WO2022033070A1 - 用于确定货架的位置的方法和装置 - Google Patents

用于确定货架的位置的方法和装置 Download PDF

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Publication number
WO2022033070A1
WO2022033070A1 PCT/CN2021/088890 CN2021088890W WO2022033070A1 WO 2022033070 A1 WO2022033070 A1 WO 2022033070A1 CN 2021088890 W CN2021088890 W CN 2021088890W WO 2022033070 A1 WO2022033070 A1 WO 2022033070A1
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WIPO (PCT)
Prior art keywords
guided vehicle
automatic guided
scanning
shelf
route
Prior art date
Application number
PCT/CN2021/088890
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English (en)
French (fr)
Inventor
王鹏
Original Assignee
北京京东乾石科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to JP2022573286A priority Critical patent/JP7480360B2/ja
Priority to US18/010,185 priority patent/US20240294336A1/en
Priority to EP21855126.5A priority patent/EP4198857A4/en
Publication of WO2022033070A1 publication Critical patent/WO2022033070A1/zh

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    • G—PHYSICS
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    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
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    • 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
    • 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
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
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    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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    • G—PHYSICS
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    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • 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
    • G05D1/0289—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 with means for avoiding collisions between vehicles
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • G05D1/2446—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means the passive navigation aids having encoded information, e.g. QR codes or ground control points
    • G—PHYSICS
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    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2462—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using feature-based mapping
    • 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
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/20—Details of software or hardware architectures used for the control of position using external object recognition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/22—Details of software or hardware architectures used for the control of position using off-board distributed computer resources for performing calculations, e.g. cloud-based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories

Definitions

  • the present disclosure relates to the field of computer technology, in particular to the field of warehousing technology, and the technical field of AGV path planning, and in particular, to a method and device for determining the position of a shelf, an electronic device, and a computer-readable medium.
  • AGV Automated Guided Vehicle
  • AGV car refers to a transport vehicle equipped with automatic navigation devices such as electromagnetic or optical, which can travel along a prescribed navigation path, and has safety protection and various transfer functions.
  • the empty shelves Before the unmanned warehouse is opened for operation, the empty shelves must be placed at the shelf entry point through the AGV car, and then the empty shelves shall be transported from the shelf entry point to the corresponding storage space in the warehouse, and the empty shelves shall be entered from the shelf entry point. Before storage, you need to manually bind the shelf number and storage location, and the binding operation is time-consuming, labor-intensive, and error-prone.
  • Embodiments of the present disclosure propose a method and apparatus for determining the position of a shelf.
  • an embodiment of the present disclosure provides a method for determining a position of a rack, the method comprising: acquiring the number of automatic guided vehicles having a rack scanner; Scanning area; based on each scanning area, determine the scanning route of the scanning area to which each automatic guided vehicle belongs; send the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle can scan the scanning area to which it belongs. Start scanning at the entrance position of the route, and drive out from the exit position of the scanning route in the scanning area to which it belongs. Location.
  • the above method further includes: in response to determining that the initial position of the automatic guided vehicle is not at the entrance position of the scanning route of the scanning area to which the automatic guided vehicle belongs, calculating a running route between the initial position and the entrance position; It is sent to the automatic guided vehicle so that the automatic guided vehicle can run from the initial position to the entrance position according to the running route.
  • determining the scanning area of the site to which each automatic guided vehicle belongs includes: acquiring a distribution map of the site; determining the distribution area of the shelves in the distribution map from the distribution map of the site; dividing the distribution area into at least two evenly Scan area, and make the number of scan areas the same as the number of automatic guided vehicles; establish a correspondence table between scan areas and automatic guided vehicles.
  • the above method further includes: comparing the positions of the racks in each scanning area with the preset correct positions of the racks to obtain the positions of the racks in the wrong positions; for the automatic guided vehicle in the scanning areas with the racks in the wrong positions , calculate the return route between the exit position and the location of the rack in the wrong position; send the return route to the automatic guided vehicle, so that the automatic guided vehicle reaches the exit position of the scanning route of the scanning area to which the automatic guided vehicle belongs , run to the wrong shelf according to the return route; after the automatic guided vehicle arrives at the wrong shelf, scan the wrong shelf, and check whether the wrong shelf is the wrong shelf according to the scanning result.
  • the above-mentioned automatic guided vehicle has a lifting platform; the above-mentioned method further includes: calculating a transport route between the position of the rack in the wrong position and the preset correct position of the rack, and sending the transport route to the automatic guided vehicle ; After the automatic guided vehicle arrives at the position of the rack in the wrong position, control the lifting platform on the automatic guided vehicle to abut the bottom of the rack in the wrong position, so that the automatic guided vehicle transports the rack in the wrong position to The preset shelf is in the correct position.
  • the scanning information includes: a shelf number
  • the location information of the automatic guided vehicle includes: coordinate point information of the venue
  • the above-mentioned scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle determine the automatic guided vehicle
  • the location of the shelf in the scanning area to which the vehicle belongs includes: obtaining the shelf number scanned by the shelf scanner on the automatic guided vehicle in real time and the coordinate point information of the site where the automatic guided vehicle passes through corresponding to the shelf number;
  • the coordinate point information of the site corresponding to each shelf number is bound to obtain the position of the shelf in the scanning area to which the automatic guided vehicle belongs.
  • the bottom of the automatic guided vehicle is provided with a barcode scanner for reading the two-dimensional code of the site; the scanning area to which the automatic guided vehicle belongs is determined based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle
  • the position of the shelf including: obtaining the shelf QR code scanned by the shelf scanner on the automatic guided vehicle in real time and the site QR code of the venue where the automatic guided vehicle passes through corresponding to the shelf QR code.
  • the shelf number of the shelf is bound, and the QR code of the site is bound to the position of the coordinate point in the site; based on the QR code of each shelf and the QR code of the site corresponding to the QR code of each shelf, the shelf of the scanning area to which the automatic guided vehicle belongs is obtained. s position.
  • an embodiment of the present disclosure provides an apparatus for determining a position of a rack, the apparatus comprising: an acquisition unit configured to acquire the number of automatic guided vehicles having a rack scanner; a distribution unit configured to Based on the quantity, the scanning area of the site to which each automatic guided vehicle belongs is determined; the planning unit is configured to determine the scanning route of the scanning area to which each automatic guided vehicle belongs based on each scanning area; the scanning unit is configured to The scanning route of the scanning area is sent to the automatic guided vehicle, so that the automatic guided vehicle starts scanning from the entrance position of the scanning route of the scanning area to which it belongs, and drives out from the exit position of the scanning route of the scanning area; the determination unit is configured The position of the shelf in the scanning area to which the automatic guided vehicle belongs is determined based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle.
  • the above-mentioned apparatus further includes: a response unit configured to, in response to determining that the initial position of the automatic guided vehicle is not at the entrance position of the scanning route of the scanning area to which the automatic guided vehicle belongs, calculate the difference between the initial position and the entrance position.
  • the running route; the sending unit is configured to send the running route to the automatic guided vehicle, so that the automatic guided vehicle runs from the initial position to the entrance position according to the running route.
  • the above-mentioned distribution unit includes: an acquisition module, configured to acquire a distribution map of the venue; a determination module, configured to determine the distribution area of the shelves in the distribution map from the distribution map of the venue; a division module, configured to The distribution area is equally divided into at least two scanning areas, and the number of scanning areas is the same as the number of automatic guided vehicles; the table building module is configured to establish a correspondence table between the scanning areas and the automatic guided vehicles.
  • the above-mentioned apparatus further includes: a comparison unit, configured to compare the positions of the racks in each scanning area with the preset correct positions of the racks, and obtain the positions of the racks in wrong positions; a return unit, configured to The automated guided vehicle in the scanning area of the misplaced rack calculates a return route between the exit location and the location of the misplaced rack; the return unit is configured to send the return route to the automated guided vehicle so that the automated After the guided vehicle arrives at the exit position of the scanning route of the scanning area to which the automatic guided vehicle belongs, it runs to the rack in the wrong position according to the return route; the verification unit is configured to be after the automatic guided vehicle arrives at the position of the rack in the wrong position , scan the rack in the wrong position, and check whether the rack in the wrong position is the rack in the wrong position according to the scanning result.
  • a comparison unit configured to compare the positions of the racks in each scanning area with the preset correct positions of the racks, and obtain the positions of the racks in wrong positions
  • a return unit
  • the above-mentioned automatic guided vehicle has a lifting platform; the above-mentioned device further includes: a calculation unit configured to calculate a transport route between the position of the rack in the wrong position and the preset correct position of the rack, and to calculate the transport route sent to the automatic guided vehicle; the handling unit is configured to control the lifting platform on the automatic guided vehicle to abut the bottom of the wrongly positioned shelf after the automatic guided vehicle arrives at the location of the wrongly positioned shelf, so that the automatic guided vehicle The guided vehicle transports the racks in the wrong position to the correct position of the preset racks according to the transport route.
  • a calculation unit configured to calculate a transport route between the position of the rack in the wrong position and the preset correct position of the rack, and to calculate the transport route sent to the automatic guided vehicle
  • the handling unit is configured to control the lifting platform on the automatic guided vehicle to abut the bottom of the wrongly positioned shelf after the automatic guided vehicle arrives at the location of the wrongly positioned shelf, so that the automatic guided vehicle The guided vehicle transports the
  • the scanning information includes: a shelf number
  • the location information of the automatic guided vehicle includes: coordinate point information of the site
  • the above-mentioned determining unit includes: an information acquisition module, configured to acquire in real time the information scanned by the shelf scanner on the automatic guided vehicle.
  • the position obtaining module is configured to bind the acquired rack numbers with the coordinate point information of the site corresponding to the rack numbers, Get the position of the shelf in the scanning area to which the automated guided vehicle belongs.
  • the bottom of the automatic guided vehicle is provided with a barcode scanner for reading the two-dimensional code of the site;
  • the above-mentioned determination unit includes: a code acquisition module configured to acquire the two-dimensional shelf scanned by the shelf scanner on the automatic guided vehicle in real time. QR code and the QR code of the site where the automatic guided vehicle passes through corresponding to the QR code of the shelf, wherein the QR code of the shelf is bound to the shelf number of the shelf, and the QR code of the site is bound to the position of the coordinate point in the site;
  • the position acquisition module is configured to obtain the position of the shelf in the scanning area to which the automatic guided vehicle belongs based on the two-dimensional code of each shelf and the two-dimensional code of the site corresponding to the two-dimensional code of each shelf.
  • embodiments of the present disclosure provide an electronic device, the electronic device includes: one or more processors; a storage device on which one or more programs are stored; when the one or more programs are stored by one or more A plurality of processors execute such that one or more processors implement a method as described in any implementation of the first aspect.
  • an embodiment of the present disclosure provides a computer-readable medium on which a computer program is stored, and when the program is executed by a processor, implements the method described in any of the implementation manners of the first aspect.
  • the method and device for determining the position of the rack provided by the embodiments of the present disclosure firstly acquire the number of automatic guided vehicles with rack scanners; secondly, based on the number, determine the scanning area of the site to which each automatic guided vehicle belongs; then, Based on each scanning area, determine the scanning route of the scanning area to which each automatic guided vehicle belongs; send the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle can enter the scanning route of the scanning area to which it belongs.
  • the position starts to scan, and drives out from the exit position of the scanning route of the scanning area to which it belongs; finally, based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle, the position of the shelf in the scanning area to which the automatic guided vehicle belongs is determined. , so that the scanning area and scanning route can be automatically allocated to the automatic guided vehicle with the shelf scanner; when the automatic guided vehicle runs on the scanning route of the respective scanning area, the scanning information based on the shelf scanner and the position information of the automatic guided vehicle , to determine the position of the shelf without manual participation, saving manpower and improving the accuracy of the location of the shelf on the site.
  • FIG. 1 is an exemplary system architecture diagram to which an embodiment of the present disclosure may be applied;
  • FIG. 2 is a flowchart of one embodiment of a method for determining the location of a shelf according to the present disclosure
  • FIG. 3 is a schematic diagram of an application scenario for determining a scanning area of a site to which an automatic guided vehicle belongs according to the present disclosure
  • FIG. 4 is a schematic diagram of an application scenario for determining the position of a shelf in a scanning area to which an automatic guided vehicle belongs according to the present disclosure
  • FIG. 5 is a flowchart of another embodiment of a method for determining the location of a shelf according to the present disclosure
  • FIG. 6 is a flowchart of one embodiment of a method for determining a scanning area of a site to which each automated guided vehicle belongs according to the present disclosure
  • FIG. 7 is a schematic structural diagram of an embodiment of an apparatus for determining the position of a shelf according to the present disclosure
  • FIG. 8 is a schematic structural diagram of an electronic device suitable for implementing embodiments of the present disclosure.
  • FIG. 1 shows an exemplary architecture 100 to which the path planning method or path planning apparatus of the present disclosure may be applied.
  • the system architecture 100 may include terminal devices 101 , 102 , and 103 , a network 104 and a server 105 .
  • the network 104 is a medium used to provide a communication link between the terminal devices 101 , 102 , 103 and the server 105 .
  • the network 104 may include various connection types, and may typically include wireless communication links and the like.
  • the terminal devices 101, 102, and 103 interact with the server 105 through the network 104 to receive or send messages and the like.
  • Various communication client applications may be installed on the terminal devices 101 , 102 and 103 , such as instant messaging tools, email clients, and the like.
  • the terminal devices 101, 102, and 103 may be hardware or software.
  • the terminal devices 101, 102, and 103 may be in-vehicle devices with communication and control functions, or may be automatic guided vehicles installed with the above-mentioned in-vehicle devices.
  • the above in-vehicle device can communicate with the automatic driving system of the automatic guided vehicle.
  • the functions of the above in-vehicle equipment can also be integrated into the automatic driving system of the automatic guided vehicle.
  • the terminal devices 101, 102, and 103 are software, they can be installed in the above-mentioned automatic guided vehicle. It can be implemented as a plurality of software or software modules (eg, software or software modules for providing distributed services), or can be implemented as a single software or software module. There is no specific limitation here.
  • the server 105 may be a server that provides various services, for example, a car networking server that provides support for the automatic driving system on the terminal devices 101 , 102 , and 103 .
  • the Internet of Vehicles server can analyze and process the relevant information of each automatic guided vehicle in the network, and feed back the processing results (such as scanning routes) to the terminal device.
  • the server may be hardware or software.
  • the server can be implemented as a distributed server cluster composed of multiple servers, or can be implemented as a single server.
  • the server is software, it can be implemented as a plurality of software or software modules (for example, software or software modules for providing distributed services), or can be implemented as a single software or software module. There is no specific limitation here.
  • the method for determining the position of the shelf provided by the embodiments of the present disclosure is generally executed by the server 105 , and accordingly, the apparatus for determining the position of the shelf is generally provided in the server 105 .
  • terminal devices, networks and servers in FIG. 1 are merely illustrative. There can be any number of terminal devices, networks and servers according to implementation needs.
  • FIG. 2 shows a flow 200 of an embodiment of a method for determining the position of a shelf according to the present disclosure, and the method for determining the position of a shelf includes the following steps:
  • Step 201 Obtain the number of automatic guided vehicles with shelf scanners.
  • the execution body on which the method for determining the position of the shelf runs (the server 105 shown in FIG. 1 ) ) Real-time acquisition or memory reading to acquire the number of automatic guided vehicles with rack scanners.
  • the shelf scanner is a device that acquires shelf information (the shelf information includes the shelf number used to identify the shelf) by scanning, which can be a code scanner, a camera, etc. After the shelf scanner scans the shelf, the execution body Each shelf in the venue and the shelf information of each shelf are determined through the obtained scanning information of the shelf scanner.
  • the site is the work site of the automatic guided vehicle. Further, the work site may be located in a warehouse, an unmanned warehouse, or other warehouses.
  • Step 202 based on the quantity, determine the scanning area of the site to which each automatic guided vehicle belongs.
  • the site can be divided into multiple scanning areas according to the number of automatic guided vehicles, and the number of automatic guided vehicles in each scanning area can be set as required, for example, one automatic guided vehicle corresponds to one scanning area, or Two automatic guided vehicles correspond to one scanning area. Of course, the number of automatic guided vehicles corresponding to each scanning area may also be different.
  • the automatic guided vehicles in the venues can generally use visual recognition for navigation.
  • the QR code navigation belongs to visual recognition.
  • the ground of the venue is pasted with the venue QR code, and the bottom of the automatic guided vehicle is A code scanner for reading the two-dimensional code of the site is provided, and the position information of the automatic guided vehicle is determined by the code scanner. Because the two-dimensional code navigation is more accurate than the magnetic navigation, it is also easier to lay and change the path, which is easy to control and has no interference with sound and light. Therefore, it is more suitable for fully automatic and unmanned venues.
  • the X axis of the site is from 1001 to 1020
  • the Y axis is from 1001 to 1020.
  • X-axis length value/number of automatic guided vehicles number of scanning areas of the site to which the automatic guided vehicles belong.
  • car No. 1 corresponds to the A scan area
  • car No. 2 corresponds to the B scan area.
  • Step 203 based on each scanning area, determine the scanning route of the scanning area to which each automatic guided vehicle belongs.
  • the scanning route may be specifically set according to the distribution area of the shelves in the scanning area.
  • the running route of car No. 1 is S-shape (as shown by the thick arrow in Fig. 3).
  • the scanning route is the driving route of the automatic guided vehicle when each automatic guided vehicle on-rack scanner performs scanning.
  • the scanning route of the scanning area to which each automatic guided vehicle belongs includes: an entrance position, an exit position, and a line between the entrance position and the exit position. Further, for each automatic guided vehicle, there may be multiple lines between an entrance position and an exit position. In this embodiment, the line that passes through the most shelves may be selected as the line of the scanning route.
  • the entry positions of the scanning routes of the A scanning area and the B scanning area are the minimum values of the X-axis and the maximum Y-axis of the respective areas; the exit positions of the scanning routes of the A scanning area and the B scanning area are the respective areas.
  • the maximum value of the X-axis is the maximum value of the Y-axis.
  • the entrance position of the scanning route of the A scanning area is S1: 10011001, and the exit position E1: 10011010.
  • the entrance position of the scanning route of the B scanning area is S2: 10101001, and the exit position E2: 10201020.
  • Step 204 sending the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle starts scanning from the entrance position of the scanning route of the scanning area to which it belongs, and starts from the exit position of the scanning route of the scanning area to which it belongs. drive out.
  • the walking principle of the automatic guided vehicle according to the lock point mechanism of traffic, the automatic guided vehicle can walk to the place where the lock point is successful after the lock point is successful.
  • the same location can only be locked by one automated guided vehicle at the same time, which can prevent the automated guided vehicle from crashing.
  • the lock point release is released after the automatic guided vehicle has completely moved away.
  • the automatic guided vehicle can walk the scanning route according to the above-mentioned walking principle.
  • the scanning route of the scanning area to which each automatic guided vehicle belongs includes: the entrance position, the end position, and the line between the exit position and the terminal position.
  • the automated guided vehicle starts scanning from the entry position of the scan route of the scan area to which it belongs, and exits from the exit position of the scan route of the scan area to which it belongs.
  • Step 205 based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle, determine the position of the shelf in the scanning area to which the automatic guided vehicle belongs.
  • the scanning information includes a shelf number
  • the position information of the automatic guided vehicle includes coordinate point information of the venue, wherein the coordinate point information includes coordinate values of each position in the venue.
  • the position of the rack includes: the coordinate value of the rack in the venue and the rack number.
  • the above-mentioned determination of the position of the shelf in the scanning area to which the automatic guided vehicle belongs based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle includes:
  • every time the automatic guided vehicle scans a shelf it will collect the shelf number of the shelf and the coordinate point information of the site corresponding to the shelf number, and bind the shelf number to the coordinate point information of the site corresponding to the shelf number.
  • the actual position of the shelf in the venue can be determined, so that the position of the shelf can be obtained conveniently and quickly.
  • the shelf scanner may be arranged on the top of the automatic guided vehicle, the ground of the venue is pasted with a venue two-dimensional code identifying the coordinate values of each position in the venue, and the bottom of the automatic guided vehicle is set
  • a scanner that reads the QR code of the site, and the execution subject can determine the location information of the automatic guided vehicle from the QR code of the site passed by the automatic guided vehicle, and bind the coordinate value of the shelf in the location information of the automatic guided vehicle to the shelf scan.
  • the position of the shelf can be obtained from the shelf number in the scanning information of the monitor.
  • the above-mentioned determination of the position of the shelf in the scanning area to which the automatic guided vehicle belongs based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle includes:
  • the shelf QR code is obtained through the automatic guided vehicle on-rack scanner.
  • the position of the coordinate point in the site corresponding to the shelf number of the shelf and the shelf number can be determined , so that the position of the shelf can be easily and quickly located.
  • the automatic guided vehicle Z scans on the scanning route of the scanning area to which it belongs, the automatic guided vehicle Z passes through the shelf H from below the shelf H, and passes through the barcode scanner at the bottom of the automatic guided vehicle Z (Fig.
  • the position information of the automatic guided vehicle can be obtained, and the shelf code (not shown in the figure) at the bottom of the shelf can be scanned by the shelf scanner (not shown in the figure) on the top of the automatic guided vehicle Z to obtain the scanning information .
  • N N>1 automatic guided vehicles can be supported in the field to walk at the same time, and each automatic guided vehicle reports the position information of the automatic guided vehicle and the scanning information of the shelf to the executive body while walking.
  • the execution body determines the coordinate value of the shelf at each position in the site according to the position information, and uses the coordinate value as the key value to bind the shelf number in the obtained scanning information to obtain the position of the shelf.
  • the automatic guided vehicle is walking, it may take a repeated path, so the repeated position information and the scanning information of the shelf will be reported to the executive body, and the executive body will update the shelf number in real time according to the coordinate value.
  • the method for determining the position of the rack firstly obtains the number of automatic guided vehicles with rack scanners; secondly, based on the number, determines the scanning area of the site to which each automatic guided vehicle belongs; then, based on each automatic guided vehicle Scan the area, determine the scanning route of the scanning area to which each automatic guided vehicle belongs; send the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle starts from the entrance position of the scanning route of the scanning area to which it belongs Scan, drive out from the exit position of the scanning route of the scanning area to which it belongs; finally, based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle, determine the position of the shelf in the scanning area to which the automatic guided vehicle belongs.
  • FIG. 5 shows a flow 500 of another embodiment of a method for determining the position of a shelf according to the present disclosure, and the method for determining the position of a shelf includes the following steps:
  • Step 501 obtain the number of automatic guided vehicles with shelf scanners, and then perform step 502 .
  • Step 502 based on the number, determine the scanning area of the site to which each automatic guided vehicle belongs, and then perform step 503 .
  • Step 503 based on each scanning area, determine the scanning route of the scanning area to which each automatic guided vehicle belongs, and then perform step 504 .
  • Step 504 for each automatic guided vehicle, determine whether the initial position of the automatic guided vehicle is not at the entrance of the scanning route of the scanning area to which the automatic guided vehicle belongs; if so, go to step 505; if not, go to step 507.
  • the initial position of the automatic guided vehicle is the position of the automatic guided vehicle before scanning.
  • the shelf scanner can be turned off.
  • Step 505 calculate the running route between the initial position of the automatic guided vehicle and the entry position of the scanning route of the scanning area to which the automatic guided vehicle belongs, and then execute step 506 .
  • the running route is a running route for the automatic guided vehicle to travel from the initial position to the entrance position.
  • the running route between the initial position and the entrance position of the automatic guided vehicle includes: the initial position, the entrance position, and the line between the initial position and the entrance position. Further, for each automatic guided vehicle, there may be multiple routes between an initial position and an entrance position. In this embodiment, the route with the shortest distance may be selected as the route of the current running route.
  • the starting position C2 of car No. 2 is not the same position as the entrance position S2, and it is necessary to automatically dispatch car No. 2 to the entrance position S2.
  • the running route of the No. 2 car is: from the starting position of No. 2 C2: 10201001, passing through 10191001...10171001...10141001...10111001 in sequence, and then reaching the entrance position S2: 10101001.
  • Step 506 sending the running route to the automatic guided vehicle, so that the automatic guided vehicle runs from the initial position to the entrance position according to the running route, after which step 507 is executed.
  • the automatic guided vehicle after the automatic guided vehicle obtains the running route, it can run according to the running principle in the above step 204 according to the running route.
  • the running route between the initial position and the entrance position of the automatic guided vehicle includes: the initial position, the entrance position, and the line between the initial position and the entrance position.
  • Driving on the shortest route can save the driving distance of the automatic guided vehicle and speed up the time to reach the entrance location.
  • Step 507 Send the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle starts scanning from the entrance position of the scanning route of the scanning area to which it belongs, and starts scanning from the scanning route of the scanning area to which it belongs. Exit at the exit position of , and then go to step 508 .
  • the rack scanner is turned on, so as to scan the rack information on the racks in the field in real time through the rack scanner.
  • Step 508 based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle, determine the position of the shelf in the scanning area to which the automatic guided vehicle belongs.
  • the initial position of the automatic guided vehicle when the initial position of the automatic guided vehicle is not at the entrance position of the scanning route of the scanning area to which the automatic guided vehicle belongs, the initial position is calculated and sent to the automatic guided vehicle
  • the running route between it and the entrance position enables the automatic guided vehicle to quickly run to the entrance position, ensuring the efficiency of shelf position positioning.
  • FIG. 6 shows an implementation of the method of the present disclosure for determining the scanning area of the site to which each automatic guided vehicle belongs Example flow 600.
  • the method for determining the scanning area of the site to which each automatic guided vehicle belongs includes the following steps:
  • Step 601 obtaining a distribution map of the venue.
  • the execution subject on which the method for determining the position of the shelf runs can acquire the distribution map of the venue by real-time acquisition or memory reading.
  • Step 602 Determine the distribution area of the shelves in the distribution map from the distribution map of the site.
  • a shelf distribution area is set up in the site, and different types of shelves can be placed in a row in the shelf distribution area, and there is a certain free area between the areas where each row of shelves is located (as shown in the square grid area in Figure 3 ). ), the setting of this free area is convenient for assembling goods to the shelf.
  • the shelf distribution area includes the area where each row of the shelves is located and the free area between the areas where each row of the shelves is located.
  • Step 603 Divide the distribution area into at least two scanning areas equally, and make the number of scanning areas the same as the number of automatic guided vehicles.
  • setting the number of scanning areas to be the same as the number of automatic guided vehicles can ensure that one automatic guided vehicle in one scanning area, so that each automatic guided vehicle will not interfere with each other when scanning in their respective scanning areas.
  • Step 604 establishing a correspondence table between the scanning area and the automatic guided vehicle.
  • establishing a correspondence table between the scanning area and the automatic guided vehicle is convenient for querying the relationship between each automatic guided vehicle and the scanning area.
  • car No. 1 corresponds to the scanning area A
  • car No. 2 corresponds to the scanning area B
  • the correspondence table between the scanning area and the automatic guided vehicle may be a table as shown in Table 1.
  • the automatic guided vehicle corresponding to each scanning area can be queried in real time through the correspondence table between the scanning area and the automatic guided vehicle.
  • the method for determining the scanning area of the site to which each automatic guided vehicle belongs to provided by this optional implementation mode divides the distribution area of the shelves in the site into at least two scanning areas, and the number of scanning areas is the same as the number of automatic guided vehicles, so that One automatic guided vehicle corresponds to one scanning area, and each automatic guided vehicle does not interfere with each other. Further, the scanning area is divided on the basis of the shelf distribution area in the field to ensure the accuracy of the position of the shelves in each scanning area.
  • the above method for determining the positions of the racks is used to determine the racks in the scanning area to which the automatic guided vehicle belongs. After the location, it also includes:
  • a return route is calculated between the exit location and the location of the misplaced shelf.
  • the return route is sent to the automatic guided vehicle, so that after the automatic guided vehicle arrives at the exit position of the scanning route of the scanning area to which the automatic guided vehicle belongs, the automatic guided vehicle runs to the rack in the wrong position according to the return route.
  • the automatic guided vehicle arrives at the position of the rack in the wrong position, it scans the rack in the wrong position, and checks whether the rack in the wrong position is the rack in the wrong position according to the scanning result.
  • the shelf distribution area includes the area where each row of shelves is located and the free area between the areas where each row of shelves is located.
  • the preset correct position may be the position of the area where each row of shelves is located.
  • the location of the wrong shelf can be scanned by setting the scanning route of the automatic guided vehicle.
  • the return route includes: the exit location, the location of the misplaced shelf, and the line between the exit location and the location of the misplaced shelf. Further, for each automatic guided vehicle, there may be multiple lines between an exit position and the position of the rack in the wrong position. In this embodiment, the line that passes through the most racks may be selected as the line of the return route.
  • the position of the rack in each scanning area is compared with the preset correct position of the rack, and the wrong position is determined.
  • the location of the shelf, for the automatic guided vehicle in the scanning area of the shelf with the wrong position send the return route for the automatic guided vehicle, so that the automatic guided vehicle scans the wrong shelf again, and check the wrong position according to the scanning result. Whether the shelf is really the shelf in the wrong position, thus, after the automatic guided vehicle scan is completed, the automatic guided vehicle returns to the shelf in the wrong position to scan the shelf in the wrong position, which ensures the accuracy of the position of the shelf in the wrong position.
  • the automatic guided vehicle may be an automatic guided vehicle provided with loading components (for example, a lifting platform, a robot arm). , its loading parts can be used for carrying racks.
  • the automatic guided vehicle has a lifting platform.
  • the above-mentioned method for determining the position of the rack is obtained when the position of the rack in the wrong position is obtained or the wrong position is determined according to scanning.
  • the shelf is after the wrong shelf, and also includes:
  • the correct position of the rack is the preset placement position of the rack, for example, the correct position of the rack is the position of the area where each row of racks is located in the site distribution map.
  • the transportation route includes: the location of the rack in the wrong position, the correct position of the rack, and the line between the position of the rack in the wrong position and the correct position of the rack.
  • the position of the rack in the wrong position and the correct position of the rack can be selected.
  • the route with the shortest travel between locations is used as the route of this transport route.
  • the lift table on the automatic guided vehicle when the lift table on the automatic guided vehicle rises to touch the bottom of the rack in the wrong position, the lift table on the automatic guided vehicle lifts the rack in the wrong position.
  • the rack in the wrong position will also return to the correct position of the rack with the automatic guided vehicle.
  • the lifting platform on the automatic guided vehicle can be controlled to descend to keep away from the bottom of the rack in the wrong position. , so that the wrongly positioned shelf is placed in the correct position of the shelf.
  • the transportation route of the automatic guided vehicle is calculated, and the lifting platform of the automatic guided vehicle is controlled to offset the bottom of the rack in the wrong position. , so that the automatic guided vehicle transports the rack in the wrong position to the correct position of the preset rack according to the transport route, thereby effectively correcting the position of the rack in the wrong position.
  • the present disclosure provides an embodiment of an apparatus for determining the position of a shelf.
  • the apparatus embodiment corresponds to the method embodiment shown in FIG. 2 .
  • the device can be specifically applied to various electronic devices.
  • an embodiment of the present disclosure provides an apparatus 700 for determining the position of a shelf.
  • the apparatus 700 includes an acquiring unit 701 , an assigning unit 702 , a planning unit 703 , a scanning unit 704 and a determining unit 705 .
  • the obtaining unit 701 may be configured to obtain the number of automatic guided vehicles with shelf scanners.
  • the allocating unit 702 may be configured to determine the scanning area of the site to which each automatic guided vehicle belongs based on the number.
  • the planning unit 703 may be configured to determine the scanning route of the scanning area to which each automatic guided vehicle belongs based on each scanning area.
  • the scanning unit 704 can be configured to send the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle starts scanning from the entrance position of the scanning route of the scanning area to which it belongs, and starts from the scanning area of the scanning area to which it belongs. Exit at the exit location of the scanned route.
  • the determining unit 705 may be configured to determine the position of the shelf in the scanning area to which the automatic guided vehicle belongs based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle.
  • FIG. 2 corresponds to step 201 , step 202 , step 203 , step 204 and step 205 in the embodiment.
  • the above-mentioned apparatus 700 further includes: a response unit (not shown in the figure) and a sending unit (not shown in the figure).
  • the response unit may be configured to calculate a running route between the initial position and the entrance position in response to determining that the initial position of the automatic guided vehicle is not at the entrance position of the scanning route of the scanning area to which the automatic guided vehicle belongs.
  • the sending unit may be configured to send the running route to the automatic guided vehicle, so that the automatic guided vehicle runs from the initial position to the entrance position according to the running route.
  • the above allocation unit 702 includes: an acquisition module (not shown in the figure), a determination module (not shown in the figure), a division module (not shown in the figure), and a table building module (not shown in the figure) out).
  • the obtaining module may be configured to obtain the distribution map of the site.
  • the determining module may be configured to determine the distribution area of the shelves in the distribution map from the distribution map of the site.
  • the dividing module may be configured to equally divide the distribution area into at least two scanning areas, and make the number of scanning areas equal to the number of automatic guided vehicles.
  • the table building module may be configured to establish a correspondence table between the scanning area and the automatic guided vehicle.
  • the above-mentioned apparatus 700 further includes: a comparison unit (not shown in the figure), a return unit (not shown in the figure), a return unit (not shown in the figure), and a verification unit (not shown in the figure) out).
  • the comparison unit may be configured to compare the positions of the racks in each scanning area with the preset correct positions of the racks to obtain the positions of the racks in the wrong positions.
  • the return unit may be configured to calculate a return route between the exit location and the location of the erroneously located shelf for the automated guided vehicle in the scanning area with the erroneously located shelf.
  • the return unit may be configured to send a return route to the automatic guided vehicle, so that the automatic guided vehicle runs to a rack in an incorrect position according to the return route after reaching the exit position of the scanning route of the scanning area to which the automatic guided vehicle belongs.
  • the verification unit may be configured to scan the rack in the wrong position after the automatic guided vehicle arrives at the position of the rack in the wrong position, and check whether the rack in the wrong position is the rack in the wrong position according to the scanning result.
  • the automated guided vehicle described above has a lift table.
  • the above-mentioned apparatus 700 further includes: a computing unit (not shown in the figure) and a transport unit (not shown in the figure).
  • the calculation unit may be configured to calculate a transport route between the position of the rack in the wrong position and the preset correct position of the rack, and send the transport route to the automatic guided vehicle.
  • the handling unit may be configured to control the lift table on the automatic guided vehicle to abut the bottom of the incorrectly located shelf after the automatic guided vehicle arrives at the location of the incorrectly located shelf, so that the automatic guided vehicle will move the automatic guided vehicle according to the handling route.
  • the racks in the wrong positions are moved to the correct positions of the preset racks.
  • the scanning information includes: a shelf number
  • the location information of the automatic guided vehicle includes: coordinate point information of the venue
  • the above-mentioned determining unit 705 includes: an information acquisition module (not shown in the figure), a position acquisition module (in the figure) not shown).
  • the information acquisition module can be configured to acquire, in real time, the shelf number scanned by the shelf scanner on the automatic guided vehicle and the coordinate point information of the site passed by the automatic guided vehicle corresponding to the shelf number.
  • the position obtaining module may be configured to bind each obtained shelf number with the coordinate point information of the site corresponding to each shelf number to obtain the position of the shelf in the scanning area to which the automatic guided vehicle belongs.
  • a barcode scanner for reading the two-dimensional code of the site is provided at the bottom of the automatic guided vehicle; the above determination unit 705 includes: a code acquisition module (not shown in the figure), a position acquisition module (not shown in the figure) .
  • the code acquisition module is configured to acquire the shelf two-dimensional code scanned by the shelf scanner on the automatic guided vehicle in real time and the site two-dimensional code of the site where the automatic guided vehicle passes through corresponding to the shelf two-dimensional code, wherein the shelf two-dimensional code is the same as the one.
  • the shelf number of the shelf is bound, and the QR code of the venue is bound to the position of the coordinate point in the venue.
  • the position acquisition module is configured to obtain the position of the shelf in the scanning area to which the automatic guided vehicle belongs based on the two-dimensional code of each shelf and the two-dimensional code of the site corresponding to the two-dimensional code of each shelf.
  • the acquiring unit 701 acquires the number of automatic guided vehicles with rack scanners; secondly, the allocating unit 702 determines, based on the number, the scanning of the site to which each automatic guided vehicle belongs.
  • the planning unit 703 determines the scanning route of the scanning area to which each automatic guided vehicle belongs based on each scanning area; again, the scanning unit 704 sends the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so as to automatically
  • the guided vehicle starts scanning from the entrance position of the scanning route of the scanning area to which it belongs, and drives out from the exit position of the scanning route of the scanning area to which it belongs; finally, the determining unit 705 is based on the scanning information of the shelf scanner on the automatic guided vehicle and the automatic guided vehicle
  • the location information of the automatic guided vehicle can determine the position of the shelf in the scanning area to which the automatic guided vehicle belongs, so that the automatic guided vehicle with the shelf scanner can be automatically allocated the scanning area and the scanning route; when the automatic guided vehicle runs on the scanning route of the respective scanning area , Based on the scanning information of the shelf scanner and the position information of the automatic guided vehicle, the position of the shelf is determined without manual participation, which saves manpower and improves the accuracy of the location of the shelf on the site.
  • FIG. 8 a schematic structural diagram of an electronic device 800 suitable for implementing embodiments of the present disclosure is shown.
  • an electronic device 800 may include a processing device (eg, a central processing unit, a graphics processor, etc.) 801 that may be loaded into random access according to a program stored in a read only memory (ROM) 802 or from a storage device 808 Various appropriate actions and processes are executed by the programs in the memory (RAM) 803 . In the RAM 803, various programs and data required for the operation of the electronic device 800 are also stored.
  • the processing device 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804.
  • An input/output (I/O) interface 805 is also connected to bus 804 .
  • the following devices can be connected to the I/O interface 805: input devices 806 including, for example, a touch screen, touchpad, keyboard, mouse, etc.; output devices including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, etc. 807; storage devices 808 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809.
  • Communication means 809 may allow electronic device 800 to communicate wirelessly or by wire with other devices to exchange data. While FIG. 8 shows an electronic device 800 having various means, it should be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in FIG. 8 can represent one device, and can also represent multiple devices as required.
  • embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart.
  • the computer program may be downloaded and installed from the network via the communication device 809, or from the storage device 808, or from the ROM 802.
  • the processing device 801 the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.
  • the computer-readable medium of the embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two.
  • the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal in baseband or propagated as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: electric wire, optical cable, RF (Radio Frequency, radio frequency), etc., or any suitable combination of the above.
  • the above-mentioned computer-readable medium may be included in the above-mentioned server; or may exist alone without being assembled into the server.
  • the above-mentioned computer-readable medium carries one or more programs that, when executed by the server, cause the server to: obtain the number of automatic guided vehicles with shelf scanners; and determine each automatic guided vehicle based on the number The scanning area of the site to which it belongs; based on each scanning area, determine the scanning route of the scanning area to which each automatic guided vehicle belongs; send the scanning route of the scanning area to which the automatic guided vehicle belongs to the automatic guided vehicle, so that the automatic guided vehicle can Start scanning at the entrance position of the scanning route of the scanning area, and drive out from the exit position of the scanning route of the scanning area; based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle, determine the scanning to which the automatic guided vehicle belongs.
  • the location of the shelves in the area based on the scanning information of the shelf scanner on the automatic guided vehicle and the position information of the automatic guided vehicle,
  • Computer program code for carrying out operations of embodiments of the present disclosure may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, and also A conventional procedural programming language - such as the "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
  • LAN local area network
  • WAN wide area network
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments of the present disclosure may be implemented in software or hardware.
  • the described unit may also be provided in the processor, for example, it may be described as: a processor including an acquisition unit, an allocation unit, a planning unit, a scanning unit and a determination unit.
  • the names of these units in some cases do not constitute a limitation on the unit itself, for example, the acquisition unit may also be described as a unit "configured to acquire the number of automated guided vehicles with shelf scanners".

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Abstract

用于确定货架的位置的方法和装置。该方法的一具体实施方式包括：获取具有货架扫描器的自动引导车的数量（201）；基于数量，确定各个自动引导车所属的场地的扫描区域（202）；基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线（203）；将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出（204）；基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置（205）。该实施方式提高了场地中的货架定位的准确性。

Description

用于确定货架的位置的方法和装置
本专利申请要求于2020年8月13日提交的、申请号为202010812707.8、申请人为北京京东乾石科技有限公司、发明名称为“用于确定货架的位置的方法和装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本公开涉及计算机技术领域，具体涉及仓储技术领域、AGV路径规划技术领域，尤其涉及一种用于确定货架的位置的方法和装置、电子设备、计算机可读介质。
背景技术
自动引导车(Automated Guided Vehicle，简称AGV)，通常也称为AGV小车，指装备有电磁或光学等自动导航装置，能够沿规定的导航路径行驶，具有安全保护以及各种移载功能的运输车。
无人仓开仓运营前，要先通过AGV小车将空货架放到货架入场点，再从货架入场点运输空货架到库房中对应的储位上，在空货架由货架入场点进入储位之前需要手动绑定货架号和储位位置，而绑定操作，耗时耗力，容易出错。
发明内容
本公开的实施例提出了用于确定货架的位置的方法和装置。
第一方面，本公开的实施例提供了一种用于确定货架的位置的方法，该方法包括：获取具有货架扫描器的自动引导车的数量；基于数量，确定各个自动引导车所属的场地的扫描区域；基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；基于自动引导车上货架扫描器的扫描信息以及 自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置。
在一些实施例中，上述方法还包括：响应于确定自动引导车的初始位置不在自动引导车所属的扫描区域的扫描路线的入口位置，计算初始位置与入口位置之间的运行路线；将运行路线发送给自动引导车，以使自动引导车根据运行路线由初始位置运行至入口位置。
在一些实施例中，上述确定各个自动引导车所属的场地的扫描区域包括：获取场地的分布图；由场地的分布图，确定分布图中货架的分布区域；将分布区域平均划分为至少两个扫描区域，且使扫描区域的数量与自动引导车的数量相同；建立扫描区域与自动引导车之间的对应关系表。
在一些实施例中，上述方法还包括：对比各个扫描区域中货架的位置与预设的货架正确位置，得到位置错误的货架的所在位置；针对具有位置错误的货架的扫描区域中的自动引导车，计算出口位置与位置错误的货架的所在位置之间的返回路线；将返回路线发送给该自动引导车，以使该自动引导车在抵达该自动引导车所属扫描区域的扫描路线的出口位置之后，根据返回路线运行至位置错误的货架；在该自动引导车抵达位置错误的货架的所在位置之后，扫描位置错误的货架，并根据扫描结果校验位置错误的货架是否为位置错误的货架。
在一些实施例中，上述自动引导车具有升降台；上述方法还包括：计算位置错误的货架的所在位置与预设的货架正确位置之间的搬运路线，并将搬运路线发送给该自动引导车；在该自动引导车抵达位置错误的货架的所在位置之后，控制该自动引导车上的升降台与位置错误的货架的底部相抵，以使该自动引导车根据搬运路线将位置错误的货架搬运至预设的货架正确位置。
在一些实施例中，扫描信息包括：货架号，自动引导车的位置信息包括：场地的坐标点信息；上述基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置包括：实时获取自动引导车上货架扫描器扫描到的货架号以及与该货架号对应的自动引导车途经的场地的坐标点信息；将获取到的各个货架号与各个货架号对应的场地的坐标点信息进行绑定，得 到自动引导车所属扫描区域的货架的位置。
在一些实施例中，自动引导车底部设置有读取场地二维码的扫码器；上述基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置，包括：实时获取自动引导车上货架扫描器扫描到的货架二维码以及与货架二维码对应的自动引导车途经的场地的场地二维码，其中，货架二维码与货架的货架号相绑定，场地二维码与场地中坐标点位置相绑定；基于各个货架二维码与各个货架二维码对应的场地二维码，得到自动引导车所属扫描区域的货架的位置。
第二方面，本公开的实施例提供了一种用于确定货架的位置的装置，该装置包括：获取单元，被配置成获取具有货架扫描器的自动引导车的数量；分配单元，被配置成基于数量，确定各个自动引导车所属的场地的扫描区域；规划单元，被配置成基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；扫描单元，被配置成将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；确定单元，被配置成基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置。
在一些实施例中，上述装置还包括：响应单元，被配置成响应于确定自动引导车的初始位置不在自动引导车所属的扫描区域的扫描路线的入口位置，计算初始位置与入口位置之间的运行路线；发送单元，被配置成将运行路线发送给自动引导车，以使自动引导车根据运行路线由初始位置运行至入口位置。
在一些实施例中，上述分配单元包括：获取模块，被配置成获取场地的分布图；确定模块，被配置成由场地的分布图，确定分布图中货架的分布区域；划分模块，被配置成将分布区域平均划分为至少两个扫描区域，且使扫描区域的数量与自动引导车的数量相同；建表模块，被配置成建立扫描区域与自动引导车之间的对应关系表。
在一些实施例中，上述装置还包括：对比单元，被配置成对比各 个扫描区域中货架的位置与预设的货架正确位置，得到位置错误的货架的所在位置；返回单元，被配置成针对具有位置错误的货架的扫描区域中的自动引导车，计算出口位置与位置错误的货架的所在位置之间的返回路线；返程单元，被配置成将返回路线发送给该自动引导车，以使该自动引导车在抵达该自动引导车所属扫描区域的扫描路线的出口位置之后，根据返回路线运行至位置错误的货架；校验单元，被配置成在该自动引导车抵达位置错误的货架的所在位置之后，扫描位置错误的货架，并根据扫描结果校验位置错误的货架是否为位置错误的货架。
在一些实施例中，上述自动引导车具有升降台；上述装置还包括：计算单元，被配置成计算位置错误的货架的所在位置与预设的货架正确位置之间的搬运路线，并将搬运路线发送给该自动引导车；搬运单元，被配置成在该自动引导车抵达位置错误的货架的所在位置之后，控制该自动引导车上的升降台与位置错误的货架的底部相抵，以使该自动引导车根据搬运路线将位置错误的货架搬运至预设的货架正确位置。
在一些实施例中，扫描信息包括：货架号，自动引导车的位置信息包括：场地的坐标点信息；上述确定单元包括：信息获取模块，被配置成实时获取自动引导车上货架扫描器扫描到的货架号以及与该货架号对应的自动引导车途经的场地的坐标点信息；位置得到模块，被配置成将获取到的各个货架号与各个货架号对应的场地的坐标点信息进行绑定，得到自动引导车所属扫描区域的货架的位置。
在一些实施例中，自动引导车底部设置有读取场地二维码的扫码器；上述确定单元包括：码获取模块，被配置成实时获取自动引导车上货架扫描器扫描到的货架二维码以及与货架二维码对应的自动引导车途经的场地的场地二维码，其中，货架二维码与货架的货架号相绑定，场地二维码与场地中坐标点位置相绑定；位置获取模块，被配置成基于各个货架二维码与各个货架二维码对应的场地二维码，得到自动引导车所属扫描区域的货架的位置。
第三方面，本公开的实施例提供了一种电子设备，该电子设备包 括：一个或多个处理器；存储装置，其上存储有一个或多个程序；当一个或多个程序被一个或多个处理器执行，使得一个或多个处理器实现如第一方面中任一实现方式描述的方法。
第四方面，本公开的实施例提供了一种计算机可读介质，其上存储有计算机程序，该程序被处理器执行时实现如第一方面中任一实现方式描述的方法。
本公开的实施例提供的用于确定货架的位置的方法和装置，首先获取具有货架扫描器的自动引导车的数量；其次，基于数量，确定各个自动引导车所属的场地的扫描区域；然后，基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；最后，基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置，由此可以自动为具有货架扫描器的自动引导车分配扫描区域以及扫描路线；当自动引导车运行在各自扫描区域的扫描路线上时，基于货架扫描器的扫描信息与自动引导车的位置信息，确定货架的位置，无需人工参与，节省了人力，提高了场地货架定位的准确性。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本公开的其它特征、目的和优点将会变得更明显：
图1是本公开的一个实施例可以应用于其中的示例性系统架构图；
图2是根据本公开的用于确定货架的位置的方法的一个实施例的流程图；
图3是根据本公开的确定自动引导车所属的场地的扫描区域的一个应用场景示意图；
图4是根据本公开的确定自动引导车所属扫描区域的货架的位置的一个应用场景示意图；
图5是根据本公开的用于确定货架的位置的方法的另一个实施例的流程图；
图6是根据本公开的确定各个自动引导车所属的场地的扫描区域的方法的一个实施例的流程图；
图7是根据本公开的用于确定货架的位置的装置的一个实施例的结构示意图；
图8是适于用来实现本公开的实施例的电子设备的结构示意图。
具体实施方式
下面结合附图和实施例对本公开作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本公开。
图1示出了可以应用本公开的路径规划方法或路径规划装置的示例性架构100。
如图1所示，系统架构100可以包括终端设备101、102、103，网络104和服务器105。网络104用以在终端设备101、102、103和服务器105之间提供通信链路的介质。网络104可以包括各种连接类型，通常可以包括无线通信链路等等。
终端设备101、102、103通过网络104与服务器105交互，以接收或发送消息等。终端设备101、102、103上可以安装有各种通讯客户端应用，例如即时通信工具、邮箱客户端等。
终端设备101、102、103可以是硬件，也可以是软件。当终端设备101、102、103为硬件时，可以是具有通信和控制功能的车载设备，也可以是安装有上述车载设备的自动引导车。上述车载设备可以与自动引导车的自动驾驶系统进行通信。可选地，上述车载设备的功能也可以整合至自动引导车的自动驾驶系统中。当终端设备101、102、103 为软件时，可以安装在上述自动引导车中。其可以实现成多个软件或软件模块(例如用来提供分布式服务的软件或软件模块)，也可以实现成单个软件或软件模块。在此不做具体限定。
服务器105可以是提供各种服务的服务器，例如为终端设备101、102、103上自动驾驶系统提供支持的车联网服务器。车联网服务器可以对网络中各自动引导车的相关信息进行分析处理，并将处理结果(如扫描路线)反馈给终端设备。
需要说明的是，服务器可以是硬件，也可以是软件。当服务器为硬件时，可以实现成多个服务器组成的分布式服务器集群，也可以实现成单个服务器。当服务器为软件时，可以实现成多个软件或软件模块(例如用来提供分布式服务的软件或软件模块)，也可以实现成单个软件或软件模块。在此不做具体限定。
需要说明的是，本公开的实施例所提供的用于确定货架的位置的方法一般由服务器105执行，相应地，用于确定货架的位置的装置一般设置于服务器105中。
应该理解，图1中的终端设备、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的终端设备、网络和服务器。
如图2，示出了根据本公开的用于确定货架的位置的方法的一个实施例的流程200，该用于确定货架的位置的方法包括以下步骤：
步骤201，获取具有货架扫描器的自动引导车的数量。
本实施例中，用于确定货架的位置的方法运行于其上的执行主体(如图1所示的服务器105)，可以通过从终端设备(如图1所示的终端设备101、102、103)实时获取或者内存读取的方式获取具有货架扫描器自动引导车的数量。
本实施例中，货架扫描器是通过扫描方式获取货架信息(货架信息包括用于识别货架的货架号)的设备，其可以是扫码器、摄像头等，在货架扫描器扫描货架之后，执行主体通过得到的货架扫描器的扫描信息确定场地中的各个货架以及各个货架的货架信息。
本实施例中，场地是自动引导车的工作场地，进一步地，该工作 场地可以位于货仓、无人仓等仓库中。
步骤202，基于数量，确定各个自动引导车所属的场地的扫描区域。
本实施例中，根据自动引导车的数量可以将场地分为多个扫描区域，每个扫描区域的自动引导车的数量可以根据需要设定，例如，一辆自动引导车对应一个扫描区域，或者两辆自动引导车对应一个扫描区域，当然各扫描区域对应的自动引导车的数量也可以不同。
鉴于有些场地的无人的特点，场地中的自动引导车一般可采用视觉识别方式进行导航，例如，属于视觉识别的二维码导航，场地的地面黏贴有场地二维码，自动引导车底部设置有读取场地二维码的扫码器，通过该扫码器确定自动引导车的位置信息。由于二维码导航要比磁导航定位精确，在铺设、改变路径上也较容易，便于控制，对声光无干扰。因此，比较适合全自动无人化的场地。
具体地，如图3所示，场地X轴1001到1020，Y轴从1001到1020，系统中有两个自动引导车，1号车，2号车。
进一步地，X轴长度值/自动引导车的数量＝自动引导车所属的场地的扫描区域的数量。图3中，1号车对应A扫描区，2号车对应B扫描区。
步骤203，基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线。
本实施例中，基于各个扫描区域，可以根据扫描区域中货架的分布区域对扫描路线进行具体的设置。如图3所示，1号车的运行路线为S型(如图3粗箭头所示)。
本实施例中，扫描路线为各个自动引导车上货架扫描器进行扫描时自动引导车的行驶路线。各个自动引导车所属的扫描区域的扫描路线包括：入口位置、出口位置以及位于入口位置与出口位置之间的线路。进一步，针对每个自动引导车，在一个入口位置和出口位置之间可以有多条线路，本实施例中，可以选择经过货架最多的线路作为本扫描路线的线路。
如图3所示，A扫描区和B扫描区的扫描路线的入口位置为各自 区域的X轴最小值最大Y轴的小值；A扫描区和B扫描区的扫描路线的出口位置为各自区域的X轴最大值Y轴的最大值。A扫描区的扫描路线的入口位置S1：10011001，出口位置E1：10011010。B扫描区的扫描路线的入口位置S2:10101001，出口位置E2：10201020。
步骤204，将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出。
本实施例中，自动引导车的行走原则：依据于交通的锁点机制，先锁后行，锁点成功之后自动引导车才可以行走到锁点成功的地点。同一地点同一时间只能被一辆自动引导车锁点，这样可以防止自动引导车撞车。锁点释放是在自动引导车完全离开之后才进行释放。
进一步地，将自动引导车所属的扫描区域的扫描路线发送给自动引导车之后，自动引导车可按上述行走原则行走扫描路线。由上述可知，各个自动引导车所属的扫描区域的扫描路线包括：入口位置、终点位置以及位于出口位置与终端位置之间的线路，为了实现对各自所属的扫描区域的货架进行全扫描，本实施例中，自动引导车自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出。
步骤205，基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置。
本实施例中，扫描信息包括货架号，自动引导车的位置信息包括场地的坐标点信息，其中坐标点信息包括场地中各个位置的坐标值。货架的位置包括：场地的货架的坐标值以及货架号。
本实施例的一些可选实现方式中，上述基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置包括：
实时获取自动引导车上货架扫描器扫描到的货架号以及与该货架号对应的自动引导车途经的场地的坐标点信息；将获取到的各个货架号与各个货架号对应的场地的坐标点信息进行绑定，得到自动引导车所属扫描区域的货架的位置。
本可选实施例中，自动引导车每扫描到一个货架，均会采集货架的货架号以及该货架号对应的场地的坐标点信息，将货架号与货架号对应的场地的坐标点信息进行绑定得到货架在场地中的实际位置，由此，可以便捷、快速的得到货架的位置。
本实施例的另一些可选实现方式中，货架扫描器可以设置在自动引导车的顶部，场地的地面黏贴有标识场地中各个位置的坐标值的场地二维码，自动引导车的底部设置有读取场地二维码的扫码器，执行主体由自动引导车经过的场地二维码可以确定自动引导车的位置信息，绑定自动引导车的位置信息中的货架的坐标值与货架扫描器的扫描信息中的货架号，可得到货架的位置。具体地，本可选实现方式中，上述基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置包括：
实时获取自动引导车上货架扫描器扫描到的货架二维码以及与货架二维码对应的自动引导车途经的场地的场地二维码，其中，货架二维码与货架的货架号相绑定，场地二维码与场地中坐标点位置相绑定；基于各个货架二维码与各个货架二维码对应的场地二维码，得到自动引导车所属扫描区域的货架的位置。
本可选实现方式中，由于货架二维码与货架的货架号相绑定，且场地二维码与场地中坐标点位置相绑定，在通过自动引导车上货架扫描器得到货架二维码，通过自动引导车的底部设置有读取场地二维码的扫码器得到与货架二维码对应的场地二维码之后，可以确定与货架的货架号以及货架号对应的场地中坐标点位置，从而可以便捷、快速定位货架的位置。
具体地，如图4所示，自动引导车Z在所属的扫描区域的扫描路线上扫描时，自动引导车Z从货架H下方经过货架H，通过自动引导车Z的底部的扫码器(图中未示出)可以得到自动引导车的位置信息，通过自动引导车Z顶部上的货架扫描器(图中未示出)可以扫描货架底部的货架码(图中未示出)，得到扫描信息。
进一步地，场地中可以支持N(N>1)个自动引导车同时行走，每个自动引导车边走边向执行主体上报自动引导车的位置信息和货架 的扫描信息。执行主体根据位置信息，确定场地中各个位置的货架的坐标值，并以该坐标值作为关键值与得到的扫描信息中货架号进行绑定，得到货架的位置。每个自动引导车首次上报，系统新增一条货架的位置(key，value)的记录，其中，Key＝坐标值，value＝货架号。而自动引导车在行走时，可能会走重复的路，从而会向执行主体上报重复的位置信息和货架的扫描信息，执行主体根据坐标值会实时更新货架号。
本公开的实施例提供的用于确定货架的位置的方法，首先获取具有货架扫描器的自动引导车的数量；其次，基于数量，确定各个自动引导车所属的场地的扫描区域；然后，基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；最后，基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置，由此可以为具有货架扫描器的自动引导车自动分配扫描区域以及扫描路线；当自动引导车运行在各自扫描区域的扫描路线上时，基于货架扫描器的扫描信息与自动引导车的位置信息，确定货架的位置，无需人工参与，节省了人力，提高了场地货架定位的准确性。
如图5，示出了根据本公开的用于确定货架的位置的方法的另一个实施例的流程500，该用于确定货架的位置的方法包括以下步骤：
步骤501，获取具有货架扫描器的自动引导车的数量，之后，执行步骤502。
步骤502，基于数量，确定各个自动引导车所属的场地的扫描区域，之后，执行步骤503。
步骤503，基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线，之后，执行步骤504。
上述步骤501-503中操作和特征，分别与上述步骤201-203中的操作和特征相对应，因此，上述步骤201-203中对于操作和特征的描 述，同样适应于步骤501-503，在此不再赘述。
步骤504，针对每个自动导引车，判断是否有自动导引车的初始位置不在该自动引导车所属的扫描区域的扫描路线的入口位置；若是，执行步骤505；若否，执行步骤507。
本实施例中，自动引导车的初始位置为自动引导车在进行扫描前的位置。
本实施例中，当自动导引车的初始位置不在该自动引导车所属的扫描区域的扫描路线的入口位置时，需要控制自动引导车进入到所属的扫描区域的扫描路线的入口位置，而在进入的过程中，货架扫描器可以处于关闭状态。
步骤505，计算该自动引导车的初始位置与该自动引导车所属的扫描区域的扫描路线的入口位置之间的运行路线，之后，执行步骤506。
本实施例中，运行路线为自动引导车由初始位置行驶到入口位置的行驶路线。自动引导车的初始位置与入口位置之间的运行路线包括：初始位置、入口位置以及位于初始位置与入口位置之间的线路。进一步，针对每个自动引导车，在一个初始位置和入口位置之间可以有多条线路，本实施例中，可以选择路途最短的线路作为本运行路线的线路。
如图3所示，2号车起始位置C2与入口位置S2不是同一位置，需要自动调度2号车到入口位置S2。
2号车的运行路线为：从2号起始位置C2：10201001，依次经过10191001…10171001…10141001…10111001，然后达到入口位置S2：10101001。
步骤506，将运行路线发送给该自动引导车，以使该自动引导车根据运行路线由初始位置运行至入口位置，之后，执行步骤507。
本实施例中，自动引导车得到运行路线之后，可按上述步骤204行走原则根据运行路线行走。由上述可知，自动引导车的初始位置与入口位置之间的运行路线包括：初始位置、入口位置以及位于初始位置与入口位置之间的线路，本实施例中，选择初始位置与入口位置之 间行程最短的线路行驶，可以节省自动引导车的行驶路程，加快到达入口位置的时间。
步骤507，将该自动引导车所属的扫描区域的扫描路线发送给该自动引导车，以使该自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出，之后，执行步骤508。
本实施例中，在自动引导车接收到所属的扫描区域的扫描路线之后，打开货架扫描器，以通过货架扫描器实时扫描场地中的货架上的货架信息。
步骤508，基于该自动引导车上货架扫描器的扫描信息以及该自动引导车的位置信息，确定该自动引导车所属扫描区域的货架的位置。
上述步骤507-508中操作和特征，分别与上述步骤204-205中的操作和特征相对应，因此，上述步骤204-205中对于操作和特征的描述，同样适应于步骤507-508，在此不再赘述。
本公开的实施例提供的用于确定货架的位置的方法，在自动引导车的初始位置不在该自动引导车所属的扫描区域的扫描路线的入口位置时，计算并向该自动引导车发送初始位置与入口位置之间的运行路线，使该自动引导车快速运行至入口位置，保证了货架位置定位的效率。
为了得到更好的划分场地的扫描区域，在本实施例的一些可选实现方式中，进一步参考图6，其示出了本公开的确定各个自动引导车所属的场地的扫描区域的方法一个实施例的流程600。该确定各个自动引导车所属的场地的扫描区域的方法，包括以下步骤：
步骤601，获取场地的分布图。
本可选实现方式中，用于确定货架的位置的方法运行于其上的执行主体可以通过实时获取或者内存读取的方式获取场地的分布图。
步骤602，由场地的分布图，确定分布图中货架的分布区域。
本可选实现方式中，在场地中设置有货架分布区域，货架分布区域可以成排放置不同种类的货架，各排货架所在区域之间间隔一定的 空闲区域(如图3中的正方形方格区域)，该空闲区域的设置便于向货架装配货物。本实施例中，货架分布区域包括各排货架所在区域和各排货架所在区域之间的空闲区域。
步骤603，将分布区域平均划分为至少两个扫描区域，且使扫描区域的数量与自动引导车的数量相同。
本可选实现方式中，将扫描区域的数量设置成与自动引导车的数量相同，可以保证一个扫描区域一辆自动引导车，从而各个自动引导车在各自扫描区域进行扫描时不会互相干涉。
步骤604，建立扫描区域与自动引导车之间的对应关系表。
本可选实现方式中，建立扫描区域与自动引导车之间的对应关系表便于查询各个自动引导车与扫描区域之间的关系。
如图3所示，1号车与A扫描区对应，2号车与B扫描区对应，扫描区域与自动引导车之间的对应关系表，可以是如表1所示的表。通过扫描区域与自动引导车之间的对应关系表可以实时查询到各个扫描区域对应的自动引导车。
表1
自动引导车的车号 扫描区域
1号 A扫描区
2号 B扫描区
本可选实现方式提供的确定各个自动引导车所属的场地的扫描区域的方法，将场地中货架的分布区域平均划分为至少两个扫描区域，扫描区域的数量与自动引导车的数量相同，从而使一个自动引导车对应一个扫描区域，各个自动引导车互不干涉，进一步，以场地中的货架分布区域为基础划分扫描区域，保证了各个扫描区域中货架的位置的准确性。
在确定了场地中货架的位置之后，需要校验货架的位置是否准确，本实施例的一些可选实现方式中，上述用于确定货架的位置的方法，在确定自动引导车所属扫描区域的货架的位置之后，还包括：
对比各个扫描区域中货架的位置与预设的货架正确位置，得到位置错误的货架的所在位置。针对具有位置错误的货架的扫描区域中的自动引导车，计算出口位置与位置错误的货架的所在位置之间的返回路线。将返回路线发送给该自动引导车，以使该自动引导车在抵达该自动引导车所属扫描区域的扫描路线的出口位置之后，根据返回路线运行至位置错误的货架。在该自动引导车抵达位置错误的货架的所在位置之后，扫描位置错误的货架，并根据扫描结果校验位置错误的货架是否为位置错误的货架。
本可选实现方式中，场地中各排货架所在区域之间间隔一定的空闲区域(如图3中的正方形方格区域)，该空闲区域的设置便于向货架装配货物。由于货架分布区域包括各排货架所在区域和各排货架所在区域之间的空闲区域。预设的正确位置可以是各排货架所在区域的位置。
对比货架的位置与预设的各排货架所在区域的位置的之后，若货架的位置均不在各排货架所在区域的位置中，则确定货架的位置错误。进一步地，在自动引导车的扫描过程中，通过设置自动引导车的扫描路线可以扫描到错误的货架的所在位置。
返回路线包括：出口位置、位置错误的货架的所在位置以及位于出口位置与位置错误的货架的所在位置之间的线路。进一步，针对每个自动引导车，在一个出口位置和位置错误的货架的所在位置之间可以有多条线路，本实施例中，可以选择经过货架最多的线路作为本返回路线的线路。
本可选实现方式中，当扫描结果中的货架位置与错误的货架的所在位置相同时，则确定位置错误的货架确为位置错误的货架。当扫描结果中的货架位置与错误的货架的所在位置不相同时，需要进一步确定扫描结果中的货架位置是否在各排货架所在区域，若是，则确定位置错误的货架的位置正确。
本可选实现方式提供的用于确定货架的位置的方法，在确定自动引导车所属扫描区域的货架的位置之后，对比各个扫描区域中货架的位置与预设的货架正确位置，确定位置错误的货架的所在位置，针对 具有位置错误的货架的扫描区域中的自动引导车，为该自动引导车发送返回路线，使该自动引导车再次扫描位置错误的货架，并根据扫描结果校验位置错误的货架是否真为位置错误的货架，由此，在自动引导车扫描完成之后，再次通过自动引导车返回扫描位置错误的货架，保证了位置错误的货架的位置准确性。
进一步地，在确定了货架为位置错误的货架之后，需要将位置错误的货架搬运到货架正确位置，为此，自动引导车可以为设置有装载部件(比如，升降台、机械手)的自动引导车，其装载部件可以用于搬运货架。本实施例的一些可选实现方式中，自动引导车具有升降台，本可选实现方式中，上述用于确定货架的位置的方法，在得到位置错误的货架的所在位置或者根据扫描确定位置错误的货架是位置错误的货架之后，还包括：
计算位置错误的货架的所在位置与预设的货架正确位置之间的搬运路线，并将搬运路线发送给该自动引导车。在该自动引导车抵达位置错误的货架的所在位置之后，控制该自动引导车上的升降台与位置错误的货架的底部相抵，以使该自动引导车根据搬运路线将位置错误的货架搬运至预设的货架正确位置。
本可选实现方式中，货架正确位置为预设的货架的放置位置，例如，货架正确位置为场地分布图中各排货架所在区域的位置。
搬运路线包括：位置错误的货架的所在位置、货架正确位置以及位于位置错误的货架的所在位置与货架正确位置之间的线路，本实施例中，可以选择位置错误的货架的所在位置与货架正确位置之间行程最短的线路作为本搬运路线的线路。
本可选实现方式中，当自动引导车上的升降台上升到与位置错误的货架的底部相抵时，自动引导车上的升降台将位置错误的货架托起，因此在自动引导车根据搬运路线返回货架正确位置时，位置错误的货架也随着自动引导车返回货架正确位置，进一步地，在抵达货架正确位置之后，可以控制自动引导车上的升降台下降，以远离位置错误的货架的底部，从而将位置错误的货架放置在货架正确位置。
本可选实现方式提供的用于确定货架的位置的方法，在确定位置错误的货架的所在位置之后，计算自动引导车的搬运路线，控制自动引导车的升降台与位置错误的货架的底部相抵，使自动引导车根据搬运路线将位置错误的货架搬运至预设的货架正确位置，从而有效矫正了位置错误的货架的位置。
进一步参考图7，作为对上述各图所示方法的实现，本公开提供了用于确定货架的位置的装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图7所示，本公开的实施例提供了一种用于确定货架的位置的装置700，该装置700包括：获取单元701、分配单元702、规划单元703、扫描单元704和确定单元705。其中，获取单元701，可以被配置成获取具有货架扫描器的自动引导车的数量。分配单元702，可以被配置成基于数量，确定各个自动引导车所属的场地的扫描区域。规划单元703，可以被配置成基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线。扫描单元704，可以被配置成将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出。确定单元705，可以被配置成基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置。
在本实施例中，用于确定货架的位置的装置700中，获取单元701、分配单元702、规划单元703、扫描单元704和确定单元705的具体处理及其所带来的技术效果可分别参考图2对应实施例中的步骤201、步骤202、步骤203、步骤204和步骤205。
在一些实施例中，上述装置700还包括：响应单元(图中未示出)、发送单元(图中未示出)。响应单元，可以被配置成响应于确定自动引导车的初始位置不在自动引导车所属的扫描区域的扫描路线的入口位置，计算初始位置与入口位置之间的运行路线。发送单元，可以被配置成将运行路线发送给自动引导车，以使自动引导车根据运行路线由 初始位置运行至入口位置。
在一些实施例中，上述分配单元702包括：获取模块(图中未示出)、确定模块(图中未示出)、划分模块(图中未示出)、建表模块(图中未示出)。获取模块，可以被配置成获取场地的分布图。确定模块，可以被配置成由场地的分布图，确定分布图中货架的分布区域。划分模块，可以被配置成将分布区域平均划分为至少两个扫描区域，且使扫描区域的数量与自动引导车的数量相同。建表模块，可以被配置成建立扫描区域与自动引导车之间的对应关系表。
在一些实施例中，上述装置700还包括：对比单元(图中未示出)、返回单元(图中未示出)、返程单元(图中未示出)、校验单元(图中未示出)。对比单元，可以被配置成被配置成对比各个扫描区域中货架的位置与预设的货架正确位置，得到位置错误的货架的所在位置。返回单元，可以被配置成针对具有位置错误的货架的扫描区域中的自动引导车，计算出口位置与位置错误的货架的所在位置之间的返回路线。返程单元，可以被配置成将返回路线发送给该自动引导车，以使该自动引导车在抵达该自动引导车所属扫描区域的扫描路线的出口位置之后，根据返回路线运行至位置错误的货架。校验单元，可以被配置成在该自动引导车抵达位置错误的货架的所在位置之后，扫描位置错误的货架，并根据扫描结果校验位置错误的货架是否为位置错误的货架。
在一些实施例中，上述自动引导车具有升降台。上述装置700还包括：计算单元(图中未示出)、搬运单元(图中未示出)。计算单元，可以被配置成计算位置错误的货架的所在位置与预设的货架正确位置之间的搬运路线，并将搬运路线发送给该自动引导车。搬运单元，可以被配置成在该自动引导车抵达位置错误的货架的所在位置之后，控制该自动引导车上的升降台与位置错误的货架的底部相抵，以使该自动引导车根据搬运路线将位置错误的货架搬运至预设的货架正确位置。
在一些实施例中，扫描信息包括：货架号，自动引导车的位置信息包括：场地的坐标点信息；上述确定单元705包括：信息获取模块(图中未示出)、位置得到模块(图中未示出)。信息获取模块，可以 被配置成实时获取自动引导车上货架扫描器扫描到的货架号以及与该货架号对应的自动引导车途经的场地的坐标点信息。位置得到模块，可以被配置成将获取到的各个货架号与各个货架号对应的场地的坐标点信息进行绑定，得到自动引导车所属扫描区域的货架的位置。
在一些实施例中，自动引导车底部设置有读取场地二维码的扫码器；上述确定单元705包括：码获取模块(图中未示出)、位置获取模块(图中未示出)。码获取模块，被配置成实时获取自动引导车上货架扫描器扫描到的货架二维码以及与货架二维码对应的自动引导车途经的场地的场地二维码，其中，货架二维码与货架的货架号相绑定，场地二维码与场地中坐标点位置相绑定。位置获取模块，被配置成基于各个货架二维码与各个货架二维码对应的场地二维码，得到自动引导车所属扫描区域的货架的位置。
本公开的实施例提供的用于确定货架的位置的装置，首先获取单元701获取具有货架扫描器的自动引导车的数量；其次，分配单元702基于数量，确定各个自动引导车所属的场地的扫描区域；然后，规划单元703基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；再次，扫描单元704将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；最后，确定单元705基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置，由此可以自动为具有货架扫描器的自动引导车分配扫描区域以及扫描路线；当自动引导车运行在各自扫描区域的扫描路线上时，基于货架扫描器的扫描信息与自动引导车的位置信息，确定货架的位置，无需人工参与，节省了人力，提高了场地货架定位的准确性。
下面参考图8，其示出了适于用来实现本公开的实施例的电子设备800的结构示意图。
如图8所示，电子设备800可以包括处理装置(例如中央处理器、图形处理器等)801，其可以根据存储在只读存储器(ROM)802中的 程序或者从存储装置808加载到随机访问存储器(RAM)803中的程序而执行各种适当的动作和处理。在RAM 803中，还存储有电子设备800操作所需的各种程序和数据。处理装置801、ROM 802以及RAM803通过总线804彼此相连。输入/输出(I/O)接口805也连接至总线804。
通常，以下装置可以连接至I/O接口805：包括例如触摸屏、触摸板、键盘、鼠标、等的输入装置806；包括例如液晶显示器(LCD，Liquid Crystal Display)、扬声器、振动器等的输出装置807；包括例如磁带、硬盘等的存储装置808；以及通信装置809。通信装置809可以允许电子设备800与其他设备进行无线或有线通信以交换数据。虽然图8示出了具有各种装置的电子设备800，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。图8中示出的每个方框可以代表一个装置，也可以根据需要代表多个装置。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置809从网络上被下载和安装，或者从存储装置808被安装，或者从ROM 802被安装。在该计算机程序被处理装置801执行时，执行本公开的实施例的方法中限定的上述功能。
需要说明的是，本公开的实施例的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开的实施例中，计算机可 读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开的实施例中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(Radio Frequency，射频)等等，或者上述的任意合适的组合。
上述计算机可读介质可以是上述服务器中所包含的；也可以是单独存在，而未装配入该服务器中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该服务器执行时，使得该服务器：获取具有货架扫描器的自动引导车的数量；基于数量，确定各个自动引导车所属的场地的扫描区域；基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；将自动引导车所属的扫描区域的扫描路线发送给自动引导车，以使自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；基于自动引导车上货架扫描器的扫描信息以及自动引导车的位置信息，确定自动引导车所属扫描区域的货架的位置。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的实施例的操作的计算机程序代码，程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利 用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本公开的各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开的实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器，包括获取单元、分配单元、规划单元、扫描单元和确定单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，获取单元还可以被描述为“被配置成获取具有货架扫描器的自动引导车的数量”的单元。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开的实施例中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开的实施例中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (12)

  1. 一种用于确定货架的位置的方法，所述方法包括：
    获取具有货架扫描器的自动引导车的数量；
    基于所述数量，确定各个自动引导车所属的场地的扫描区域；
    基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；
    将所述自动引导车所属的扫描区域的扫描路线发送给所述自动引导车，以使所述自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；
    基于所述自动引导车上货架扫描器的扫描信息以及所述自动引导车的位置信息，确定所述自动引导车所属扫描区域的货架的位置。
  2. 根据权利要求1所述的方法，所述方法还包括：
    响应于确定所述自动引导车的初始位置不在所述自动引导车所属的扫描区域的扫描路线的入口位置，计算所述初始位置与所述入口位置之间的运行路线；
    将所述运行路线发送给所述自动引导车，以使所述自动引导车根据所述运行路线由所述初始位置运行至所述入口位置。
  3. 根据权利要求1或2所述的方法，其中，所述确定各个自动引导车所属的场地的扫描区域包括：
    获取所述场地的分布图；
    由所述场地的分布图，确定所述分布图中货架的分布区域；
    将所述分布区域平均划分为至少两个扫描区域，且使所述扫描区域的数量与所述自动引导车的数量相同；
    建立所述扫描区域与所述自动引导车之间的对应关系表。
  4. 根据权利要求1或2所述的方法，所述方法还包括：
    对比各个扫描区域中货架的位置与预设的货架正确位置，得到位置错误的货架的所在位置；
    针对具有位置错误的货架的扫描区域中的自动引导车，计算所述出口位置与所述位置错误的货架的所在位置之间的返回路线；
    将所述返回路线发送给该自动引导车，以使该自动引导车在抵达该自动引导车所属扫描区域的扫描路线的出口位置之后，根据所述返回路线运行至所述位置错误的货架；
    在该自动引导车抵达所述位置错误的货架的所在位置之后，扫描所述位置错误的货架，并根据扫描结果校验所述位置错误的货架是否为位置错误的货架。
  5. 根据权利要求4所述的方法，其中，所述自动引导车具有升降台；
    所述方法还包括：
    计算所述位置错误的货架的所在位置与预设的货架正确位置之间的搬运路线，并将所述搬运路线发送给该自动引导车；
    在该自动引导车抵达所述位置错误的货架的所在位置之后，控制该自动引导车上的升降台与所述位置错误的货架的底部相抵，以使该自动引导车根据所述搬运路线将所述位置错误的货架搬运至预设的货架正确位置。
  6. 根据权利要求1或2所述的方法，所述扫描信息包括：货架号，所述自动引导车的位置信息包括：场地的坐标点信息；
    所述基于所述自动引导车上货架扫描器的扫描信息以及所述自动引导车的位置信息，确定所述自动引导车所属扫描区域的货架的位置包括：
    实时获取所述自动引导车上货架扫描器扫描到的货架号以及与该货架号对应的所述自动引导车途经的场地的坐标点信息；
    将获取到的各个货架号与各个货架号对应的场地的坐标点信息进行绑定，得到所述自动引导车所属扫描区域的货架的位置。
  7. 根据权利要求1或2所述的方法，其中，所述自动引导车底部设置有读取场地二维码的扫码器；
    所述基于所述自动引导车上货架扫描器的扫描信息以及所述自动引导车的位置信息，确定所述自动引导车所属扫描区域的货架的位置，包括：
    实时获取所述自动引导车上货架扫描器扫描到的货架二维码以及与所述货架二维码对应的所述自动引导车途经的场地的场地二维码，其中，所述货架二维码与货架的货架号相绑定，所述场地二维码与所述场地中坐标点位置相绑定；
    基于各个货架二维码与各个货架二维码对应的场地二维码，得到所述自动引导车所属扫描区域的货架的位置。
  8. 一种用于确定货架的位置的装置，所述装置包括：
    获取单元，被配置成获取具有货架扫描器的自动引导车的数量；
    分配单元，被配置成基于所述数量，确定各个自动引导车所属的场地的扫描区域；
    规划单元，被配置成基于各个扫描区域，确定各个自动引导车所属的扫描区域的扫描路线；
    扫描单元，被配置成将所述自动引导车所属的扫描区域的扫描路线发送给所述自动引导车，以使所述自动引导车自所属的扫描区域的扫描路线的入口位置开始扫描，从所属的扫描区域的扫描路线的出口位置驶出；
    确定单元，被配置成基于所述自动引导车上货架扫描器的扫描信息以及所述自动引导车的位置信息，确定所述自动引导车所属扫描区域的货架的位置。
  9. 根据权利要求8所述的装置，还包括：
    响应单元，被配置成响应于确定所述自动引导车的初始位置不在所述自动引导车所属的扫描区域的扫描路线的入口位置，计算所述初 始位置与所述入口位置之间的运行路线；
    发送单元，被配置成将所述运行路线发送给所述自动引导车，以使所述自动引导车根据所述运行路线由所述初始位置运行至所述入口位置。
  10. 根据权利要求8或9所述的装置，其中，所述分配单元包括：
    获取模块，被配置成获取所述场地的分布图；
    确定模块，被配置成由所述场地的分布图，确定所述分布图中货架的分布区域；
    划分模块，被配置成将所述分布区域平均划分为至少两个扫描区域，且使所述扫描区域的数量与所述自动引导车的数量相同；
    建表模块，被配置成建立所述扫描区域与所述自动引导车之间的对应关系表。
  11. 一种电子设备，包括：
    一个或多个处理器；
    存储装置，其上存储有一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-7中任一所述的方法。
  12. 一种计算机可读介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如权利要求1-7中任一所述的方法。
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