KR102763780B1 - Logistics management system and method using ceiling-type AI camera - Google Patents

Abstract

The present invention relates to a logistics management system and method using a ceiling-type AI camera. The logistics management system according to the present invention includes a plurality of ceiling-type AI cameras installed at a plurality of points on the ceiling of a logistics warehouse where transportation, loading, and unloading of logistics are performed, and detecting and transmitting location information of a cart based on image information captured from the upper part of the cart within the logistics warehouse; a logistics management device transmitting the location information of the cart received from the plurality of ceiling-type AI cameras to a cart carrier or a sorting robot; and a cart carrier holding and transporting the cart based on the location information of the cart received from the logistics management device.

Description

Logistics management system and method using ceiling-type AI camera {Logistics management system and method using ceiling-type AI camera}

The present invention relates to a logistics management system and method, and more specifically, to a logistics management system and method using a ceiling-type AI camera that performs logistics management while monitoring the position of a bogie with a ceiling-type AI camera.

Recently, with the explosive growth of the e-commerce market, there has been an active movement to introduce logistics management systems to logistics warehouses to improve the efficiency of logistics management.

A logistics management system is a system that can provide agency services for at least part of the entire process from receipt of goods to shipment of goods upon request from individuals or companies.

To improve the efficiency of logistics management, various types of material carriers are being used. As such material carriers, unmanned carriers called AGVs (Automated Guided Vehicles) are being used. Unmanned carriers can transport goods by directly loading them or by loading them onto carts. When transporting goods by loading them onto carts, unmanned carriers move the carts to the locations where goods need to be loaded or unloaded.

The GTP (Goods To Person)-based logistics management method using unmanned transporters breaks away from the conventional passive concept and adopts a method in which unmanned transporters directly deliver order boxes or ordered items to the worker's location.

The use of sorting robots that replace workers is also expanding.

Therefore, it is expected that the logistics management system will become mainstream and will involve collaboration between material carriers and sorting robots.

In this logistics management system, loading and unloading of goods by a sorting robot in a logistics warehouse where logistics management is performed is performed between the sorting robot and a cart located near the sorting robot.

When a sorting robot loads or unloads items onto a cart, a force is applied to the cart, and this force may cause the cart to move. If the movement of the cart is slight, it does not cause problems in loading or unloading items by the sorting robot.

However, if the moving distance exceeds a certain distance, errors may occur during the process of loading or unloading items. For example, during the process of loading items, a sorting robot may pick up items in the wrong location, causing damage to the items, or picking up the wrong items may lead to loading the wrong items. During the process of unloading items onto a cart, a sorting robot may load items in a location that is different from the target point, or the items may fall off the cart during the loading process.

Also, problems occur when the goods carrier moves the cart to another location after loading or unloading is completed. That is, if there is an error between the previous location of the cart at the time of moving the cart to the current location and the current location of the cart, a problem may occur in which the goods carrier cannot accurately hold the cart.

Publication of Patent Publication No. 2023-0081730 (June 8, 2023)

Therefore, the purpose of the present invention is to provide a logistics management system and method using a ceiling-type AI camera that can accurately hold and move a cart as a goods carrier even if a change in location occurs at the location where the cart is located.

Another object of the present invention is to provide a logistics management system and method using a ceiling-type AI camera that monitors the position of a cart and performs logistics management by using a ceiling-type AI camera that can suppress errors occurring during the process of a sorting robot loading or unloading goods onto a cart.

In order to achieve the above object, the present invention provides a logistics management system including: a plurality of ceiling-type AI cameras installed at a plurality of points on the ceiling of a logistics warehouse where transport, loading, and unloading of goods are performed, and detecting and transmitting location information of a cart based on image information captured from the upper part of the cart within the logistics warehouse; a logistics management device transmitting the location information of the cart received from the plurality of ceiling-type AI cameras to a cart carrier or a sorting robot; and a cart carrier holding and transporting the cart based on the location information of the cart received from the logistics management device.

The above ceiling-type AI camera can detect the first location information of the cart from a two-dimensional first image of the cart taken from the ceiling to the floor of the logistics warehouse.

The above first position information is position information of the bogie with respect to a two-dimensional plane, and may include a center position of the bogie and an angle by which the bogie is rotated with respect to a reference position with respect to the center position.

The above-described goods carrier may include a first camera for capturing a two-dimensional second image from the goods carrier to the side of the logistics warehouse.

The above-mentioned goods carrier can detect second location information of the cart with the second image, fuse the first location information and the second location information received from the logistics management device to calculate three-dimensional location information of the cart, and hold and transport the cart with the three-dimensional location information.

The logistics management system according to the present invention may further include a sorting robot that loads or unloads goods onto a cart based on location information of the cart received from the logistics management device.

The above classification robot may include a second camera that captures a two-dimensional third image of the cart.

The above classification robot can detect third location information of the cart with the third image, fuse the first location information and the third location information received from the logistics management device to calculate three-dimensional location information of the cart, and load or unload goods onto the cart based on the three-dimensional location information.

The above logistics management device can calculate a driving path of the goods carrier based on images of the logistics warehouse received from the plurality of ceiling-type AI cameras and transmit the calculated path to the goods carrier.

The above-mentioned goods carrier can drive along the received driving route.

The present invention also provides a logistics management method, including: a step of receiving position information of a bogie from a plurality of ceiling-type AI cameras, wherein a logistics management device is installed at a plurality of points on the ceiling of a logistics warehouse where transport, loading, and unloading of logistics are performed and detecting position information of the bogie based on image information captured from the upper part of the bogie within the logistics warehouse; and a step of transmitting the position information of the bogie to a goods carrier by the logistics management device to cause the goods carrier to hold and transport the bogie.

The logistics management method according to the present invention may further include a step in which the logistics management device transmits location information of the cart to a sorting robot to cause the sorting robot to load or unload goods onto the cart.

And in the receiving step, the logistics management device receives images of the logistics warehouse captured by the plurality of ceiling-type AI cameras. In the transporting step, the logistics management device calculates a driving path of the goods carrier based on the received images of the logistics warehouse and transmits the calculated path to the goods carrier.

According to the present invention, by monitoring the position of a cart with a ceiling-type AI camera and performing logistics management, errors occurring during the process of a sorting robot loading or unloading goods onto a cart can be suppressed. That is, since the ceiling-type AI camera provides the cart's position information detected from above the cart and the sorting robot to the sorting robot, the sorting robot loads or unloads goods based on the current position information of the cart, and thus the loading or unloading of goods can be performed more accurately.

And the goods carrier transporting the cart can accurately hold and move the cart by receiving the cart's current location information from the ceiling-type AI camera even if the cart moves from its location.

FIG. 1 is a block diagram showing a logistics management system using a ceiling-type AI camera according to an embodiment of the present invention.
Figure 2 is an example diagram showing the process of detecting location information of a bogie using image information captured by the ceiling-type AI camera of Figure 1.
Figure 3 is a flow chart of a logistics management method using a ceiling-type AI camera according to an embodiment of the present invention.
Figure 4 is an example diagram explaining the conventional cart transport method.
Figure 5 is an exemplary diagram for explaining a cart transport method according to the logistics management method of Figure 3.

It should be noted that in the following description, only the parts necessary for understanding the embodiments of the present invention are described, and the description of other parts will be omitted without departing from the scope of the present invention.

The terms or words used in this specification and claims described below should not be interpreted as limited to their usual or dictionary meanings, but should be interpreted as meanings and concepts that conform to the technical idea of the present invention based on the principle that the inventor can appropriately define the concept of the term in order to describe his own invention in the best way. Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are merely preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, and it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings.

FIG. 1 is a block diagram showing a logistics management system using a ceiling-type AI camera according to an embodiment of the present invention.

Referring to FIG. 1, the logistics management system (100) according to the present embodiment is a system that manages the flow of logistics in a logistics warehouse, and is a system that performs logistics management by controlling a cart (50), a material carrier (30), and a sorting robot (40) based on information collected from ceiling-type AI cameras (10) installed on the ceiling of a logistics warehouse where transport, loading, and unloading of goods are performed.

The logistics management system (100) according to this embodiment includes a plurality of ceiling-type AI cameras (10), a logistics management device (20), and a product carrier (30), and may further include a sorting robot (40). The plurality of ceiling-type AI cameras (10) are installed at a plurality of points on the ceiling of a logistics warehouse where transport, loading, and unloading of products are performed, and detect and transmit location information of a cart (50) based on image information captured from the top of the cart (50) inside the logistics warehouse. The logistics management device (20) transmits the location information of the cart (50) received from the plurality of ceiling-type AI cameras (10) to the product carrier (30) or the sorting robot (40). In addition, the product carrier (30) holds and transports the cart (50) based on the location information of the cart (50) received from the logistics management device (20).

The logistics management system (100) according to this embodiment is specifically described as follows.

Communication can be performed between multiple ceiling-type AI cameras (10) and logistics management devices (20) via a wired or wireless communication network. A generally known communication network can be used as the wired or wireless communication network.

Communication can be performed between the logistics management device (20) and the goods carrier (30), and between the logistics management device (20) and the sorting robot (40) via a wireless communication network. A generally known communication network can be used as the wireless communication network, and preferably, a short-range communication network can be used.

The ceiling-type AI camera (10) is a functional camera terminal device that performs communication with a logistics management device (20). A plurality of ceiling-type AI cameras (10) are installed on the ceiling of a logistics warehouse, and acquire image information about a cart (50), an article carrier (30), a sorting robot (40), and loaded articles moving within the logistics warehouse. The ceiling-type AI camera (10) can transmit acquired image information and information processed from the acquired image information to the logistics management device (20). The processed information may be location information of the cart (50).

These multiple ceiling-type AI cameras (10) include a first ceiling-type AI camera, a second ceiling-type AI camera, …, an nth ceiling-type AI camera (n is a natural number greater than or equal to 2). The multiple ceiling-type AI cameras (10) may be installed randomly on the ceiling of the logistics warehouse, but may be installed regularly in rows and columns. The multiple ceiling-type AI cameras (10) may be installed on the ceiling of the logistics warehouse in an appropriate number within a range where they can capture the entire floor surface of the logistics warehouse.

The ceiling-type AI camera (10) can detect the first position information of the bogie (50b) from a two-dimensional first image of the bogie (50b) taken from the ceiling of the logistics warehouse to the floor. At this time, the first position information, as the position information of the bogie (50b) with respect to a two-dimensional plane, with reference to FIG. 2, includes the center position (O') of the bogie (50b) and the angle (θ) by which the bogie (50b) is rotated with respect to the reference position (O) with respect to the center position (O'). Here, FIG. 2 is an exemplary diagram showing a process of detecting the position information of the bogie (50b) from the image information taken by the ceiling-type AI camera (10) of FIG. 1. Drawing symbol 50a represents a bogie at a reference position, and drawing symbol 50b represents a bogie at a current position. The bogie is actually located at the current position.

The reference position (O) of the bogie (50a) refers to the initial position at which it was transported and positioned by the goods carrier (30). The current position of the bogie (50b) can be displayed based on the center position (O') of the bogie (50b).

The position of the cart (50a) initially transported by the goods carrier (30) is at the reference position (O), but a force may be applied to the cart during the process of loading or unloading goods onto the cart using the sorting robot (40). The cart may move in the direction in which the force is applied. As a result, the carts (50a, 50b) may move from the reference position (O) and be positioned at the current position (O').

Therefore, in order to transport the bogie (50), it is necessary to accurately determine information about the current location of the bogie (50b). In this embodiment, the current location of the bogie (50b) can be accurately detected from image information including the bogie (50b) acquired by the ceiling-type AI camera (10).

The ceiling-type AI camera (10) transmits the acquired image information and the location information of the cart (50) to the logistics management device (20).

The logistics management device (20) is a device that performs logistics management using a ceiling-type AI camera (10). This logistics management device (20) can be implemented as a PC, server, etc. capable of processing for logistics management.

The logistics management device (20) calculates the driving path of the goods carrier (30) based on the images of the logistics warehouse received from a plurality of ceiling-type AI cameras (10) and transmits the calculated path to the goods carrier (30). That is, the logistics management device (20) can create a map of the logistics warehouse based on the images of the logistics warehouse received from a plurality of ceiling-type AI cameras (10). If there is a cart (50) that needs to be transported based on the map, the logistics management device (20) can check the location of the cart (50) on the map and calculate the driving path of the goods carrier (30). The goods carrier (30) can drive along the received driving path and move to the target location of the cart (50).

The logistics management device (20) can transmit the location information of the cart (50) received from the ceiling-type AI camera (10) to the goods carrier (30) or the sorting robot (40).

Meanwhile, in this embodiment, an example in which a ceiling-type AI camera (10) detects the location information of a bogie (50) is disclosed, but it is not limited to this. The logistics management device (20) can detect the location information of a bogie (50) by utilizing the image information received from the ceiling-type AI camera (10).

The goods carrier (30) moves the cart (50) to the target point of the logistics warehouse under the control of the logistics management device (20). This goods carrier (30) may be a device capable of autonomous driving based on the driving information provided by the logistics management device (20). For example, the goods carrier (30) includes an AGV, a mobile robot, etc. that can hold and move the cart (50). The goods carrier (30) can transport the cart (50) by loading it on top or by gripping the side of the cart (50). FIG. 5 shows an example in which the goods carrier (30) moves to the bottom of the cart (50b) and then loads and moves the cart (50b) by lifting it.

The goods carrier (30) holds and transports the cart (50) based on the location information of the cart (50) received from the logistics management device (20). That is, the ceiling-type AI camera (10) can more accurately detect the first location information of the cart (50) by capturing a two-dimensional first image of the cart (50) from the ceiling to the floor of the logistics warehouse.

As a result, the goods carrier (30) can accurately determine the current position of the cart (50) with the first position information of the cart (50), so that the cart (50) can be held and transported more accurately. That is, in transporting the cart (50), as the position information of the cart (50), the position information in the XY plane, which is a plane parallel to the ground of the logistics warehouse, is more important than the position information including the component perpendicular to the ground of the logistics warehouse. From this perspective, the ceiling-type AI camera (10) can provide image information that can detect the position information in the XY plane.

Although an example has been disclosed in which a goods carrier (30) holds and transports a cart (50) with first location information, it is not limited to this.

If the goods carrier (30) is equipped with the first camera (31), the image captured by the first camera (31) can be utilized together for transport of the cart (50). That is, the first camera (31) equipped on the goods carrier (30) captures a second two-dimensional image from the goods carrier (30) to the side of the logistics warehouse. The goods carrier (30) detects second position information of the cart (50) using the second image. The goods carrier (30) calculates three-dimensional position information of the cart (50) by merging the first position information and the second position information received from the logistics management device (20). Then, the goods carrier (30) can hold and transport the cart (50) using the three-dimensional position information. That is, if the first position information is position information for the XY plane, the second position information is position information for the XZ plane or YZ plane including the Z-axis component, so the three-dimensional position information of the bogie (50) can be derived from the first and second position information.

The sorting robot (40) is a robot that is located at a specific point in a logistics warehouse and performs loading and unloading of goods using a cart (50). This sorting robot (40) is a robot equipped with a multi-joint arm capable of picking and placing goods, and may be a robot that is fixedly installed at a specific point or a mobile robot that can move within a work area.

These sorting robots (40) perform loading and unloading of goods under the control of the logistics management device (20). The sorting robots (40) can load or unload goods onto the cart (50) based on the location information of the cart (50) received from the logistics management device (20).

If the sorting robot (40) is equipped with a second camera (41), the image captured by the second camera (41) can be utilized together for classification of goods. That is, the second camera (41) equipped on the sorting robot (40) captures a two-dimensional third image from the side of the logistics warehouse from the sorting robot (40). The sorting robot (40) detects third position information of the cart (50) using the third image. The sorting robot (40) fuses the first position information and the third position information received from the logistics management device (20) to calculate three-dimensional position information of the cart (50). In addition, the sorting robot (40) can perform classification of goods by utilizing the three-dimensional position information. That is, if the first position information is position information for the XY plane, the third position information is position information for the XZ plane or YZ plane including the Z-axis component, so the three-dimensional position information of the cart (50) can be calculated from the first and third position information.

According to this embodiment, by performing logistics management while monitoring the position of the cart (50) with the ceiling-type AI camera (10), errors occurring during the process of the sorting robot (40) loading or unloading goods onto the cart (50) can be suppressed. That is, the ceiling-type AI camera (10) provides the position information of the cart (50) detected from above the cart (50) and the sorting robot (40), so that the sorting robot (40) loads or unloads goods based on the current position information of the cart (50), and thus the loading or unloading of goods can be performed more accurately.

And the goods carrier (30) transporting the cart (50) receives the current location information of the cart (50) from the ceiling-type AI camera (10), so that even if the location of the cart (50) moves from the location where it is located, the cart (50) can be accurately held and moved by the goods carrier (30).

The logistics management method of the logistics management system (100) according to this embodiment will be described with reference to FIGS. 1 to 3 as follows. Here, FIG. 3 is a flow chart according to the logistics management method using a ceiling-type AI camera (10) according to the embodiment of the present invention.

First, in step S10, the logistics management device (20) receives location information of the cart (50) from multiple ceiling-type AI cameras (10). That is, the ceiling-type AI camera (10) detects location information of the cart (50) based on image information captured from above the cart (50) in the logistics warehouse. The ceiling-type AI camera (10) transmits the location information of the detected cart (50) to the logistics management device (20).

Next, if there is a cart (50) that needs to be moved, the logistics management device (20) transmits the location information of the cart (50) to the goods carrier (30) at step S20.

And in step S30, the goods carrier (30) holds and transports the corresponding cart (50). That is, when the goods carrier (30) receives the location information of the corresponding cart (50) from the logistics management device (20), it moves to the location where the corresponding cart (50) is located. The goods carrier (30) holds the cart (50) using the location information of the cart (50). And the goods carrier (30) transports the held cart (50) to the target point.

When the goods carrier (30) holds the cart (50), the exact posture of the cart (50) can be determined based on the location information of the cart (50), so the goods carrier (30) can accurately hold the cart (50).

Next, when loading or unloading of goods from the cart (50) is required, the logistics management device (20) transmits the location information of the cart (50) to the sorting robot (40) at step S40.

And at step S50, the sorting robot (40) loads or unloads goods onto the cart (50) by utilizing the received location information of the cart (50).

The transport method of the cart (50b) according to this embodiment will be described with reference to FIGS. 4 and 5 as follows. Here, FIG. 4 is an exemplary diagram for explaining the conventional cart transport method. And FIG. 5 is an exemplary diagram for explaining the cart transport method according to the logistics management method of FIG. 3.

Referring to Fig. 4, the existing cart transport method provides information on the reference position at the time of transporting the cart (50a) using the location information of the cart (50b) as the material carrier (30).

Drawing symbol 50a represents the bogie at the reference position.

Drawing symbol 50b indicates the bogie at the current position. It indicates a case where the bogie (50a) at the reference position is moved to the current position by a physical force. The actual bogie (50b) is located at the current position, not the reference position.

However, when information on the reference position of the cart is provided to the goods carrier (30), the goods carrier (30) moves to a position where it can hold the cart at the reference position. In this case, since a difference occurs between the reference position and the current position, a problem occurs in which the goods carrier (30) cannot accurately hold the cart (50a) at the current position.

On the other hand, referring to FIG. 5, in this embodiment, information on the current position of the cart (50b) is provided to the goods carrier (30).

Accordingly, the goods carrier (30) can perform center movement and rotation corresponding to the posture of the current position of the cart (50b) as shown in Fig. 5(b) while moving near the cart (50b) to be transported as shown in Fig. 5(a). And as shown in Fig. 5(c), the goods carrier (30) can move below the cart (50b) and accurately hold the cart (50b).

In this embodiment, an example is disclosed in which the goods carrier (30) moves and rotates around its center in response to the cart (50b) at its current location, but it is not limited thereto. For example, if the goods carrier (30) is equipped with a robot arm capable of moving or holding the cart (50b), the location of the cart (50b) can be changed to a position suitable for holding by utilizing the robot arm.

Meanwhile, the embodiments disclosed in this specification and drawings are merely specific examples presented to aid understanding and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art to which the present invention pertains that other modified examples based on the technical idea of the present invention can be implemented in addition to the embodiments disclosed herein.

10: Ceiling-mounted AI camera
20: Logistics Management Device
30: Goods carrier
31: 1st camera
40: Classification Robot
41: Second camera
50 : Cargo
100 : Logistics Management System

Claims (12)

A plurality of ceiling-type AI cameras installed at multiple points on the ceiling of a logistics warehouse where transport, loading, and unloading of goods are performed, wherein the cameras can photograph the entire floor surface of the logistics warehouse from the ceiling of the logistics warehouse, and detect and transmit location information including the posture of a cart based on image information photographed from the top of the cart within the logistics warehouse;
A logistics management device that transmits location information including the posture of a cart received from the plurality of ceiling-type AI cameras to a goods carrier or a sorting robot;
A sorting robot that loads or unloads goods onto a cart based on location information including the cart's posture received from the logistics management device; and
A material carrier that holds and transports a cart based on location information including the cart's posture received from the logistics management device;
The above-mentioned goods carrier is moved to the vicinity of the cart to be transported, and after the goods carrier performs center movement and rotation corresponding to the posture of the cart, the cart is held and transported.
The above ceiling-type AI camera
Detecting first position information of a cart from a two-dimensional first image taken from the ceiling to the floor of a logistics warehouse, the first position information is position information of the cart with respect to a two-dimensional plane, and includes the center position of the cart and the angle at which the cart is rotated with respect to a reference position with respect to the center position,
The above goods carrier
Including a first camera for taking a two-dimensional second image from the side of the logistics warehouse in the above-mentioned goods carrier, detecting second location information of the cart with the second image, calculating three-dimensional location information of the cart by fusing the first location information and the second location information received from the logistics management device, and holding and transporting the cart with the three-dimensional location information,
The above classification robot
A second camera is included to capture a two-dimensional third image of the cart, detect third location information of the cart with the third image, derive three-dimensional location information of the cart by fusing the first location information and the third location information received from the logistics management device, and load or unload goods onto the cart based on the three-dimensional location information.
A logistics management system characterized by: delete delete delete delete delete In the first paragraph,
The above logistics management device calculates the driving path of the goods carrier based on the images of the logistics warehouse received from the plurality of ceiling-type AI cameras and transmits the calculated path to the goods carrier.
A logistics management system characterized in that the above-mentioned goods carrier drives along a received driving route. A logistics management device is installed at multiple points on the ceiling of a logistics warehouse where transport, loading, and unloading of logistics are performed, and is capable of photographing the entire floor surface of the logistics warehouse from the ceiling of the logistics warehouse, and a step of receiving position information including the posture of the bogie from multiple ceiling-type AI cameras that detect position information including the posture of the bogie based on image information photographed from the top of the bogie within the logistics warehouse;
A step in which the logistics management device transmits location information including the posture of the cart to the goods carrier so that the goods carrier holds and transports the cart; and
A step in which the logistics management device transmits position information including the posture of the cart to the sorting robot to cause the sorting robot to load or unload goods onto the cart;
In the step of holding and transporting the above-mentioned vehicle,
The above-mentioned goods carrier is moved to the vicinity of the cart to be transported, and after the goods carrier performs center movement and rotation corresponding to the posture of the cart, the cart is held and transported.
The above ceiling-type AI camera detects the first location information of the cart by capturing a two-dimensional first image of the cart from the ceiling to the floor of the logistics warehouse,
The above first position information is position information of the bogie on a two-dimensional plane, and includes the center position of the bogie and the angle at which the bogie is rotated with respect to a reference position for the center position.
The above-mentioned goods carrier includes a first camera for taking a two-dimensional second image from the above-mentioned goods carrier to the side of the logistics warehouse,
In the step of holding and transporting the above-mentioned vehicle,
The above-mentioned goods carrier detects the second location information of the cart with the second image, fuses the first location information and the second location information received from the logistics management device to calculate the three-dimensional location information of the cart, and holds and transports the cart with the three-dimensional location information.
The above classification robot includes a second camera that captures a two-dimensional third image of the above cart,
At the step of loading or unloading goods using the above cart,
The above classification robot detects the third location information of the cart with the third image, fuses the first location information and the third location information received from the logistics management device to calculate the three-dimensional location information of the cart, and loads or unloads goods onto the cart based on the three-dimensional location information.
A logistics management method characterized by: delete delete delete In Article 8,
At the above receiving step,
The above logistics management device receives images of the logistics warehouse captured by the plurality of ceiling-type AI cameras,
At the step of transferring the above,
A logistics management method characterized in that the logistics management device calculates a driving path of the goods carrier based on an image of the received logistics warehouse and transmits the calculated driving path to the goods carrier.

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