, information related to obstacles, etc., the completion status of the current handling task and the delivery status of the goods.
  • the task information corresponding to the task information pheromone is formed.
  • the task information pheromone is used to guide the intelligent subject to the target smart shelf of the handling task.
  • the goods storage area of the warehouse has m rows and n columns, a total of m ⁇ n smart shelves, then there are m-1 rows and n-1 columns, a total of (m+n-2) intelligent main body channels, and the intelligent main body channels have a total of ( There are m-1) ⁇ (n-1) intersections.
  • k task is represented by the sub-smart shelf position and task intensity information ⁇ k
  • ⁇ k can be represented by the intelligent subject required by the handling task
  • the number k count and the priority p k of the task are constructed, and the construction formula is as follows:
  • the task information pheromone ph i of the intersection depends on the position of the node to all unfinished handling task points displacement information and task intensity information, and the task information pheromone of each task point is a vector. If the vectors are simply accumulated, the phenomenon of vector cancellation will occur, so that the real information pheromone of the node cannot be truly reflected. Therefore, in the embodiment of the present application, the information pheromone of each task point is calculated along the two-dimensional rectangular coordinates The direction of the coordinate axis in the system is decomposed orthogonally, and the four directions of the positive and negative of the two coordinate axes are accumulated to obtain the task information pheromone of the node. The strength of the task information pheromone represents the amount of the task in each direction.
  • the host computer receives the bill of lading information, and updates the task information according to the current handling task completion status and the bill of lading information.
  • the pheromone may be: the host computer splits and calculates the bill of lading information to obtain the transport task information , the host computer determines whether the current unfinished handling task has been updated. If there is an update, the global information pheromone is calculated according to the information of the currently uncompleted handling task.
  • the code is displayed in the dynamic navigation area of the aisle between the shelves, where the handling task information includes the category information and quantity of the goods.
  • the information processing system that communicates with the host computer also sends the transport task information to the target smart shelf, and the information processing system periodically refreshes the completion status of all transport tasks.
  • Step S102 According to the task information pheromone, the intelligent subject moves to the target smart shelf to perform the task of picking up the goods, wherein the intelligent subject is a single intelligent body in the intelligent group.
  • the intelligent subject is a single intelligent body in the intelligent group, and the intelligent group here is a group of intelligent subjects that can make collaborative decisions and self-organize to complete complex tasks, for example, a group of automated guided vehicles (Automated Guided Vehicle, AGV) group.
  • AGV Automated Guided Vehicle
  • the intelligent subject moves to the target intelligent shelf to perform the task of picking up the goods.
  • the intelligent subject scans the dynamic two-dimensional code located in the dynamic navigation area of the channel between the shelves, and decodes the dynamic two-dimensional code to obtain Task information pheromone and position coordinate information, according to the direction selection algorithm, the intelligent subject selects a path to move to the target smart shelf.
  • the intelligent subject obtains the specific entrance of the target smart shelf and enters the target smart shelf.
  • the above-mentioned direction selection algorithm may be a shortest path algorithm such as the A* algorithm.
  • the direction selection algorithm may be the following steps S1021 to S1026:
  • S1021 Initialize the target node, the open table and the closed table of the A* algorithm, put the starting node, that is, the current location of the intelligent agent, into the open table, and empty the closed table.
  • the open table can be used to store traversal All nodes of
  • the closed table can be used to store the target node that has been found, the node is the grid center point of the gridded map;
  • S1022 Determine whether the open table is empty, if the open table is empty, end the algorithm, otherwise, take a node n from the header of the open table;
  • step S1024 expand all subsequent nodes of node n to form directly related sub-nodes, determine whether these directly related sub-nodes are in the closed table, if so, enter step S1025, otherwise, put the directly related sub-nodes into the open table;
  • step S1026 Perform minimum heap sorting on the cost estimate f'(n) in the open table, such as minimum binary heap sorting, place the node with the smallest cost estimate f'(n) in the header of the open table, and return to step S1022 Loop the above steps until the target node appears in the closed list or the open list is empty.
  • Step S103 The target smart shelf executes the loading of the goods corresponding to the bill of lading information to the intelligent main body according to the task information corresponding to the task information pheromone.
  • the target smart shelf performs the loading of the goods corresponding to the bill of lading information to the intelligent subject according to the task information corresponding to the task information and the pheromone.
  • the intelligent subject may be: the target intelligent shelf identifies the intelligent subject, and after the identification is successful, the target intelligent The shelf triggers the delivery process, and loads the goods corresponding to the bill of lading information to the intelligent subject according to the task information corresponding to the task information and the hormone, and the target intelligent shelf transmits the goods delivery information to the information processing system.
  • the target smart shelf loads the goods corresponding to the bill of lading information to the intelligent subject according to the task information corresponding to the task information and the hormones
  • the above method further includes: the intelligent subject executes the delivery task according to the generated delivery map, and the information of the bill of lading corresponds to the goods. Ship to the destination location.
  • the generation method of the above delivery map is as follows: first, an initialization interface is generated; then, map parameters are collected, including the number of horizontal coordinate points, the number of vertical coordinate points, the horizontal and vertical coordinates of the starting coordinate point, the horizontal and vertical intervals of each coordinate point, the initial shelf coordinates, the shelf Size, number of horizontal shelves, number of vertical shelves, horizontal spacing of shelves, vertical spacing of shelves, coordinates of the upper left corner and lower right corner of rectangular obstacles, etc.; according to the above map parameters, calculate the coordinates of all path points, as well as shelf coordinates and obstacles Object coordinates; store the above coordinates in the adjacency matrix (the 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 from left to right, from top to bottom.
  • the two points can be adjacent according to the labels of the two coordinate points), traverse the set of path points, and find out whether there are points to the right and below the current traversal point, if so, in the adjacency matrix
  • the position corresponding to the sequence numbers of the two points is stored in the distance between the two points; the above operations are performed for each traversal until all the path points are traversed, and the adjacency matrix is the container for storing the map model.
  • the relationship between the location and the waypoint is constructed; after obtaining the relevant information of the waypoint, call the relevant API to draw, and generate a rectangular square delivery map.
  • the intelligent subject performs the delivery task according to the generated delivery map, and the delivery of the goods corresponding to the bill of lading information to the target location may be that the intelligent subject quickly moves to the nearest destination smart shelf according to the generated delivery map.
  • the intelligent main body selects the path of the fast channel according to the position of the channel between the shelves. After moving to the shipping area through the fast channel, the intelligent main body goes to the appropriate branch unloading channel along the main unloading channel to perform the unloading task according to the information of the carried goods.
  • the host computer receives the bill of lading information, and updates the task information pheromone according to the current handling task completion status and the bill of lading information, and according to the task information pheromone, the intelligent subject moves to the target smart shelf to pick up goods Task, the target smart shelf loads the goods corresponding to the bill of lading information to the intelligent main body according to the task information and the corresponding task information. Since the host computer can update the task information pheromone in time, the intelligent subject can perform the task of picking up the goods according to the new task information pheromone. Therefore, the technical solution provided in this application makes the average waiting time and pick-up time of each intelligent subject to be different when picking up the goods. Shortening, the task path of each pick-up and handling task and/or the total pick-up and handling path are optimized, and the overall pick-up cost is reduced.
  • FIG. 2 is a schematic structural diagram of a delivery system in an unmanned environment provided by an embodiment of the present application.
  • the system may include a host computer 201, an intelligent main body 202, and a target intelligent shelf 203, wherein:
  • the upper computer 201 is used to receive the bill of lading information, and update the task information pheromone according to the current handling task completion status and the information of the bill of lading;
  • the intelligent main body 202 is used for moving to the target intelligent shelf to perform the task of picking up goods according to the task information pheromone, wherein the intelligent main body is a single intelligent body in the intelligent group;
  • the target smart shelf 203 is used to load the goods corresponding to the bill of lading information to the intelligent main body according to the task information corresponding to the task information and the hormones.
  • the host computer 203 includes a transport task information calculation module, a judgment module and a coding module, wherein:
  • a handling task information calculation module configured to split and calculate the bill of lading information to obtain handling task information, wherein the handling task information includes the category information and quantity of goods;
  • the judgment module is used for judging whether the current unfinished handling task has been updated, and if there is an update, the global information pheromone is calculated according to the information of the currently unfinished handling task;
  • the coding module is used to encode the information pheromone to obtain a two-dimensional code, and display the two-dimensional code in the dynamic navigation area of the channel between the shelves.
  • the intelligent body 202 may include a decoding module, a path selection module and an information acquisition module, wherein:
  • the decoding module is used to scan the dynamic two-dimensional code located in the dynamic navigation area of the inter-shelf passage, and decode the dynamic two-dimensional code to obtain task information pheromone and position coordinate information;
  • the path selection module is used to select the path to move to the target smart shelf according to the direction selection algorithm
  • the information acquisition module is used to obtain the specific entrance of the target smart shelf according to the QR code in the static navigation area and then enter the target smart shelf.
  • the target smart shelf 203 may include an identification module, a trigger module and a transmission module, wherein:
  • Identification module used to identify the intelligent subject
  • the trigger module is used to trigger the delivery process after the intelligent subject is successfully identified, and load the goods corresponding to the bill of lading information to the intelligent subject according to the task information corresponding to the task information and the hormone;
  • the transmission module is used to transmit the information of the delivery of goods to the information processing system.
  • the above-mentioned intelligent main body 202 is further configured to perform a delivery task according to the generated delivery map, and deliver the goods corresponding to the bill of lading information to the target location.
  • the intelligent main body 202 quickly moves to the express lane closest to the target smart shelf 203 according to the generated delivery map, selects the path of the express lane according to the position of the lane between the shelves, and moves to the shipping area through the express lane, according to the load
  • the information of the cargo goes along the main unloading channel to the appropriate branch unloading channel for unloading tasks.
  • the delivery system in the unmanned environment provided by the above embodiment controls the fleet of smart buses
  • only the division of the above functional modules is used as an example for illustration.
  • the function module is completed, that is, the internal structure of the system is divided into different function modules to complete all or part of the functions described above.
  • the system for picking up goods in an unmanned environment provided by the above embodiments and the embodiments of the method for picking up goods in an unmanned environment belong to the same concept, and the specific implementation process and technical effects are detailed in the method embodiments, which will not be repeated here.
  • Embodiments of the present application further provide a delivery system in an unmanned environment.
  • the delivery system in an unmanned environment is shown in FIG. 3 , which shows the structure of the delivery system in an unmanned environment involved in the embodiments of the application.
  • the delivery system in an unmanned environment may include a processor 301 of one or more processing cores, a memory 302 of one or more computer-readable storage media, a power supply 303 and an input unit 304 and other components.
  • a processor 301 of one or more processing cores may include a processor 301 of one or more processing cores, a memory 302 of one or more computer-readable storage media, a power supply 303 and an input unit 304 and other components.
  • FIG. 3 does not constitute a limitation on the delivery system in an unmanned environment, and may include more or less components than those shown, or combinations thereof certain components, or different component arrangements. in:
  • the processor 301 is the control center of the delivery system in the unmanned environment, uses various interfaces and lines to connect various parts of the delivery system in the unmanned environment, and runs or executes the software program stored in the memory 302 and/or module, and call the data stored in the memory 302 to perform various functions of the delivery system in the unmanned environment and process data, so as to perform overall monitoring of the delivery system in the unmanned environment.
  • the processor 301 may include one or more processing cores; preferably, the processor 301 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc. , the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 301.
  • the memory 302 can be used to store software programs and modules, and the processor 301 executes various functional applications and data processing by running the software programs and modules stored in the memory 302 .
  • the memory 302 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; Data created by the use of the delivery system in an unmanned environment, etc.
  • memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, memory 302 may also include a memory controller to provide processor 301 access to memory 302.
  • the delivery system in an unmanned environment also includes a power supply 303 for supplying power to various components.
  • the power supply 303 can be logically connected to the processor 301 through the power management system, so as to manage charging, discharging, and power consumption management through the power management system. and other functions.
  • the power source 303 may also include one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and any other components.
  • the pickup system in an unmanned environment may further include an input unit 304, which may be used to receive input numerical or character information, and to generate a keyboard, mouse, joystick, optical or trackball related to user settings and function control signal input.
  • an input unit 304 which may be used to receive input numerical or character information, and to generate a keyboard, mouse, joystick, optical or trackball related to user settings and function control signal input.
  • the system for picking up goods in an unmanned environment may further include a display unit and the like, which will not be repeated here.
  • the processor 301 in the delivery system in the unmanned environment loads the executable files corresponding to the processes of one or more application programs into the memory 302 according to the following instructions, and the processor 301 to run the application program stored in the memory 302, thereby realizing various functions, as follows: the host computer receives the bill of lading information, and updates the task information pheromone according to the current handling task completion status and the bill of lading information; according to the task information pheromone, The intelligent subject moves to the target smart shelf to perform the task of picking up the goods, wherein the intelligent subject is a single intelligent body in the intelligent group; the target intelligent shelf loads the goods corresponding to the bill of lading information to the intelligent subject according to the task information corresponding to the task information pheromone.
  • the host computer receives the bill of lading information, and updates the task information pheromone according to the current handling task completion status and the bill of lading information.
  • the intelligent subject moves to the target smart shelf to perform the picking task, and the target smart shelf is based on the task.
  • the information pheromone corresponds to the task information, and executes the loading of the goods corresponding to the bill of lading information to the intelligent main body. Since the host computer can update the task information pheromone in time, the intelligent subject can perform the delivery task according to the new task information pheromone.
  • the technical solution provided in this application makes the average waiting time and pick-up time of each intelligent subject to be different when picking up the goods. Shortening, the task path of each pick-up and handling task and/or the total pick-up and handling path are optimized, and the overall pick-up cost is reduced.
  • the embodiments of the present application provide a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to perform any kind of delivery in an unmanned environment provided by the embodiments of the present application. steps in the method.
  • the instruction can perform the following steps: the host computer receives the delivery note information, and updates the task information pheromone according to the current handling task completion status and the delivery note information; according to the task information pheromone, the intelligent subject moves to the target smart shelf to perform the picking task, Among them, the intelligent subject is a single intelligent body in the intelligent group; the target intelligent shelf executes the loading of the goods corresponding to the bill of lading information to the intelligent subject according to the task information corresponding to the task information pheromone.
  • the computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.
  • the instructions stored in the computer-readable storage medium can execute the steps in any method for picking up goods in an unmanned environment provided by the embodiments of the present application, any one of the methods provided by the embodiments of the present application can be implemented.
  • any one of the methods provided by the embodiments of the present application can be implemented.

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

La présente invention porte sur un procédé et sur un système de prélèvement de marchandises dans un environnement inhabité, ainsi que sur un support de stockage lisible par ordinateur. Le temps d'attente moyen et le temps de prélèvement moyen de chaque corps intelligent (202) pendant le prélèvement sont écourtés, chaque trajet de tâche de prélèvement et de transport individuel et/ou le trajet de prélèvement et de transport total sont optimisés, et les coûts globaux de prélèvement de marchandises sont réduits. Le procédé comprend : l'étape S101 au cours de laquelle un ordinateur supérieur (201) reçoit des informations de facture de chargement et met à jour des phéromones d'informations de tâche en fonction de la condition de fin de tâche de transport actuelle et des informations de facture de chargement ; l'étape S102 au cours de laquelle, selon les phéromones d'informations de tâche, un corps intelligent (202) est déplacé vers une étagère intelligente cible (203) pour exécuter une tâche de prélèvement de marchandises, le corps intelligent (202) étant un seul corps intelligent dans un groupe intelligent ; et l'étape S103 au cours de laquelle l'étagère intelligente cible (203) charge des marchandises correspondant aux informations de facture de chargement sur le corps intelligent (202) en fonction d'informations de tâche correspondant aux phéromones d'informations de tâche.
PCT/CN2020/107200 2020-08-05 2020-08-05 Procédé et système de prélèvement de marchandises dans un environnement inhabité, et support de stockage lisible par ordinateur WO2022027357A1 (fr)

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