Mobile unit moving method, device, electronic equipment and storage medium

Abstract

The present invention discloses a moving method, device, electronic device and storage medium for a mobile unit. The method includes: obtaining a planned driving path of a mobile unit and determining a passage number of the mobile unit; determining the unit passage time of the mobile unit passing through each road unit according to the distance between any two adjacent cargo compartments among a plurality of cargo compartments and the preset driving speed of the mobile unit, and determining the road passage direction of the mobile unit in the road network; determining the network entry time of the mobile unit according to the passage number and the unit passage time of the mobile unit, and moving the mobile unit to a target cargo compartment among a plurality of cargo compartments according to the network entry time, the planned driving path and the road passage direction of the mobile unit. That is, in an embodiment of the present invention, by determining the road passage direction and the network entry time of the mobile unit, the mobile unit reaches the target cargo compartment according to the planned driving path, thereby avoiding the path conflict of the mobile unit in the road network and reducing the labor cost.

Description

Technical Field

[0001] The embodiments of the present invention relate to computer technology, and more particularly to a moving method, a moving device, an electronic device and a storage medium for a mobile unit. Background Art

[0002] With the rise of e-commerce and other fields, current warehouses have high requirements for shipping efficiency, etc., and need to further sort the goods, so that the goods can be finally distributed all over the country. Traditional manpower methods have problems such as low efficiency and high cost, so unmanned warehousing is the general direction of future development of the industry. The existing technology uses automated mobile units for transportation, but when the number of mobile units is large, there will be path conflicts among multiple mobile units, and even a "deadlock" phenomenon of the path, resulting in the mobile units in the area being unable to find the driving path, requiring manual intervention to unlock, which affects the transportation efficiency of the mobile units and increases labor costs. Summary of the invention

[0003] The present invention provides a moving method, device, electronic device and storage medium for a mobile unit, which provide a solution for the transportation of the mobile unit in a road network in a warehousing system and can avoid path conflicts of the mobile unit in the road network.

[0004] In a first aspect, an embodiment of the present invention provides a method for moving a mobile unit, which is applied to a warehousing system, wherein the warehousing system includes a road network and a plurality of cargo compartments, wherein the road network is formed by vertically interweaving transverse roads and longitudinal roads formed by a plurality of road units, and each of the plurality of cargo compartments is surrounded by the plurality of road units in the middle, and the method includes:

[0005] Obtaining a planned travel path of a mobile unit and determining a pass sequence number of the mobile unit;

[0006] Determining a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo compartments among the plurality of cargo compartments and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo compartments is the same;

[0007] Determining a road travel direction of the mobile unit in the road network;

[0008] The network access time of the mobile unit is determined according to the pass sequence number of the mobile unit and the unit pass time, and the mobile unit is moved to a target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road travel direction.

[0009] Further, the determining the road travel direction of the mobile unit in the road network includes:

[0010] The road travel direction of the transverse road is determined according to the parity of the number of the transverse road, and the road travel direction of the longitudinal road is determined according to the parity of the number of the longitudinal road.

[0011] Further, the determining the road passing direction of the transverse road according to the parity of the numbering of the transverse road, and determining the road passing direction of the longitudinal road according to the parity of the numbering of the longitudinal road, comprises:

[0012] Determine that the road traffic direction of odd-numbered transverse roads is from left to right;

[0013] Determine that the road traffic direction of even-numbered transverse roads is from right to left;

[0014] Determine that the traffic direction of the odd-numbered longitudinal roads is from top to bottom;

[0015] The road traffic direction of the even-numbered longitudinal roads is determined to be from bottom to top.

[0016] Furthermore, before determining the road travel direction of the mobile unit in the road network, the method further includes:

[0017] Corresponding numbers are added to the transverse road and the longitudinal road in a counterclockwise direction.

[0018] Further, the determining the pass sequence number of the mobile unit includes:

[0019] determining a waiting position of the mobile unit;

[0020] When the waiting position corresponds to a transverse road, the pass number of the mobile unit is determined according to the queuing order of the mobile units in the road traffic direction of the transverse road corresponding to the waiting position; or, when the waiting position corresponds to a longitudinal road, the pass number of the mobile unit is determined according to the queuing order of the mobile units in the road traffic direction of the longitudinal road corresponding to the waiting position.

[0021] Further, the determining the network access time of the mobile unit according to the pass sequence number of the mobile unit and the unit pass time includes:

[0022] determining a waiting position of the mobile unit;

[0023] When the waiting position corresponds to a transverse road, determining the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time;

[0024] When the waiting position corresponds to a longitudinal road, the time when the mobile unit enters the longitudinal road is determined according to the passing sequence number of the mobile unit and the passing unit time.

[0025] Further, the determining the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time includes:

[0026]

[0027] Among them, t k It is the time when a mobile unit with a travel sequence number k in any travel direction on the transverse road enters the transverse road, k is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

[0028] Further, the step of determining the time when the mobile unit enters the longitudinal road according to the pass sequence number of the mobile unit and the pass unit time includes:

[0029]

[0030] Among them, t i is the time when the i-th mobile unit with the travel sequence number enters the longitudinal road in any travel direction on the longitudinal road, i is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

[0031] In a second aspect, an embodiment of the present invention further provides a mobile device of a mobile unit, the device comprising:

[0032] A signal acquisition module, used to acquire the planned driving path of the mobile unit and determine the pass sequence number of the mobile unit;

[0033] a time determination module, configured to determine a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo compartments among the plurality of cargo compartments and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo compartments is the same;

[0034] A direction determination module, used to determine the road travel direction of the mobile unit in the road network;

[0035] A mobile passage module is used to determine the network access time of the mobile unit according to the passage sequence number of the mobile unit and the unit passage time, and move the mobile unit to a target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road passage direction.

[0036] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0037] one or more processors;

[0038] a storage device for storing one or more programs,

[0039] When the one or more programs are executed by the one or more processors, the one or more processors implement the moving method of the mobile unit.

[0040] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the moving method of the mobile unit when executed by a processor.

[0041] The present invention obtains the planned driving path of the mobile unit and determines the passage sequence number of the mobile unit; determines the unit passage time of the mobile unit passing through each road unit according to the distance between any two adjacent cargo grids among the multiple cargo grids and the preset driving speed of the mobile unit, and determines the road passage direction of the mobile unit in the road network; determines the network entry time of the mobile unit according to the passage sequence number and the unit passage time of the mobile unit, and moves the mobile unit to the target cargo grid among the multiple cargo grids according to the network entry time, the planned driving path and the road passage direction of the mobile unit. That is, in the embodiment of the present invention, by determining the road passage direction and the network entry time of the mobile unit, the mobile unit reaches the target cargo grid according to the planned driving path, thereby avoiding the path conflict of the mobile unit in the road network and reducing the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of a moving method of a mobile unit provided by an embodiment of the present invention;

[0043] Figure 1A A schematic diagram of the structure of a storage system provided by an embodiment of the present invention;

[0044] Figure 1B A schematic diagram of the structure of the road traffic direction provided by an embodiment of the present invention;

[0045] Figure 2 is another schematic flow chart of a moving method of a mobile unit provided by an embodiment of the present invention;

[0046] Figure 2A A schematic diagram of a structure for adding numbering to a road network provided in an embodiment of the present invention;

[0047] Figure 2B A schematic diagram of the structure of the travel direction in the road network provided by an embodiment of the present invention;

[0048] Figure 3 is a schematic structural diagram of a mobile device of a mobile unit provided in an embodiment of the present invention;

[0049] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0051] Figure 1 A flow chart of a method for moving a mobile unit provided in an embodiment of the present invention is provided. The method is applied to a warehousing system, wherein the warehousing system includes a road network and a plurality of cargo compartments. The road network is formed by vertically interweaving transverse roads and longitudinal roads formed by a plurality of road units. Each of the plurality of cargo compartments is surrounded by a plurality of road units. The method can be executed by a mobile device of a mobile unit provided in an embodiment of the present invention. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated in an electronic device, such as a server. The following embodiments will be described by taking the device integrated in an electronic device as an example, with reference to Figure 1 , the method may specifically include the following steps:

[0052] Step 110: Obtain the planned driving path of the mobile unit and determine the pass number of the mobile unit;

[0053] For example, the planned driving path of the mobile unit can be understood as the path to be driven by the mobile unit in the road network according to the target cargo compartment preset, which can be the shortest driving path preset according to the target cargo compartment corresponding to the loaded cargo of the mobile unit, or the least turning driving path preset according to the target cargo compartment corresponding to the loaded cargo of the mobile unit. The passage sequence number of the mobile unit can be understood as the passage sequence number of the mobile unit corresponding to multiple passage directions in the road network, which can indicate the order of passage of the mobile units in each passage direction. Among them, the passage sequence numbers of the mobile units in each passage direction can be queued according to the size of the numbers, or can be based on the two passage directions on the transverse road according to the odd and even numbers, one passage direction has the passage sequence numbers of the odd-numbered rows of mobile units, and the other has the passage sequence numbers of the even-numbered rows of mobile units, so that the passage sequence number of the mobile unit is determined according to the size of the odd and even numbers in each passage direction.

[0054] In a specific implementation, based on the road network and multiple cargo compartments included in the warehousing system, the road network can be a road network from the starting point of the mobile unit transportation to the target cargo compartment, or a road network from the entrance of the cargo storage corresponding to the destination of the mobile unit transportation to the target cargo compartment. The road network is formed by the vertical interweaving of transverse roads and longitudinal roads formed by multiple road units, and each of the multiple cargo compartments is surrounded by multiple road units in the middle, that is, it is equivalent to that there are corresponding transverse roads and longitudinal roads in the cargo compartments evenly distributed in the cargo storage, so that the mobile unit can move the goods to the target cargo compartment through the transverse roads and longitudinal roads. Obtaining the planned driving path of the mobile unit is equivalent to determining where the mobile unit turns to reach the destination, and the planned driving path needs to comply with the traffic direction of each transverse road and each longitudinal road. Determining the passage sequence number of the mobile unit is equivalent to determining the passage queuing order of the mobile unit in each passage direction, so that the mobile unit can pass in the corresponding order according to the passage sequence number of the mobile unit in each passage direction to avoid traffic confusion.

[0055] Step 120: determining a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo grids among the plurality of cargo grids and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo grids is the same;

[0056] For example, a cargo grid can be understood as a cargo warehouse in a cargo warehouse, that is, a plurality of cargo grids are provided in the cargo warehouse. The spacing between any two adjacent cargo grids among the plurality of cargo grids can be understood as the distance length between two adjacent cargo grids among the plurality of cargo grids provided at each destination, that is, the distance length from one cargo grid to another adjacent cargo grid in the cargo warehouse, and the distance lengths between adjacent cargo grids in the cargo warehouse are the same. The preset driving speed of the mobile unit can be understood as the preset driving speed of the mobile unit on the transverse road or the longitudinal road, which can be the average driving speed of the mobile unit during the driving process, or the safe driving speed set according to the traffic safety, or the preset driving speed corresponding to the weight of the cargo. The travel time of the mobile unit through each road unit can be understood as the travel time of the mobile unit through each road unit, that is, the travel time required for the mobile unit to travel the length of one road unit.

[0057] In the specific implementation, the unit travel time of the mobile unit passing through each road unit is calculated according to the distance between multiple cargo grids set in the cargo warehouse and the travel speed preset by the mobile unit according to actual needs. In practice, the distance between the cargo grids is the length of one road unit. That is, the unit travel time of each road unit is obtained by dividing the known travel length and the travel speed. The transverse roads and longitudinal roads in the cargo warehouse are composed of road units, and the distance between any two adjacent cargo grids is one road unit, that is, the time for the mobile unit to move one road unit in the cargo warehouse is constant.

[0058] Figure 1A A structural schematic diagram of a warehousing system provided in an embodiment of the present invention, wherein a warehousing system at a destination is composed of a road network formed by a plurality of road units and a plurality of cargo compartments interwoven vertically into a transverse road and a longitudinal road, wherein the distance between two adjacent cargo compartment openings is one road unit, and mobile units (AGV carts) can pass through the road units.

[0059] Step 130: determining the road travel direction of the mobile unit in the road network;

[0060] For example, based on the road network and multiple cargo compartments included in the warehousing system, the road network can be a road network from the starting point of the mobile unit transportation to the target cargo compartment, or a road network from the entrance of the cargo storage corresponding to the destination of the mobile unit transportation to the target cargo compartment. The road travel direction in the road network can be understood as the travel direction of the mobile unit on the horizontal road or the longitudinal road in the road network, which can be from left to right or from right to left in the horizontal road, or from top to bottom or from bottom to top in the longitudinal road.

[0061] In a specific implementation, the travel direction of a mobile unit on a road in a road network is determined according to the numbering of the transverse roads and the longitudinal roads in the road network. The travel direction of the mobile unit corresponding to the numbering of the transverse roads in the road network is from left to right or from right to left, and at the same time, the travel direction of the mobile unit corresponding to the numbering of the longitudinal roads in the road network is determined from top to bottom or from bottom to top, so that different transverse roads or longitudinal roads can implement different travel directions according to the parity, thereby avoiding path conflicts of mobile units in the road network.

[0062] Figure 1B A structural schematic diagram of the road travel direction provided in an embodiment of the present invention is a road network formed by vertically interweaving transverse roads and longitudinal roads formed by multiple road units, wherein the transverse roads have two travel directions from left to right and from right to left, and the longitudinal roads have two travel directions from top to bottom and from bottom to top.

[0063] Step 140: determine the network access time of the mobile unit according to the mobile unit's pass sequence number and unit pass time, and move the mobile unit to a target cargo compartment among the multiple cargo compartments according to the mobile unit's network access time, the planned driving path and the road travel direction.

[0064] For example, the network entry time of a mobile unit can be understood as the time when the mobile unit enters the road network. When the road network is a road network from the starting point of the mobile unit's transportation to the target cargo compartment, the network entry time of the mobile unit is the time when the mobile unit starts to move from the transportation starting point; when the road network is a road network from the cargo storage entrance corresponding to the mobile unit's transportation destination to the target cargo compartment, the network entry time of the mobile unit is the time from the horizontal road or longitudinal road where the mobile unit is located to the cargo storage to load the target cargo to the target cargo compartment. The road traffic direction can be understood as the traffic direction corresponding to each horizontal road and each longitudinal road in the road network, which is used to enable the mobile unit to move in an orderly manner in the road network according to the road traffic direction.

[0065] In a specific implementation, the network entry time of the mobile unit is determined according to the mobile unit's traffic sequence number and unit traffic time, that is, the network entry time of the mobile unit is calculated according to the mobile unit's traffic sequence number and unit traffic time in each traffic direction, so as to avoid path conflicts between mobile units in each traffic direction in the road network, so that each traffic direction enters the road network according to a certain time rule. According to the network entry time of the mobile unit, the planned driving path and the road traffic direction, each mobile unit on the transverse road or longitudinal road is moved in an orderly manner in the road traffic direction according to the network entry time and the driving path, and then reaches the target cargo grid among multiple cargo grids. Among them, the planned driving path can actually be a driving path that conforms to the road traffic direction, or it can be determined that the mobile unit moves in the road network according to the target cargo grid and the road traffic direction in the planned driving path of the mobile unit, or it can be moved in the road network according to certain regulations according to the planned driving path and the road traffic direction of the mobile unit, for example: the driving direction of the turning point on the planned driving path is opposite to the road traffic direction, and the turning point where the driving direction and the road traffic direction are consistent can be executed.

[0066] In the embodiment of the present invention, the planned driving path of the mobile unit is obtained and the passage number of the mobile unit is determined; according to the spacing between any two adjacent cargo compartments among the multiple cargo compartments and the preset driving speed of the mobile unit, the unit passage time of the mobile unit passing through each road unit is determined, and the road passage direction of the mobile unit in the road network is determined; according to the passage number and the unit passage time of the mobile unit, the network entry time of the mobile unit is determined, and according to the network entry time, the planned driving path and the road passage direction of the mobile unit, the mobile unit is moved to the target cargo compartment among the multiple cargo compartments. That is, in the embodiment of the present invention, by determining the road passage direction and the network entry time of the mobile unit, the mobile unit reaches the target cargo compartment according to the planned driving path, thereby avoiding the path conflict of the mobile unit in the road network and reducing the labor cost.

[0067] The following further describes the moving method of the mobile unit provided by the embodiment of the present invention. Figure 2 As shown, the method may specifically include the following steps:

[0068] Step 210: Obtain the planned driving path of the mobile unit and determine the pass number of the mobile unit;

[0069] Further, the determining the pass sequence number of the mobile unit includes:

[0070] determining a waiting position of the mobile unit;

[0071] When the waiting position corresponds to a transverse road, the pass number of the mobile unit is determined according to the queuing order of the mobile units in the road traffic direction of the transverse road corresponding to the waiting position; or, when the waiting position corresponds to a longitudinal road, the pass number of the mobile unit is determined according to the queuing order of the mobile units in the road traffic direction of the longitudinal road corresponding to the waiting position.

[0072] For example, the waiting position of the mobile unit can be understood as the position where the mobile unit queues in the road network, and can be the waiting position at the entrance of any road in each transverse road or each longitudinal road in the road network. The traffic direction at the waiting position of the mobile unit can be any direction in the traffic direction of each transverse road or each longitudinal road.

[0073] In a specific implementation, the waiting position of the mobile unit is determined according to the position of the mobile unit in the road network, and the direction of travel of the transverse road and the longitudinal road in the road network is determined to determine whether the waiting position of the mobile unit corresponds to the transverse road or the longitudinal road. When the waiting position of the mobile unit corresponds to the transverse road, the passage sequence number of the mobile unit is determined according to the queue sequence of the mobile unit in the road travel direction of the transverse road corresponding to the waiting position of the mobile unit; when the waiting position of the mobile unit corresponds to the longitudinal road, the passage sequence number of the mobile unit is determined according to the queue sequence of the mobile unit in the road travel direction of the longitudinal road corresponding to the waiting position of the mobile unit. Among them, the road travel direction of the transverse road can be from left to right or from right to left; the road travel direction of the longitudinal road can be from top to bottom or from bottom to top. The passage sequence number of the mobile unit is the sequence number corresponding to the queue sequence of the mobile unit in each road travel direction, which is used to determine whether the travel direction is the network access time or network access sequence of the mobile unit.

[0074] Step 220: determining a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo grids among the plurality of cargo grids and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo grids is the same;

[0075] Step 230: Add corresponding numbers to the horizontal roads and the vertical roads in a counterclockwise direction;

[0076] For example, adding corresponding numbers to the transverse roads and longitudinal roads in the road network can be understood as identifying each transverse road and each longitudinal road in the road network according to a preset direction for distinguishing each road. The corresponding numbers can be identified by natural numbers, and the travel directions of the transverse roads and longitudinal roads can also be determined according to the parity of the natural numbers.

[0077] In a specific implementation, the road network is composed of vertically interwoven transverse roads and longitudinal roads. Numbers are added starting from the first transverse road in the road network from top to bottom in a counterclockwise direction, and then numbers are added starting from the first longitudinal road from left to right. The numbering of the longitudinal roads is followed by the numbering of the transverse roads to complete the numbering of each transverse road and each longitudinal road in the road network.

[0078] Figure 2A A structural diagram of adding numbers to a road network provided in an embodiment of the present invention, wherein the road network is composed of transverse roads and longitudinal roads vertically interwoven, and numbers 1, 2, 3 and 4 are added correspondingly starting from the first transverse road in the road network in a counterclockwise direction, and numbers 5, 6, 7 and 8 are added correspondingly starting from the first longitudinal road from left to right, and the numbering of the longitudinal roads is immediately followed by the numbering of the transverse roads to complete the numbering of each transverse road and each longitudinal road in the road network.

[0079] Step 240: determining the road passing direction of the transverse road according to the parity of the numbers of the transverse roads, and determining the road passing direction of the longitudinal road according to the parity of the numbers of the longitudinal roads;

[0080] In the specific implementation, the numbering of each transverse road in the road network is a natural number, and the parity of the numbering of each transverse road in the road network determines whether each transverse road is passed from left to right or from right to left; the parity of the natural numbers corresponding to the numbers of each longitudinal road in the road network determines whether each longitudinal road is passed from top to bottom or from bottom to top, so that two adjacent transverse roads or longitudinal roads can implement different travel directions, avoiding path conflicts on the transverse roads or longitudinal roads in the road network.

[0081] Further, the determining the road passing direction of the transverse road according to the parity of the numbering of the transverse road, and the determining the road passing direction of the longitudinal road according to the parity of the numbering of the longitudinal road, comprises:

[0082] Determine that the road traffic direction of odd-numbered transverse roads is from left to right;

[0083] Determine that the road traffic direction of even-numbered transverse roads is from right to left;

[0084] Determine that the traffic direction of the odd-numbered longitudinal roads is from top to bottom;

[0085] The road traffic direction of the even-numbered longitudinal roads is determined to be from bottom to top.

[0086] In the specific implementation, according to the numbering of each transverse road in the road network as a natural number, according to the parity of the numbering of each transverse road in the road network, and according to the parity corresponding to each transverse road, the direction of each transverse road is determined, and the road traffic direction of the transverse road with an odd number is from left to right, and the road traffic direction of the transverse road with an even number is from right to left; according to the numbering of each longitudinal road in the road network as a natural number, according to the parity of the numbering of each longitudinal road in the road network, and according to the parity corresponding to each longitudinal road, the road traffic direction of the longitudinal road with an odd number is from top to bottom, and the road traffic direction of the longitudinal road with an even number is from bottom to top. Determine the traffic direction of each transverse road and each longitudinal road in the road network, and actually determine the traffic direction of the road in the road network. Among them, the traffic mode of each transverse road and each longitudinal road is determined according to the parity of the numbering, so that two adjacent transverse roads or longitudinal roads implement different traffic directions to avoid path conflicts on each transverse road or longitudinal road in the road network.

[0087] Figure 2BA structural schematic diagram of the travel direction in a road network provided in an embodiment of the present invention, wherein whether each transverse road is passed from left to right or from right to left is determined according to the parity of the numbering of each transverse road in the road network, numbers 1 and 3 are odd numbers determining that the road travel direction of the transverse roads is from left to right, and numbers 2 and 4 are even numbers determining that the road travel direction of the transverse roads is from right to left; numbers 5 and 7 are odd numbers determining that the road travel direction of the longitudinal roads is from top to bottom, and numbers 6 and 8 are even numbers determining that the road travel direction of the longitudinal roads is from bottom to top.

[0088] Step 250: determine the network access time of the mobile unit according to the mobile unit's pass sequence number and unit pass time, and move the mobile unit to a target cargo compartment among the multiple cargo compartments according to the mobile unit's network access time, the planned driving path and the road travel direction.

[0089] Further, the determining the network access time of the mobile unit according to the pass sequence number of the mobile unit and the unit pass time includes:

[0090] determining a waiting position of the mobile unit;

[0091] When the waiting position corresponds to a transverse road, determining the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time;

[0092] When the waiting position corresponds to a longitudinal road, the time when the mobile unit enters the longitudinal road is determined according to the passing sequence number of the mobile unit and the passing unit time.

[0093] For example, the waiting position of the mobile unit can be understood as the position where the mobile unit queues in the road network, which can be the waiting position at the entrance of any road in each transverse road or each longitudinal road in the road network. The traffic direction at the waiting position of the mobile unit can be any direction of the traffic direction in each transverse road or each longitudinal road. For example: the position of the mobile unit queued in the direction from left to right on the transverse road.

[0094] In a specific implementation, the waiting position of the mobile unit is determined according to the position of the mobile unit in the road network, and it is determined whether the road corresponding to the waiting position of the mobile unit is a transverse road. When the waiting position of the mobile unit corresponds to the transverse road, the time when the mobile unit enters the transverse road is calculated according to the passage sequence number and the unit passage time of the mobile unit; when the waiting position of the mobile unit corresponds to the longitudinal road, the time when the mobile unit enters the longitudinal road is calculated according to the passage sequence number and the unit passage time of the mobile unit. The time when the mobile unit enters the transverse road and the time when the mobile unit enters the longitudinal road are calculated in different ways, so that the time when the mobile unit enters the transverse road and the time when the mobile unit enters the longitudinal road have a certain time interval, so that when the mobile unit enters the transverse road or the longitudinal road and moves, path conflicts between multiple mobile units in the road network are avoided.

[0095] Further, the determining the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time includes:

[0096]

[0097] Among them, t k It is the time when a mobile unit with a travel sequence number k in any travel direction on the transverse road enters the transverse road, k is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

[0098] In a specific implementation, the passage sequence number and unit passage time corresponding to the mobile unit are determined, substituted into formula (1) to calculate the time for the mobile unit to enter the transverse road, and the mobile unit enters the road network at the time of entering the transverse road according to the passage direction of the transverse road corresponding to the mobile unit to move.

[0099] Further, the step of determining the time when the mobile unit enters the longitudinal road according to the pass sequence number of the mobile unit and the pass unit time includes:

[0100]

[0101] Among them, t i is the time when the i-th mobile unit with the travel sequence number enters the longitudinal road in any travel direction on the longitudinal road, i is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

[0102] In a specific implementation, when a mobile unit corresponds to a longitudinal road, the passage sequence number and unit passage time corresponding to the mobile unit are determined, and the time of entering the longitudinal road corresponding to the mobile unit is calculated by substituting them into formula (2), and the mobile unit enters the road network at the time of entering the longitudinal road according to the passage direction of the longitudinal road corresponding to the mobile unit and moves.

[0103] In the embodiment of the present invention, the planned driving path of the mobile unit is obtained and the passage number of the mobile unit is determined; according to the spacing between any two adjacent cargo compartments among the multiple cargo compartments and the preset driving speed of the mobile unit, the unit passage time of the mobile unit passing through each road unit is determined, and the road passage direction of the mobile unit in the road network is determined; according to the passage number and the unit passage time of the mobile unit, the network entry time of the mobile unit is determined, and according to the network entry time, the planned driving path and the road passage direction of the mobile unit, the mobile unit is moved to the target cargo compartment among the multiple cargo compartments. That is, in the embodiment of the present invention, by determining the road passage direction and the network entry time of the mobile unit, the mobile unit reaches the target cargo compartment according to the planned driving path, thereby avoiding the path conflict of the mobile unit in the road network and reducing the labor cost.

[0104] Figure 3 is a schematic diagram of the structure of a mobile device of a mobile unit provided in an embodiment of the present invention, such as Figure 3 As shown, the mobile device of the mobile unit includes:

[0105] A signal acquisition module 310 is used to acquire the planned driving path of the mobile unit and determine the pass sequence number of the mobile unit;

[0106] The time determination module 320 is used to determine the unit travel time of the mobile unit passing through each road unit according to the distance between any two adjacent cargo compartments among the plurality of cargo compartments and the preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo compartments is the same;

[0107] A direction determination module 330, configured to determine a road travel direction of the mobile unit in the road network;

[0108] The mobile passage module 340 is used to determine the network access time of the mobile unit according to the passage sequence number of the mobile unit and the unit passage time, and move the mobile unit to the target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road passage direction.

[0109] In one embodiment, the direction determination module 330 determines the road travel direction of the mobile unit in the road network, including:

[0110] The road travel direction of the transverse road is determined according to the parity of the number of the transverse road, and the road travel direction of the longitudinal road is determined according to the parity of the number of the longitudinal road.

[0111] In one embodiment, the direction determination module 330 determines the road passing direction of the transverse road according to the parity of the number of the transverse road, and determines the road passing direction of the longitudinal road according to the parity of the number of the longitudinal road, including:

[0112] Determine that the road traffic direction of odd-numbered transverse roads is from left to right;

[0113] Determine that the road traffic direction of even-numbered transverse roads is from right to left;

[0114] Determine that the traffic direction of the odd-numbered longitudinal roads is from top to bottom;

[0115] The road traffic direction of the even-numbered longitudinal roads is determined to be from bottom to top.

[0116] In one embodiment, before the direction determination module 330 determines the road travel direction of the mobile unit in the road network, it also includes:

[0117] Corresponding numbers are added to the transverse road and the longitudinal road in a counterclockwise direction.

[0118] In one embodiment, the signal acquisition module 310 determines the pass sequence number of the mobile unit, including:

[0119] determining a waiting position of the mobile unit;

[0120] When the waiting position corresponds to a transverse road, the pass number of the mobile unit is determined according to the queuing order of the mobile units in the road traffic direction of the transverse road corresponding to the waiting position; or, when the waiting position corresponds to a longitudinal road, the pass number of the mobile unit is determined according to the queuing order of the mobile units in the road traffic direction of the longitudinal road corresponding to the waiting position.

[0121] In one embodiment, the mobile access module 340 determines the network access time of the mobile unit according to the access sequence number of the mobile unit and the unit access time, including:

[0122] determining a waiting position of the mobile unit;

[0123] When the waiting position corresponds to a transverse road, determining the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time;

[0124] When the waiting position corresponds to a longitudinal road, the time when the mobile unit enters the longitudinal road is determined according to the passing sequence number of the mobile unit and the passing unit time.

[0125] In one embodiment, the mobile passing module 340 determines the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time, including:

[0126]

[0127] Among them, t k It is the time when a mobile unit with a travel sequence number k in any travel direction on the transverse road enters the transverse road, k is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

[0128] In one embodiment, the mobile passing module 340 determines the time when the mobile unit enters the longitudinal road according to the passing sequence number of the mobile unit and the passing unit time, including:

[0129]

[0130] Among them, t i is the time when the i-th mobile unit with the travel sequence number enters the longitudinal road in any travel direction on the longitudinal road, i is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

[0131] The device embodiment of the present invention obtains the planned driving path of the mobile unit and determines the passage number of the mobile unit; determines the unit passage time of the mobile unit passing through each road unit according to the distance between any two adjacent cargo compartments among the multiple cargo compartments and the preset driving speed of the mobile unit, and determines the road passage direction of the mobile unit in the road network; determines the network entry time of the mobile unit according to the passage number and unit passage time of the mobile unit, and moves the mobile unit to the target cargo compartment among the multiple cargo compartments according to the network entry time, the planned driving path and the road passage direction of the mobile unit. That is, the embodiment of the present invention determines the road passage direction and network entry time of the mobile unit, so that the mobile unit reaches the target cargo compartment according to the planned driving path, avoids the path conflict of the mobile unit in the road network, and reduces the labor cost.

[0132] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 4 A block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 4 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0133] like Figure 4As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0134] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0135] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0136] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0137] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0138] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0139] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, the moving method of the mobile unit provided in the embodiment of the present invention is applied to a warehousing system, wherein the warehousing system includes a road network and a plurality of cargo grids, wherein the road network is formed by vertically interweaving transverse roads and longitudinal roads formed by a plurality of road units, and each of the plurality of cargo grids is surrounded by the plurality of road units in the middle, and the method includes:

[0140] Obtaining a planned travel path of a mobile unit and determining a pass sequence number of the mobile unit;

[0141] Determining a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo grids among the plurality of cargo grids and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo grids is the same;

[0142] Determining a road travel direction of the mobile unit in the road network;

[0143] The network access time of the mobile unit is determined according to the pass sequence number of the mobile unit and the unit pass time, and the mobile unit is moved to a target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road travel direction.

[0144] The embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the method for moving the mobile unit is implemented, and the method is applied to a warehousing system, wherein the warehousing system includes a road network and a plurality of cargo grids, the road network is formed by vertically interweaving transverse roads and longitudinal roads formed by a plurality of road units, and each of the plurality of cargo grids is surrounded by the plurality of road units in the middle, and the method includes:

[0145] Obtaining a planned travel path of a mobile unit and determining a pass sequence number of the mobile unit;

[0146] Determining a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo compartments among the plurality of cargo compartments and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo compartments is the same;

[0147] Determining a road travel direction of the mobile unit in the road network;

[0148] The network access time of the mobile unit is determined according to the pass sequence number of the mobile unit and the unit pass time, and the mobile unit is moved to a target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road travel direction.

[0149] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0150] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0151] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0152] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0153] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for moving a mobile unit, characterized in that: Applied to a warehousing system, the warehousing system comprises a road network and a plurality of cargo compartments, the road network is formed by vertically interweaving transverse roads and longitudinal roads formed by a plurality of road units, each of the plurality of cargo compartments is surrounded in the middle by the plurality of road units, the method comprises: Obtaining a planned travel path of a mobile unit and determining a pass sequence number of the mobile unit; Determining a unit travel time of the mobile unit passing through each road unit according to a distance between any two adjacent cargo compartments among the plurality of cargo compartments and a preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo compartments is the same; Determining the road passing direction of the mobile unit in the road network, comprising: determining the road passing direction of the transverse road according to the parity of the numbers of the transverse roads, and determining the road passing direction of the longitudinal road according to the parity of the numbers of the longitudinal roads; Determine the network access time of the mobile unit according to the pass sequence number of the mobile unit and the unit pass time, and move the mobile unit to a target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road travel direction; Wherein, the determining of the passage sequence number of the mobile unit comprises: determining a waiting position of the mobile unit; when the waiting position corresponds to a transverse road, determining the passage sequence number of the mobile unit according to the queue sequence of the mobile units in the road passage direction of the transverse road corresponding to the waiting position; or, when the waiting position corresponds to a longitudinal road, determining the passage sequence number of the mobile unit according to the queue sequence of the mobile units in the road passage direction of the longitudinal road corresponding to the waiting position; Wherein, determining the network access time of the mobile unit according to the pass number of the mobile unit and the unit pass time includes: determining the waiting position of the mobile unit; when the waiting position corresponds to a transverse road, determining the time for the mobile unit to enter the transverse road according to the pass number of the mobile unit and the unit pass time; when the waiting position corresponds to a longitudinal road, determining the time for the mobile unit to enter the longitudinal road according to the pass number of the mobile unit and the unit pass time.

2. The method according to claim 1, characterized in that The method of determining the road passing direction of the transverse road according to the parity of the numbers of the transverse roads, and determining the road passing direction of the longitudinal road according to the parity of the numbers of the longitudinal roads, comprises: Determine that the road traffic direction of odd-numbered transverse roads is from left to right; Determine that the road traffic direction of even-numbered transverse roads is from right to left; Determine that the traffic direction of the odd-numbered longitudinal roads is from top to bottom; The road traffic direction of the even-numbered longitudinal roads is determined to be from bottom to top.

3. The method according to claim 2, characterized in that Before determining the road travel direction of the mobile unit in the road network, the method further includes: Corresponding numbers are added to the transverse road and the longitudinal road in a counterclockwise direction.

4. The method according to claim 1, characterized in that: The step of determining the time when the mobile unit enters the transverse road according to the passing sequence number of the mobile unit and the unit passing time includes: Among them, t k It is the time when a mobile unit with a travel sequence number k in any travel direction on the transverse road enters the transverse road, k is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

5. The method according to claim 1, characterized in that The step of determining the time when the mobile unit enters the longitudinal road according to the passing sequence number of the mobile unit and the unit passing time includes: Among them, t i is the time when the i-th mobile unit with the travel sequence number enters the longitudinal road in any travel direction on the longitudinal road, i is the travel sequence number of the mobile unit, T0 is the unit travel time, and Z is a non-zero natural number.

6. A mobile device for a mobile unit, characterized in that: include: A signal acquisition module, used to acquire the planned driving path of the mobile unit and determine the pass sequence number of the mobile unit; A time determination module, used to determine the unit travel time of the mobile unit passing through each road unit according to the distance between any two adjacent cargo compartments among the plurality of cargo compartments and the preset travel speed of the mobile unit, wherein the distance between any two adjacent cargo compartments is the same; A direction determination module, used to determine the road travel direction of the mobile unit in the road network; A mobile passage module, used to determine the network access time of the mobile unit according to the passage sequence number of the mobile unit and the unit passage time, and to move the mobile unit to a target cargo compartment among the multiple cargo compartments according to the network access time of the mobile unit, the planned driving path and the road passage direction; The direction determination module determines the road travel direction of the mobile unit in the road network, including: determining the road travel direction of the transverse road according to the parity of the number of the transverse road, and determining the road travel direction of the longitudinal road according to the parity of the number of the longitudinal road; The signal acquisition module determines the passage sequence number of the mobile unit, including: determining a waiting position of the mobile unit; when the waiting position corresponds to a transverse road, determining the passage sequence number of the mobile unit according to the queue sequence of the mobile units in the road passage direction of the transverse road corresponding to the waiting position; or, when the waiting position corresponds to a longitudinal road, determining the passage sequence number of the mobile unit according to the queue sequence of the mobile units in the road passage direction of the longitudinal road corresponding to the waiting position; Among them, the mobile passage module determines the network access time of the mobile unit according to the passage number of the mobile unit and the unit passage time, including: determining the waiting position of the mobile unit; when the waiting position corresponds to a transverse road, determining the time when the mobile unit enters the transverse road according to the passage number of the mobile unit and the unit passage time; when the waiting position corresponds to a longitudinal road, determining the time when the mobile unit enters the longitudinal road according to the passage number of the mobile unit and the unit passage time.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the moving method of the mobile unit as claimed in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the moving method of the mobile unit as claimed in any one of claims 1 to 5 is implemented.

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