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CN115130961A - Storage method and device of goods shelf, electronic equipment and storage medium - Google Patents

Storage method and device of goods shelf, electronic equipment and storage medium Download PDF

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Publication number
CN115130961A
CN115130961A CN202210756446.1A CN202210756446A CN115130961A CN 115130961 A CN115130961 A CN 115130961A CN 202210756446 A CN202210756446 A CN 202210756446A CN 115130961 A CN115130961 A CN 115130961A
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target
shelf
route
agv
goods
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李林枫
杨威
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Shanghai Quicktron Intelligent Technology Co Ltd
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Shanghai Quicktron Intelligent Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

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Abstract

The embodiment of the invention discloses a storage method and a storage device of a shelf, electronic equipment and a storage medium, wherein the method comprises the following steps: determining the position of a target blocking shelf according to the current position of the target shelf; determining a cooperative route for the AGV according to the position of the target blocking goods shelf and the first cache position, so that the cooperative AGV moves the target blocking goods shelf to the first cache position according to the cooperative route; determining a target route for the target AGV according to the current position of the target shelf and the target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route; and planning a return route for the target AGV, and storing the target shelf and the target blocking shelf. According to the technical scheme provided by the embodiment of the invention, the placement of the blocking goods shelf is reasonable by setting the first cache position, and the flow of the non-operation goods shelf on the AGV operation route is reduced, so that the target goods shelf is quickly moved to the target end position, and the operation efficiency is improved.

Description

Storage method and device of goods shelf, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to an intelligent warehousing technology, in particular to a storage method and device of a shelf, electronic equipment and a storage medium.
Background
In the warehouse logistics industry, with the vigorous development of goods to people, more and more industries use Automatic Guided Vehicles (AGVs) to replace manual operation, so as to distinguish the traditional pure people work industry mode.
Generally, when goods are stored in warehouse logistics, the user requirements cannot be met only by considering high storage. Taking the cross-border e-commerce industry as an example, with the increase of stored goods, on the basis of considering high storage, the influence of the mobility of the goods on the storage needs to be considered. However, the conventional intensive storage design often focuses on considering the current storage amount and neglects the future operation requirements, so that the intensive storage scheme has certain limitations and is not suitable for flexible adjustment according to the service scene of a client, so that the storage amount and the operation efficiency are affected.
Disclosure of Invention
The embodiment of the invention provides a storage method and device of a shelf, electronic equipment and a storage medium, which can improve the existing storage method of the shelf so as to improve the operation efficiency on the basis of improving the storage capacity of goods.
In a first aspect, an embodiment of the present invention provides a storage method for a shelf, including:
determining the position of a target blocking shelf according to the current position of the target shelf, wherein the target blocking shelf is a shelf which blocks the target shelf from being directly moved out;
determining a first cache position according to the position of the target blocking shelf, and determining a cooperative route for an AGV according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route;
determining a target route for a target AGV according to the current position of the target shelf and a target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route;
and planning a return route for the target AGV so that the target AGV returns according to the return route to store the target shelf and the target blocking shelf.
Optionally, the return route includes a return starting point and an initial return end point, the return starting point is the target end point position, and the initial return end point is the current position of the target shelf;
for target AGV plans the route of returning, include:
setting the target route as the return route, and judging whether the return route contains an obstacle or not;
and if so, determining a target return end point according to a preset priority sequence, and updating the return route according to the return starting point and the target return end point.
Optionally, the determining a target return end point according to a preset priority order includes:
judging whether a storage cargo space meeting preset conditions is included;
if yes, determining a target storage goods position from the storage goods positions according to the principle that the running route of the target AGV is shortest, and taking the position of the target storage goods position as the target return end point;
and if not, determining a second cache position according to the shortest running route of the target AGV, and taking the second cache position as the target return end point.
Optionally, the determining the position of the target blocking shelf according to the current position of the target shelf comprises:
and determining candidate blocking shelves according to the current position of the target shelf, and determining the position of the target blocking shelf from the candidate blocking shelves according to the principle that the candidate blocking shelves move least.
Optionally, the determining a first cache location according to the location of the target blocking shelf includes:
and acquiring position information of candidate cache positions, and determining the first cache position from the candidate cache positions by combining the position of the target blocking shelf based on the principle of the shortest travel route of the collaborative AGV.
Optionally, the method is applied to a shelf storage system, and the shelf storage system is in communication connection with the mobile terminal; the method further comprises the following steps:
generating a goods inventory task for goods on the shelf of the shelf storage system;
and receiving goods information sent by the mobile terminal according to the goods counting task.
Optionally, the receiving goods information sent by the mobile terminal according to the goods inventory task includes:
after receiving goods counting completion information of goods which are not shielded on a goods shelf, generating a goods shelf rotation task for an AGV according to the goods shelf position, so that the AGV rotates the goods shelf according to the goods shelf rotation task to display the shielded goods;
and receiving the cargo information on the shielded cargo sent by the mobile terminal so as to finish counting the cargo on the shelf.
In a second aspect, an embodiment of the present invention provides a storage device for a shelf, the device including:
the device comprises a blocking shelf determining module, a storage rack detecting module and a storage rack control module, wherein the blocking shelf determining module is used for determining the position of a target blocking shelf according to the current position of the target shelf, and the target blocking shelf is a shelf which blocks the target shelf from being directly moved out;
the cooperative route determining module is used for determining a first cache position according to the position of the target blocking shelf, and determining a cooperative route for an AGV according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route;
the target route determining module is used for determining a target route for the target AGV according to the current position of the target shelf and the target end position, so that the target AGV moves the target shelf to the target end position according to the target route;
and the return route planning module is used for planning a return route for the target AGV so that the target AGV returns according to the return route to store the target shelf and the target blocking shelf.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of shelf storage according to any of the embodiments of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to enable a processor to implement the storage method for a shelf according to any embodiment of the present invention when executed.
According to the storage method, the storage device, the electronic equipment and the storage medium of the goods shelf, the position of a target blocking goods shelf is determined according to the current position of the target goods shelf; determining a first cache position according to the position of the target blocking goods shelf, and determining a cooperative route for the cooperative automatic guided vehicle AGV according to the position of the target blocking goods shelf and the first cache position, so that the cooperative AGV moves the target blocking goods shelf to the first cache position according to the cooperative route; meanwhile, a target route is determined for the target AGV according to the current position of the target shelf and the target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route; and finally, planning a return route for the target AGV so that the target AGV returns according to the return route and realizes the storage of the target shelf and the target blocking shelf. According to the technical scheme provided by the embodiment of the invention, the placement of the blocking goods shelf is reasonable by setting the first cache position, and the flow of the non-operation goods shelf on the AGV operation route is reduced, so that the target goods shelf is quickly moved to the target end position, and the operation efficiency is improved. The problem of only considering current storage demand and neglecting the influence memory space and the operating efficiency that future operation demand leads to among the prior art is solved, through the first cache position of nimble configuration, got the beneficial effect that improves operating efficiency, dynamic adaptation is in multiple service scene.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of embodiments of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic flow chart of a storage method for shelves according to an embodiment of the present invention;
FIG. 2 is another schematic flow chart of a storage method for shelves according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a shelf storage structure provided by an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a storage device of a shelf according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of a storage method for a shelf according to an embodiment of the present invention, where the present embodiment is applicable to a situation where goods are stored on the shelf in warehouse logistics, the method may be executed by a storage device of the shelf, the storage device of the shelf may be implemented in a form of hardware and/or software, and the storage device of the shelf may be configured in a computer device such as a server. Referring to fig. 1, the method may specifically include the following steps:
and S110, determining the position of the target blocking shelf according to the current position of the target shelf.
The target shelf refers to a shelf which needs to be moved to an operation point at present, and target goods which need to be operated are placed on the target shelf. Generally, in the warehouse logistics industry, goods of corresponding types are stored on a goods shelf, the current goods may need to be packed or sorted, and in order to improve the operation efficiency, a target goods shelf and the goods placed on the goods shelf are moved to an operation point through controlling an Automatic Guided Vehicle (AGV) so that manual work can be performed on the goods shelf at a fixed place, and therefore a goods-to-human work mode is achieved, and the work efficiency is improved.
Generally when goods shelves are displayed, all display according to fixed mode to make more goods shelves of display that the warehouse can be regular, and when assigning removal goods shelves task to AGV, can accurately find target goods shelves, thereby promote the warehouse storage volume. However, when the target shelf needs to be moved, the target shelf may be blocked by another shelf, and the shelf that blocks the target shelf at present is called a blocking shelf.
The target blocking shelf is a shelf that blocks direct removal of the target shelf. In general, there may be a plurality of racks that hinder the movement of the target rack, and in determining the target blocking rack, the rack that moves the least amount of rack and is most easily moved is referred to as the target blocking rack. The number of the current target blocking shelves is not limited to one, and is determined according to the position of the target shelves.
The storage method of the goods shelf provided by the embodiment of the invention can comprise a goods shelf storage system, the current system can be installed on a Personal Computer (PC for short) end for displaying, the working condition of the AGV in the storage area and the storage condition of the goods shelf on site can be displayed in the goods shelf storage system in real time, and the goods shelf storage system is in communication connection with the AGV so as to command and operate the transport work of the AGV in the visual view of the PC end.
S120, determining a first cache position according to the position of the target blocking shelf, and determining a cooperative route for the AGV according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route.
The buffer position is a pre-planned position for temporarily placing the blocking shelf. The number of the cache positions is multiple, the setting rule of the cache positions is that goods with shelves in the internal area are preferentially set, and the goods on the current shelves use the edge positions with lower priority. The advantage of setting up like this is that conveniently move and select the operation etc. to stopping the goods shelves.
Generally, the set number of cache locations can be planned according to different service scenarios. For a storage area, the storage positions of the shelves are fixed, and the storage positions can be set according to the number of the shelves needing to be carried currently. For example, for the case that 200 rack storage positions are included in the current area, for a rack that needs to be transported currently, 100 AGVs are used, 50 buffer positions may be correspondingly set, so that the blocking rack is placed on the buffer positions during the process of transporting the rack. The number of the current buffer positions is not limited to half of the number of AGVs that need to be used, specifically, the number of AGVs that need to be used is 1/3 or 1/4, and the number of the specific buffer positions is not limited herein, which is subject to actual planning.
The first buffer position refers to a position to which the target blocks the shelf from moving. The current selection principle of the first cache position is the position closest to the target blocking shelf.
After the position of the target blocking shelf and the first cache position are determined, a cooperation route can be generated according to the position of the target blocking shelf and the first cache position, so that the cooperation AGV can move the target blocking shelf to the first cache position according to the cooperation route, and space is provided for the movement of a subsequent target shelf.
Before issuing a task for moving the target blocking goods shelf to the cooperative AGVs, the cooperative AGVs need to be selected, and the selection rule of the cooperative AGVs is that the non-working AGVs closest to the target blocking goods shelf are selected. Firstly, acquiring the position information of all non-working AGVs in the storage, determining the AGV closest to the target blocking rack as a cooperative AGV based on the position of the target blocking rack, and then determining the driving route of the cooperative AGV according to the position of the cooperative AGV and the position of the target blocking rack, so that the cooperative AGV can drive to the position of the target blocking rack according to the current driving route.
After the cooperative AGV drives to the position of the target blocking goods shelf according to the current driving route, the target blocking goods shelf is automatically lifted, the target blocking goods shelf is moved to a first cache position from the position of the target blocking goods shelf according to the cooperative route, and the target blocking goods shelf is temporarily stored at the first cache position.
Wherein the number of the collaborative AGVs is consistent with the number of the target blocking racks.
S130, determining a target route for the target AGV according to the current position of the target shelf and the target end position, so that the target AGV moves the target shelf to the target end position according to the target route.
The target end position refers to a position where the target shelf needs to be moved to a working point so that a worker reserved in the target end position performs the next work on the goods on the target shelf.
Before determining a target route for the target AGV according to the current position of the target shelf and the target end position, the target AGV needs to be selected, and the selection rule of the current target AGV is the same as that of the cooperative AGV, which is not described herein again.
And determining a route between the current position of the target shelf and the target end position as a target route, and preferentially taking the shortest route as the target route when determining the target route so that the target shelf can quickly reach the target end position.
But the following factors are also considered when the shortest path is taken as the target path: whether other operation AGVs are included on the AGV driving road in the shortest route or not, if so, whether collision or congestion occurs or not, and if the risk of collision or congestion exists, determining other preferred routes as target routes for the target AGVs according to the current position of the target goods shelf and the target end position so as to avoid the situation that the collision or congestion occurs between the work and the AGVs as much as possible.
It should be noted that the operation of determining the cooperative route for the cooperative AGV in step S120 and the operation of determining the target route for the target AGV in step S130 are not limited to executing step S130 after step S120, or may be executed simultaneously in steps S120 and S130, after determining the cooperative AGV and the target AGV, corresponding routes are determined for the two types of AGVs at the same time, when the rack is moved, the cooperative AGV moves the target blocking rack according to the cooperative route first, and when the target blocking rack is moved out of the original position and does not block the action of the target AGV, the target AGV moves the target rack to the target destination position according to the target route. The execution sequence of determining the cooperative route for the cooperative AGVs and determining the target route for the target AGVs is not limited herein.
S140, planning a return route for the target AGV so that the target AGV returns according to the return route and realizes storage of the target shelf and the target blocking shelf.
After the target AGV moves the target shelf to the target end position, a worker may take off goods on the target shelf or perform inventory operation only on the goods on the target shelf, after the worker completes the current process, the target AGV needs to transport the target shelf to an initial position according to a return route, and the current initial position is the position of the target shelf before moving.
There are two cases when planning a return route for a target AGV: firstly, if the initial position of the target goods shelf is not occupied or no obstacle exists at the initial position, the target AGV automatically returns according to the target route so as to move the target goods shelf back to the initial position, the storage operation of the target goods shelf is completed, and the target AGV completes the carrying task; secondly, the initial position of the target goods shelf is occupied, or an obstacle is arranged at the initial position, then a return route needs to be planned again according to the current target end position of the target AGV and the unoccupied storage position, so that the return route is realized without calling the cooperative AGV when the target AGV returns, and the storage of the target goods shelf and the target blocking goods shelf is realized.
The shelf storage method provided by the embodiment of the invention comprises the steps of firstly determining the position of a target blocking shelf according to the current position of the target shelf; determining a first cache position according to the position of the target blocking goods shelf, and determining a cooperative route for an AGV according to the position of the target blocking goods shelf and the first cache position, so that the cooperative AGV moves the target blocking goods shelf to the first cache position according to the cooperative route; meanwhile, a target route is determined for the target AGV according to the current position of the target shelf and the target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route; and finally, planning a return route for the target AGV so that the target AGV returns according to the return route and realizes the storage of the target shelf and the target blocking shelf. According to the technical scheme provided by the embodiment of the invention, the placement of the blocking goods shelf is reasonable by setting the first cache position, and the flow of the non-operation goods shelf on the AGV operation route is reduced, so that the target goods shelf is quickly moved to the target end position, and the operation efficiency is improved. The problem of only considering current storage demand and neglecting the influence memory space and the operating efficiency that future operation demand leads to among the prior art is solved, through the first cache position of nimble configuration, got the beneficial effect that improves operating efficiency, dynamic adaptation is in multiple service scene.
Fig. 2 is another schematic flow chart of a storage method of a shelf according to an embodiment of the present invention, and the relationship between the present embodiment and the foregoing embodiment further details corresponding features of the foregoing embodiment. As shown in fig. 2, the method may include the steps of:
s210, determining candidate blocking shelves according to the current position of the target shelf, and determining the position of the target blocking shelf from the candidate blocking shelves according to the principle that the candidate blocking shelves move the least.
Referring to fig. 3, fig. 3 is a schematic structural diagram of shelf storage according to an embodiment of the present invention; in the figure, a square represents a shelf position, the target shelf is A for example, and the target shelf A is located at the position A 1 、A 2 、A 3 、A 4 、A 5 And A 5 When the goods shelves are placed in all the positions on the right side, A 1 、A 2 、A 3 、A 4 、A 5 And A 5 All shelves placed in all positions on the right side can be determined as candidate blocking shelves. The current candidate blocking shelves all block the removal of the target shelf a.
Further, a target candidate blocking shelf is selected from the preset candidate blocking shelves, and when the candidate blocking shelf is considered to move the least, as can be seen from the figure, A 1 And A 2 The target shelf A can be moved out only by moving one shelf, and at the moment, the shelf A can be moved out 1 And A 2 Are tentatively targeted to block the shelf.
S220, obtaining position information of candidate cache positions, and determining a first cache position from the candidate cache positions by combining the position of a target blocking shelf based on the principle that the collaborative AGV driving route is shortest.
Referring to fig. 3, the area marked M is the travel route of the AGV. Taking the candidate cache position as B in the graph 1 、B 2 Taking the position as an example, when the cooperative AGV traveling route is shortest, the target blocking shelf a temporarily set in the above step S210 is combined 1 And A 2 At this time, it can be seen from the figure that if A is used 1 If the target is determined to block the shelf, A is set 1 Move to B 1 Travel a path of four squares, A 1 Move to B 2 Driving a path of four squares; if A is to be 2 Determining as the target blocking shelf, A 2 Move to B 1 Travel the path of the two squares. At this time, A is determined 2 Stopping the goods shelf for the target based on the shortest travel route of the collaborative AGV, and then stopping the goods shelf B 1 Is determined as the first cache location to be in B 1 In (A) 2 And storing.
It should be noted thatA 1 And A 2 When the target is tentatively blocked, there is A 1 And A 2 In the case where the travel distance from the candidate buffer position is the same, in this case, it may be considered that the cooperative AGV travels to a 1 And A 2 Which blocking shelf is closest in distance, which is determined as the target blocking shelf.
In another case, since there are a plurality of cooperative AGVs, there may be two cooperative AGVs respectively corresponding to a 1 And A 2 When the distances are the same, A is selected 1 And A 2 Any one of the identified target blocking shelves is not limited herein, and the specific target blocking shelf is selected.
In addition, taking FIG. 3 as an example, if A 1 Or A is 2 Or A is 3 And A 4 Or A is 5 And A 5 When any position on the right side does not contain a blocking rack, the target rack A can be moved from the position without the blocking rack.
And S230, determining a cooperative route for the AGV according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route.
S240, determining a target route for the target AGV according to the current position of the target shelf and the target end position, so that the target AGV moves the target shelf to the target end position according to the target route.
And S250, setting the target route as a return route, and judging whether the return route contains an obstacle or not.
If the return route includes an obstacle, executing step S260; if the return route does not include an obstacle, step S270 is executed.
The return route comprises a return starting point and an initial return end point, the return starting point is the target end point position, and the initial return end point is the current position of the target shelf.
The obstacle can be understood as whether other operation AGVs are included in the return route, if so, whether the collision risk with other operation AGVs exists in the return route planned according to the return starting point and the initial return end point needs to be judged, and if so, the target return end point needs to be determined again; if not, it is necessary to further determine whether the determined initial return end point is occupied by another shelf or blocked, and if any of the above cases exists, it is understood that the return route includes an obstacle, and step S260 needs to be performed.
And S260, determining a target return end point according to the preset priority sequence, and updating the return route according to the return starting point and the target return end point.
When the target return end point is determined according to the preset priority order, the preset priority order can be understood as a storage condition order of the target shelf.
The shelf storage method provided by the embodiment of the invention can be realized by determining the target return trip end point according to the preset priority sequence through the following steps:
a) and judging whether the storage cargo space meeting the preset condition is included.
The storage cargo space satisfying the preset condition at present can be understood as a deep storage cargo space, please continue to refer to fig. 3, i.e. the position of C shown in fig. 3. The current deep storage goods position indicates that the boundary position of the storage channel is not shielded, and two or more unoccupied storage goods positions exist.
b) And if so, determining a target storage goods position from the storage goods positions according to the principle that the traveling route of the target AGV is shortest, and taking the position of the target storage goods position as a target return end point.
The target storage goods position is that when the storage goods position meeting the preset condition is obtained, the innermost goods position of the storage goods position is used as the target storage goods position, the position of the target storage goods position is used as a target return end point, and a return route is updated for the target AGV.
And if two or more storage cargo spaces meet the preset conditions, determining the target storage cargo space according to the shortest running route of the target AGV.
c) And if not, determining a second cache position according to the shortest running route of the target AGV, and taking the second cache position as a target return end point.
If the storage goods position meeting the preset condition is not included, determining a second cache position in the storage, and taking the second cache position as a target storage goods position.
Wherein the current second buffer position can be understood as the boundary position facing the AGV path, as shown in FIG. 3B 1 、B 2 、B 3 、B 4 、B 5 、B 6 And B 7 And when a plurality of cache positions meet the condition, determining a second cache position according to the shortest running route of the target AGV.
The setting position of the above buffer position is not limited by the illustration, and the boundary position facing the AGV travel lane may be regarded as a buffer position for storing the target blocking rack and storing the target rack in a storage space without a preset condition.
When the cache position only has B 1 When, or at B 1 In the case of being unoccupied, when the current second buffer position is closest to the target AGV, the current second buffer position may be the same as the first buffer position mentioned in step S220.
And S270, the target AGV returns according to the target route.
If there is no return route in any of the cases mentioned in step S260, the target AGV automatically makes a return route according to the target route.
According to the storage method of the goods shelf, provided by the embodiment of the invention, on the premise of ensuring the storage capacity, the driving quantity of non-operation AGVs on an AGV driving channel is reduced by setting the cache position, the executable task number in unit area is increased, and the purpose of increasing the execution efficiency of the AGVs is achieved. The system and the method solve the bottleneck that AGV efficiency is low in the traditional goods-to-people dense storage scheme, and the number of cache points can be dynamically adjusted along with the service flow and the storage capacity of the clients, so that the system and the method are more adaptive to the dynamic service scenes of the clients and can also be adaptive to more industries and scenes.
On the basis of the above embodiments, the embodiments of the present invention also provide an alternative, and the current alternative is used for the case of counting the stored goods in the warehousing area.
In the warehouse circulation industry, there is a fixed time period for the total inventory of goods, for example, at the end of the year or in the middle of the year, the inventory is used to know the current year's goods condition, so as to make sure the profit and loss by checking the inventory. Generally, the time for counting is short, the full-disk work of a warehouse is often completed within 48 hours, if the above embodiment is adopted, the rack is conveyed to the working point by the AGV for counting by workers, the situation of low working efficiency may exist, the working area of the AGV is limited, and the personnel are difficult to enter the AGV area for counting, so that the timeliness cannot be guaranteed. In view of the above, embodiments of the present invention provide a storage method for a storage rack, which is used for quickly checking goods stored on a storage rack.
The storage method of the goods shelf provided by the embodiment of the invention is applied to a goods shelf storage system, and the goods shelf storage system is in communication connection with the mobile terminal. Specifically, the method can be realized by the following steps:
generating a goods counting task for goods on a goods shelf of a goods shelf storage system; and receiving the cargo information sent by the mobile terminal according to the cargo checking task.
The purpose of generating the cargo counting task is to enable staff to hold the mobile terminal to enter the warehouse area for carrying out inventory operation. The mobile terminal may be a mobile phone with a cargo checking function or an industrial handheld terminal (PDA), and the specific type of the mobile terminal is not limited herein.
When the staff holds the mobile terminal to count the goods, the goods information identified by the mobile terminal can be sent to the goods shelf storage system so as to supply the goods to the goods shelf storage system for statistics. However, in the counting process, the storage mode of the shelves in the storage area may be back-to-back storage, and also may be multi-row shelves for close storage side by side, so that only the goods facing the outside of the AGV driving passage can be counted manually, and the problem of incomplete goods counting exists.
Specifically, receiving the cargo information sent by the mobile terminal according to the cargo checking task includes:
after receiving goods counting completion information of goods which are not shielded on the goods shelf, generating a goods shelf rotation task for the AGV according to the goods shelf position, so that the AGV rotates the goods shelf according to the goods shelf rotation task and displays the shielded goods; and receiving the goods information on the sheltered goods sent by the mobile terminal to finish counting the goods on the goods shelf.
The method comprises the steps that firstly, the goods enter a storage area manually, the goods on the outer side facing to an AGV channel (namely the goods which are not shielded) are checked, and after the goods of the goods which are not shielded are checked. From the staff standpoint, AGV gets into the storage area, and the goods shelves that will store in the storehouse are rotatory according to the rotatory task of goods shelves to with the goods that will not be checked towards the outside, the goods transport that has been checked to the inboard, thereby the staff of being convenient for is often once more, and handheld mobile terminal scans the goods information that is sheltered from on the goods, checks in order to accomplish the goods on the goods shelves.
If the storage mode of the shelves in the storage area is that a plurality of rows of shelves are stored side by side and tightly, the AGV is controlled to rotate the shelves from outside to inside, namely after goods on the shelves in the first row are checked, the shelves in the first row are conveyed to the innermost side, goods on the shelves in the second row are displayed, and the operation process is repeated until the goods on all the shelves are checked.
According to the storage method of the goods shelf, the driving number of non-operation AGVs on the AGV driving channel is reduced by setting the cache position, the executable task number under the unit area is increased, the purpose of increasing the execution efficiency of the AGVs is achieved, the storage method further has a rapid checking function, goods shelf rotating tasks are issued to the AGVs through the system, the goods shelf in the storage area is rotated, shielded goods of the goods shelf are all displayed for manual scanning checking, the problem that manual work in the AGV area cannot enter the checking is solved, large quantities of people are allowed to enter the AGV area to be checked simultaneously in a short time, and the working timeliness is improved.
Fig. 4 is a schematic structural diagram of a storage device of a shelf provided in an embodiment of the present invention, which is suitable for executing the storage method of the shelf provided in the embodiment of the present invention. As shown in fig. 4, the apparatus may specifically include: a blocking shelf determination module 310, a collaborative route determination module 320, a target route determination module 330, and a return route planning module 340, wherein:
a blocking shelf determining module 310, configured to determine a position of a target blocking shelf according to a current position of the target shelf, where the target blocking shelf is a shelf that blocks the target shelf from being directly moved out;
a cooperative route determining module 320, configured to determine a first cache position according to the position of the target blocking rack, and determine a cooperative route for the cooperative automatic guided vehicle AGV according to the position of the target blocking rack and the first cache position, so that the cooperative AGV moves the target blocking rack to the first cache position according to the cooperative route;
a target route determining module 330, configured to determine a target route for a target AGV according to the current position of the target rack and a target destination position, so that the target AGV moves the target rack to the target destination position according to the target route;
and the return route planning module 340 is configured to plan a return route for the target AGV, so that the target AGV returns according to the return route to store the target shelf and the target blocking shelf.
According to the storage device of the goods shelf, the position of a target blocking goods shelf is determined according to the current position of the target goods shelf; determining a first cache position according to the position of the target blocking goods shelf, and determining a cooperative route for the cooperative automatic guided vehicle AGV according to the position of the target blocking goods shelf and the first cache position, so that the cooperative AGV moves the target blocking goods shelf to the first cache position according to the cooperative route; meanwhile, determining a target route for the target AGV according to the current position of the target shelf and the target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route; and finally, planning a return route for the target AGV so that the target AGV returns according to the return route and realizes the storage of the target shelf and the target blocking shelf. According to the technical scheme provided by the embodiment of the invention, the placement of the blocking goods shelf is reasonable by setting the first cache position, and the flow of the non-operation goods shelf on the AGV operation route is reduced, so that the target goods shelf is quickly moved to the target end position, and the operation efficiency is improved. The problem of only considering current storage demand and neglecting the influence memory space and the operating efficiency that future operation demand leads to among the prior art is solved, through the first cache position of nimble configuration, got the beneficial effect that improves operating efficiency, dynamic adaptation is in multiple service scene.
In one embodiment, the return route includes a return starting point and an initial return end point, the return starting point is the target end point position, and the initial return end point is the current position of the target shelf;
the return route planning module 340 includes: an obstacle judgment unit and a return route update unit, wherein:
the obstacle judging unit is used for setting the target route as the return route and judging whether the return route comprises an obstacle or not;
and the return route updating unit is used for determining a target return end point according to a preset priority sequence and updating the return route according to the return start point and the target return end point.
In one embodiment, the return route updating unit includes: judge subunit, target goods position and confirm subunit and save position and confirm subunit, wherein:
the judging subunit is used for judging whether the storage cargo space meeting the preset condition is included;
the target goods position determining subunit is used for determining a target storage goods position from the storage goods positions according to the principle that the running route of the target AGV is shortest, and taking the position of the target storage goods position as the target return end point;
and the cache position determining subunit is used for determining a second cache position according to the principle that the travel route of the target AGV is shortest, and taking the second cache position as the target return end point.
In an embodiment, the blocking shelf determining module 310 is specifically configured to determine candidate blocking shelves according to the current position of the target shelf, and determine the position of the target blocking shelf from the candidate blocking shelves according to the principle that the candidate blocking shelves move least.
In an embodiment, the cooperative route determining module 320 is specifically configured to obtain location information of candidate cache locations, and determine the first cache location from the candidate cache locations by combining the location of the target blocking rack based on a principle of shortest travel route of cooperative AGV.
In one embodiment, the method is applied to a shelf storage system, and the shelf storage system is in communication connection with the mobile terminal;
the device further comprises: an inventory task generating module and a cargo information receiving module, wherein:
the inventory task generating module is used for generating a cargo inventory task for the goods on the goods shelf of the goods shelf storage system;
and the cargo information receiving module is used for receiving the cargo information sent by the mobile terminal according to the cargo checking task.
In one embodiment, the cargo information receiving module includes: rotatory task generating element and goods information receiving unit, wherein:
the rotating task generating unit is used for generating a goods shelf rotating task for the AGV according to the goods shelf position after receiving goods counting completion information of goods which are not blocked on the goods shelf, so that the AGV rotates the goods shelf according to the goods shelf rotating task and displays the blocked goods;
and the goods information receiving unit is used for receiving the goods information on the shielded goods sent by the mobile terminal so as to finish counting the goods on the goods shelf.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the functional module, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
An embodiment of the present invention further provides an electronic device, where the electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of shelf storage according to any of the embodiments of the invention.
The embodiment of the invention also provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used for enabling a processor to implement the storage method of the shelf according to any embodiment of the invention when executed.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use in implementing an electronic device of an embodiment of the present invention. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. A drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block 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. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules and/or units described in the embodiments of the present invention may be implemented by software, and may also be implemented by hardware. The described modules and/or units may also be provided in a processor, and may be described as: a processor includes a barrier shelf determination module, a collaborative route determination module, a target route determination module, and a return route planning module. Wherein the names of the modules do not in some cases constitute a limitation of the module itself.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: determining the position of a target blocking shelf according to the current position of the target shelf, wherein the target blocking shelf is a shelf which blocks the target shelf from being directly moved out; determining a first cache position according to the position of the target blocking shelf, and determining a cooperative route for an AGV (automatic guided vehicle) according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route; determining a target route for a target AGV according to the current position of the target shelf and a target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route; and planning a return route for the target AGV so that the target AGV returns according to the return route to store the target shelf and the target blocking shelf.
According to the technical scheme of the embodiment of the invention, the blocking goods shelf is placed reasonably by setting the first cache position, and the flow of the non-operation goods shelf on the AGV operation route is reduced, so that the target goods shelf is moved to the target end position quickly, and the operation efficiency is improved. The problem of only considering current storage demand and neglecting the influence memory space and the operating efficiency that future operation demand leads to among the prior art is solved, through the first cache position of nimble configuration, got the beneficial effect that improves operating efficiency, dynamic adaptation is in multiple service scene.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method of storing a shelf, the method comprising:
determining the position of a target blocking shelf according to the current position of the target shelf, wherein the target blocking shelf is a shelf which blocks the target shelf from being directly moved out;
determining a first cache position according to the position of the target blocking shelf, and determining a cooperative route for an AGV (automatic guided vehicle) according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route;
determining a target route for a target AGV according to the current position of the target shelf and a target end point position, so that the target AGV moves the target shelf to the target end point position according to the target route;
and planning a return route for the target AGV so that the target AGV returns according to the return route to store the target shelf and the target blocking shelf.
2. The method of claim 1, wherein the return route includes a return start point and an initial return end point, the return start point being the target end point location, the initial return end point being a current location of the target shelf;
planning a return route for the target AGV comprises:
setting the target route as the return route, and judging whether the return route comprises obstacles or not;
if yes, determining a target return end point according to a preset priority sequence, and updating the return route according to the return start point and the target return end point.
3. The method of claim 2, wherein determining a target return end point according to a predetermined priority order comprises:
judging whether a storage cargo space meeting preset conditions is included;
if yes, determining a target storage goods position from the storage goods positions according to the principle that the running route of the target AGV is shortest, and taking the position of the target storage goods position as the target return end point;
and if not, determining a second cache position according to the shortest running route of the target AGV, and taking the second cache position as the target return end point.
4. The method of claim 1, wherein determining the location of the target blocking shelf from the current location of the target shelf comprises:
and determining candidate blocking shelves according to the current position of the target shelf, and determining the position of the target blocking shelf from the candidate blocking shelves according to the principle that the candidate blocking shelves move least.
5. The method of claim 1, wherein determining a first cache location based on the location of the target blocking shelf comprises:
and acquiring position information of candidate cache positions, and determining the first cache position from the candidate cache positions by combining the position of the target blocking shelf based on the principle that the cooperative AGV driving route is shortest.
6. The method according to claim 1, wherein the method is applied to a shelf storage system, and the shelf storage system is in communication connection with the mobile terminal; the method further comprises the following steps:
generating a goods inventory task for goods on the shelf of the shelf storage system;
and receiving goods information sent by the mobile terminal according to the goods counting task.
7. The method according to claim 6, wherein the receiving the cargo information sent by the mobile terminal according to the cargo inventory task comprises:
after receiving goods counting completion information of goods which are not shielded on a goods shelf, generating a goods shelf rotation task for an AGV according to the goods shelf position, so that the AGV rotates the goods shelf according to the goods shelf rotation task to display the shielded goods;
and receiving the cargo information on the shielded cargo sent by the mobile terminal so as to finish counting the cargo on the shelf.
8. A storage device for a shelf, comprising:
the device comprises a blocking shelf determining module, a storage rack detecting module and a storage rack control module, wherein the blocking shelf determining module is used for determining the position of a target blocking shelf according to the current position of the target shelf, and the target blocking shelf is a shelf which blocks the target shelf from being directly moved out;
the cooperative route determining module is used for determining a first cache position according to the position of the target blocking shelf, and determining a cooperative route for an AGV according to the position of the target blocking shelf and the first cache position, so that the cooperative AGV moves the target blocking shelf to the first cache position according to the cooperative route;
the target route determining module is used for determining a target route for the target AGV according to the current position of the target shelf and the target end position, so that the target AGV moves the target shelf to the target end position according to the target route;
and the return route planning module is used for planning a return route for the target AGV so that the target AGV returns according to the return route to store the target shelf and the target blocking shelf.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of storage of a shelf of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the storage method of a shelf according to any one of claims 1 to 7.
CN202210756446.1A 2022-06-29 2022-06-29 Storage method and device of goods shelf, electronic equipment and storage medium Pending CN115130961A (en)

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