A cargo moving path planning method, device, equipment and medium
By determining the location type and useful location of the target goods in the goods storage map, re-associating the goods identifiers, and generating the optimal movement path, the problem of non-optimal picking paths in the prior art is solved, and the optimization of goods movement paths and the robustness of the system are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN TECH UNIV
- Filing Date
- 2023-05-29
- Publication Date
- 2026-06-02
AI Technical Summary
The existing picking route planning methods suffer from the problem that the paths obtained are not optimal or have a limited scope of application.
The location of the target cargo is obtained from the preset cargo storage map, its location type is determined, and a useful location is determined from the cargo storage map based on the location type. The cargo identifier is re-associated with the location that meets the preset conditions to generate the optimal movement path.
It achieves optimization of cargo movement paths, ensures global optimality for a single pickup process, and provides more useful point selections in large-scale PBS systems, improving the system's robustness and ease of operation.
Smart Images
Figure CN116772879B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of warehouse management technology, and in particular to a method, apparatus, equipment and medium for cargo movement path planning. Background Technology
[0002] A puzzle-based storage system (PBS) consists of multiple rectangular cells of the same size. Each cell represents a movable unit, independent of the others, allowing items within the cell to move up, down, left, and right. Pallets or shelves can be placed on each cell to store goods. The PBS system can include indicators for goods entering and leaving the warehouse, allowing goods to be moved there for retrieval, as well as empty cells (where goods from other locations can be moved).
[0003] In algorithms for solving single-empty-space, single-cargo problems, Gue first proposed the PBS system, but its applicability is limited to single-empty-space problems with fixed locations. Yalcin proposed an algorithm applicable to arbitrary empty-space and cargo location problems, but it is slow and the results are not always optimal. He et al. used deep reinforcement learning algorithms to solve multi-objective, multi-empty-space randomly distributed problems and proposed an integer programming model to evaluate the quality of the solutions. Verification showed that this reinforcement learning method can produce high-quality solutions superior to some heuristic algorithms, but it is slow for single-empty-space or small-scale problems. Raviv et al. established an integer linear programming model with the goal of minimizing retrieval time and number of moves. This model can handle various constraints such as single-objective movement, block movement, multiple cargo entry / exit locations, and simultaneous multi-cargo movement, but it is only suitable for small-scale or large-scale problems with sufficient empty spaces. Summary of the Invention
[0004] The main objective of this application is to provide a method, apparatus, equipment, and medium for planning cargo movement paths, which can at least solve the problem that the picking paths obtained by the picking path planning methods in the related art are not optimal or have a limited scope of application.
[0005] To achieve the above objectives, the first aspect of this application provides a cargo movement path planning method, the method comprising:
[0006] Step 1: Obtain the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map;
[0007] Step 2: When the target location is not a preset pickup location, determine the location type of the target location; wherein, the location type includes any of the following: a first target location type where the row number and column number corresponding to the target location are the same, a second target location type where the row number is greater than the column number, and a third target location type where the row number is less than the column number;
[0008] Step 3: Determine the corresponding useful location from the cargo storage map according to the location type, and determine the target useful location based on the useful location; wherein, the useful location is a location in the cargo storage map that simultaneously satisfies a preset first condition and a second condition, the first condition being that it is adjacent to the target location, and the second condition being that the Harmanton distance between the target location and the pickup location is less than the Harmanton distance between the pickup location and the pickup location.
[0009] Step 4: After deassociating the second cargo identifier corresponding to the target useful location, reassociate it with the corresponding target free location, and determine the target useful location as the new target location. Then return to step 2.
[0010] Step 5: Generate the movement path of the target cargo according to the determined order of all the target locations.
[0011] A second aspect of this application provides a cargo movement path planning device, comprising:
[0012] The acquisition module is used to acquire the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map;
[0013] The first determining module is used to determine the location type of the target location when the target location is not a preset pickup location; wherein the location type includes any one of the following: a first target location type in which the row number and column number of the target location are the same, a second target location type in which the row number is greater than the column number, and a third target location type in which the row number is less than the column number;
[0014] The second determining module is used to determine a corresponding useful location from the cargo storage map according to the location type, and to determine a target useful location based on the useful location; wherein, the useful location is a location in the cargo storage map that simultaneously satisfies a preset first condition and a second condition, the first condition being that it is adjacent to the target location, and the second condition being that the Harmanton distance between the target location and the pickup location is less than the Harmanton distance between the pickup location and the pickup location;
[0015] The association module is used to deassociate the second cargo identifier corresponding to the target useful location with the corresponding target free location, reassociate the target useful location with the new target location, and then continue the function of the first determination module.
[0016] A generation module is used to generate the movement path of the target cargo according to a determined order of all the target locations.
[0017] A third aspect of this application provides an electronic device, including a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory, and when the processor executes the computer program, it implements the steps of the cargo movement path planning method provided in the first aspect of this application.
[0018] The fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the cargo movement path planning method provided in the first aspect of this application.
[0019] As can be seen from the above, according to the cargo movement path planning method, apparatus, equipment and medium provided in this application, the steps are as follows: Step 1, obtain the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map; Step 2, when the target location is not the preset pickup location, determine the location type of the target location; wherein, the location type includes any of the following: a first target location type with the same row number and column number corresponding to the target location, a second target location type with a row number greater than the column number, and a third target location type with a row number less than the column number; Step 3, determine the corresponding useful location from the cargo storage map according to the location type, and determine the target useful location based on the useful location; the useful location is a location in the cargo storage map that simultaneously satisfies the preset first condition and the second condition, the first condition being that it is adjacent to the target location, and the second condition being that the Harmanton distance to the pickup location is less than the Harmanton distance between the target location and the pickup location; Step 4, after deassociating the second cargo identifier corresponding to the target useful location, reassociate it with the corresponding target free location, and determine the target useful location as the new target location, and then return to execute Step 2; Step 5, generate the movement path of the target cargo according to the determination order of all target locations. By implementing the solution in this application, the corresponding target useful location is obtained by determining the location of the target goods, and the movement path of the available location is determined based on the target useful location to move the target goods, thereby making the goods movement path optimal. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1A schematic diagram of the basic process of the cargo movement path planning method provided in the first embodiment of this application;
[0022] Figure 2 This application provides a schematic diagram of the target location distribution of target goods according to the first embodiment.
[0023] Figure 3 A schematic diagram illustrating the distribution of useful locations provided in the first embodiment of this application;
[0024] Figure 4 A schematic diagram showing the distribution of another useful location provided in the first embodiment of this application;
[0025] Figure 5 A schematic diagram illustrating the distribution of vacant spaces provided in the first embodiment of this application;
[0026] Figure 6 A schematic diagram of a cargo movement path planning device provided in the second embodiment of this application;
[0027] Figure 7 A schematic diagram of the structure of an electronic device provided in the third embodiment of this application. Detailed Implementation
[0028] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0030] To address the issues of suboptimal picking paths and limited applicability of picking path planning algorithms in related technologies, the first embodiment of this application provides a goods movement path planning method, such as... Figure 1 This is a basic flowchart illustrating the cargo movement path planning method provided in this embodiment. The cargo movement path planning method includes the following steps:
[0031] Step 101: Obtain the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map.
[0032] Specifically, in this embodiment, the cargo storage map can be a planar map of size n*n based on the PBS system. When a target cargo acquisition instruction is received, the location of the cargo identifier corresponding to the required cargo is obtained in the map, such as the coordinates (i, j) of the required cargo, where i represents the row number of the target location in the map and j represents the column number of the target location. The acquisition instruction can be the cargo identifier information of the target cargo, the coordinate information of the target cargo, etc.
[0033] Step 102: When the target location is not the preset pickup location, determine the location type of the target location.
[0034] Specifically, in this embodiment, when the required goods are not at the pickup location, the location type of the goods is determined; wherein, the location type of the target location includes any of the following: a first target location type where the row number and column number of the target location are the same, a second target location type where the row number is greater than the column number, and a third target location type where the row number is less than the column number; when the target location is the first target location, i.e., the row number and column number are equal, it is determined that the required goods are located in the diagonal area of the map, for example... Figure 2 The diagonal area of the map; when the target location is the second target location (i.e., the row number is greater than the column number), the required goods are determined to be in the lower triangular area of the map; when the target location is the third target location (i.e., the row number is less than the column number), the required goods are determined to be in the upper triangular area of the map.
[0035] In some embodiments of this example, before determining the location type of the target location when the target location is not a preset pickup location, the method further includes: matching the row number and column number corresponding to the target location with the row number and column number corresponding to the pickup location; when the row number and column number corresponding to the target location match the row number and column number corresponding to the pickup location, the target location is determined to be a pickup location; when the row number or column number corresponding to the target location does not match the row number or column number corresponding to the pickup location, the target location is determined to be a non-pickup location.
[0036] Specifically, in this embodiment, when the location of the required goods, such as coordinates, is obtained, the location of the required goods will also be determined. However, if the row number and column number of the required goods are equal to the row number and column number of the pickup location, it is determined that the goods are at the pickup location, and the path determination process ends. Otherwise, it is determined that the location of the goods is not the pickup location, and the picking path planning continues.
[0037] Step 103: Determine the corresponding useful locations from the cargo storage map according to the location type, and determine the target useful locations based on the useful locations.
[0038] Specifically, in this embodiment, the required goods R need to move up, down, left, and right to reach the pickup location I / O point. Each movement of the required goods R is achieved by re-associating with an available location e. That is, for a PBS system with only one available location, the movement of the required goods R is actually achieved by associating the available location e with the goods identifiers in the four adjacent locations surrounding the required goods R. Therefore, selecting which adjacent location is the available location for movement is key to finding the optimal path. The useful location u of the required goods R is the location in the goods storage map that simultaneously satisfies the preset first condition and the second condition, where the first condition is that it is adjacent to the target location, i.e., the coordinates of the two locations satisfy x u -x R +y u -y R =1, the second condition is that the Harmanton distance from the pickup location is less than the Harmanton distance between the target location and the pickup location, i.e., |x i / o -x u |+|y i / o -y u |<|x i / o -x R |+|y i / o -x R |, where x i / o y i / o These represent the x-axis coordinates of the pickup location I / O, respectively. R y R The x-axis coordinates represent the locations of the required goods. u y u The x-axis coordinates of the useful location u are respectively. In this embodiment, the types of useful points corresponding to different locations of the required goods are also different. The corresponding useful locations can be determined from the goods storage map according to the location type, and the target useful location can be determined from the obtained useful locations.
[0039] In some other embodiments of this example, the step of determining the corresponding useful location from the cargo storage map according to the location type includes: when the location type is a first target location type, determining the first location to the left of the target location and the second location to the top of the target location in the cargo storage map as useful locations; when the location type is a second target location type, determining the second location in the cargo storage map as a useful location; and when the location type is a third target location type, determining the first location in the cargo storage map as a useful location.
[0040] Specifically, in this embodiment, when the desired goods are located diagonally, the useful positions of the goods are determined to be a left useful position and an upper useful position, that is, the useful positions are located to the left and above the corresponding position of the goods, respectively. For example... Figure 3Cells marked with "u"; when the desired goods are located in the lower triangular area, the useful location of the goods is determined by the upper useful location, that is, the useful location is located adjacent to the upper side of the corresponding location of the goods, for example. Figure 4 Cells marked with "u"; when the desired goods are located in the upper triangular area, the useful position of the goods is determined by the left useful position, that is, the useful position is located to the left of the corresponding position of the goods, for example. Figure 4 The cells marked with "u".
[0041] In some other embodiments of this example, the step of determining the target useful location based on the useful location includes: if there is only one useful location, then the useful location is determined as the target useful location; or, if there are multiple useful locations, then the relative distance between each useful location and the corresponding idle location is calculated, and the target useful location is determined from the multiple useful locations based on the comparison results of the multiple relative distances.
[0042] Specifically, in this embodiment, when there is only one useful position, such as the left useful position or the top useful position, the useful position is determined as the target useful position; when there are multiple useful positions, such as the top useful position and the left useful position, the Hammanton distance from each useful position to the idle position is calculated, and the target useful position is determined based on the comparison result of the relative distances.
[0043] Furthermore, in some other embodiments of this example, the step of determining a target useful location from multiple useful locations based on the comparison results of multiple relative distances includes: comparing multiple relative distances to obtain a minimum relative distance; and determining the useful location corresponding to the minimum relative distance among the multiple useful locations as the target useful location.
[0044] Specifically, in this embodiment, when there are multiple useful locations, the Hammanton distance between each useful location and the idle location is calculated, and the distance values are compared. Then, the useful location with the smaller distance value is taken as the final useful location.
[0045] Step 104: After deassociating the second cargo identifier corresponding to the target useful location with the corresponding target free location, reassociate it with the target useful location and determine the target useful location as the new target location, then return to execute step 102.
[0046] Specifically, in this embodiment, after determining the target useful location, the association between the corresponding cargo identifier at the target useful location and the target useful location is removed, and the cargo identifier is re-associated with the corresponding idle location so that the cargo storage status of the target useful location becomes idle. Then, the cargo identifier of the target cargo is associated with the target useful location, that is, the target useful location becomes the new target location, and then the determination of the next picking path continues.
[0047] In some embodiments of this example, the target useful location is the second location. Before the step of deassociating the second cargo identifier corresponding to the target useful location with the corresponding target idle location and then reassociating it, the method further includes: when the column numbers corresponding to the target idle location, the target location, and the target useful location are all the same, and the target location is located between the target idle location and the target useful location, deassociating the third cargo identifier corresponding to the adjacent left position of the target idle location, or the fourth cargo identifier corresponding to the adjacent right position, with the target idle location and then reassociating it with the target idle location, thereby performing the step of deassociating the second cargo identifier corresponding to the target useful location with the corresponding target idle location; when the target idle location and the target useful location are... When the corresponding row number and column number are different, the fifth cargo identifier corresponding to the upper adjacent position or the sixth cargo identifier corresponding to the lower adjacent position of the target free position is re-associated with the target free position to perform the step of de-associating the second cargo identifier corresponding to the target useful position and then re-associating it with the corresponding target free position; when the row number corresponding to the target free position and the useful position are the same but the column number is different, the seventh cargo identifier corresponding to the left adjacent position or the eighth cargo identifier corresponding to the right adjacent position of the target free position is de-associated and then re-associated with the target free position to perform the step of de-associating the second cargo identifier corresponding to the target useful position and then re-associating it with the corresponding target free position.
[0048] Specifically, in this embodiment, when the target useful position is determined to be the upper useful position, and the idle position, useful position, and target position are in the same column, and the target position is between the other two, for example... Figure 5 In the case shown in (a), since the vacant location cannot be directly re-associated with the cargo identifier at the target location (otherwise, the association between the target location and the cargo identifier would change), the vacant location needs to be re-associated with the cargo identifiers corresponding to the locations surrounding the target location. That is, it first needs to be re-associated with the cargo identifier corresponding to the location to the left of the vacant location, so that the cargo storage status of the location to the left becomes vacant, ultimately making the cargo storage status of the useful location vacant. Similarly, it can also be associated with the cargo identifier corresponding to the location to the right of the vacant location. When the useful location and the vacant location are not in the same row and do not need to be listed, for example... Figure 5 In the case shown in (b), the vacant location is first associated with the cargo identifier of its adjacent upper or lower location, so that the cargo storage status of the adjacent upper or lower location becomes vacant, so that the new vacant location is in the same row as the useful location, thereby changing the cargo storage status of the useful location; when the useful location and the vacant location are in different columns, for example... Figure 5In the case shown in (c), the vacant location is first associated with the cargo identifier of its adjacent left or right position so that the cargo storage status of the adjacent left or right position becomes vacant.
[0049] In some other embodiments of this example, the target useful location is the first location. Before the step of deassociating the second cargo identifier corresponding to the target useful location with the corresponding target idle location, the method further includes: when the row number corresponding to the target idle location, the target location, and the target useful location are all the same, and the target location is located between the target idle location and the target useful location, the ninth cargo identifier corresponding to the adjacent upper position or the tenth cargo identifier corresponding to the adjacent lower position of the target idle location is reassociated with the target idle location, so as to perform the step of deassociating the second cargo identifier corresponding to the target useful location with the corresponding target idle location; when the row number corresponding to the target idle location and the target useful location are the same, the method further includes: ... When both the column number and the column number are different, the eleventh cargo identifier corresponding to the left position adjacent to the target free position, or the twelfth cargo identifier corresponding to the right position adjacent to the target free position, is de-associated with the target free position and then re-associated with it. This is to perform the step of de-associating the second cargo identifier corresponding to the target useful position with the corresponding target free position. When the column number corresponding to the target free position and the target useful position are the same but the row number is different, the thirteenth cargo identifier corresponding to the upper position adjacent to the target free position, or the fourteenth cargo identifier corresponding to the lower position adjacent to the target free position, is re-associated with the target free position. This is to perform the step of de-associating the second cargo identifier corresponding to the target useful position with the corresponding target free position.
[0050] Specifically, in this embodiment, when the target useful position is determined to be the left useful position, and the idle position, useful position, and target position are in the same row, and the target position is between the other two, for example... Figure 5 In the case shown in (d), since the vacant location cannot be directly re-associated with the cargo identifier at the target location (otherwise, the association between the target location and the cargo identifier would change), the vacant location needs to be re-associated with the cargo identifiers corresponding to the locations surrounding the target location. That is, it first needs to be re-associated with the cargo identifier corresponding to the location adjacent to the upper side of the vacant location, so that the cargo storage status of that adjacent upper side location becomes vacant, ultimately making the cargo storage status of the useful location vacant. Similarly, it can also be associated with the cargo identifier corresponding to the location adjacent to the lower side of the vacant location. When the useful location and the vacant location are not in the same row and do not need to be listed, for example... Figure 5In the case shown in (e), the vacant location is first associated with the cargo identifier of its adjacent left or right position, so that the cargo storage status of the adjacent left or right position becomes vacant, so that the new vacant location is in the same column as the useful location, thereby changing the cargo storage status of the useful location; when the useful location and the vacant location are in the same column but different rows, for example... Figure 5 In the case shown in (f), the vacant location is first associated with the cargo identifier of its adjacent upper or lower location, so that the cargo storage status of the adjacent upper or lower location becomes vacant. After this, the new vacant location can be further associated with the cargo identifier of its adjacent location, so that the new vacant location is associated with the cargo identifier of its useful location, so that the cargo storage status of the useful location becomes vacant.
[0051] Step 105: Generate the movement path of the target cargo according to the determined order of all target locations.
[0052] Specifically, in this embodiment, when the target location of the required goods is located at the pickup location, the movement path of the target goods is generated according to the determined order of the target locations of all goods.
[0053] Based on the technical solution of the above-described embodiments of this application, the steps are as follows: Step 1: Obtain the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map; Step 2: When the target location is not the preset pickup location, determine the location type of the target location; wherein, the location type includes any of the following: a first target location type where the row number and column number of the target location are the same, a second target location type where the row number is greater than the column number, and a third target location type where the row number is less than the column number; Step 3: Determine the corresponding useful location from the cargo storage map according to the location type, and determine the target useful location based on the useful location; the useful location is a location in the cargo storage map that simultaneously satisfies the preset first condition and the second condition, the first condition being that it is adjacent to the target location, and the second condition being that the Harmanton distance to the pickup location is less than the Harmanton distance between the target location and the pickup location; Step 4: After deassociating the second cargo identifier corresponding to the target useful location, reassociate it with the corresponding target free location, and determine the target useful location as the new target location, and then return to execute Step 2; Step 5: Generate the movement path of the target cargo according to the determination order of all target locations. By implementing the solution in this application, the corresponding target useful location is obtained by determining the location of the target goods, and the movement path of the available location is determined based on the target useful location to move the target goods, thereby making the goods movement path optimal.
[0054] Furthermore, the proposed solution offers the following advantages: First, it guarantees global optimization for a single retrieval process; second, it maximizes the number of useful points (useful locations). Useful points are the target points of empty slots (vacant locations) and also the initial points for the next step of the target item. More useful points mean more choices. When the target point and I / O point are in the same row or column, there is only one useful point; however, when the target point is in other locations, there are two useful points. This is more pronounced in larger-scale PBS models.
[0055] For solving the algorithm, the number of useful points doesn't actually affect the optimal solution. However, in real-world applications, a machine (a vehicle or transfer machine used to move goods) might malfunction at a certain location. This is where the advantage of the diagonal algorithm's multiple useful points becomes apparent. For example, suppose the machine at coordinates (2, 1) malfunctions but the system still needs to operate normally. In this case, the first useful point cannot be used, while the second useful point can provide a solution path, and the two do not interfere with each other. This is fundamentally because the diagonal approach offers more optional useful points in most steps, considering the selectivity of the next step while ensuring optimality, making the algorithm more robust. Thirdly, it is easy to implement and intuitive, not cumbersome. Guided by the diagonal algorithm, the movement of the target point involves only two steps: heading to the diagonal and using the diagonal path to reach the destination. The overall approach and the overall target point movement path are clear and intuitive, making it relatively simpler to operate in practice. Furthermore, for future research, the clear and intuitive algorithmic approach facilitates derivation and optimization exploration in more scenarios. Taking an m*n network as an example, according to the diagonal algorithm, the target position is first moved to any point on the diagonal of i=j, and then moved to the endpoint along the diagonal. Compared with other algorithms that use multiple strategies based on different cases and regions, the technical solution of this application is obviously more intuitive. Fourth, from an application perspective, it can be combined with ABC classification layout. Warehouse layout is an important part of warehouse management. Among conventional warehouse layout methods, ABC classification (Activity Based Classification) is the most common. Its basic principle is to classify the controlled objects according to their different values or importance. A common classification method is to divide goods that account for 10%, 20%, and 70% of the inventory quantity and approximately 70%, 20%, and 10% of the total inventory value, respectively, into three categories: A, B, and C. Usually, category A goods are stored in the area closer to the warehouse exit, while category C goods are stored at the far edge of the warehouse. This layout can improve the efficiency of warehouse access and make inventory management easier.
[0056] Currently, few scholars study the cargo layout settings within the PBS system. This is because, under existing algorithms, the cargo positions in the system are in a disordered and random state. During each storage and retrieval operation, the movement path of the cargo is highly random, making it difficult to predict the position of each cargo in the system and also difficult to set layout areas for them (their positions will likely change due to the storage and retrieval of other cargo).
[0057] In contrast, the diagonal algorithm first moves the target location to the diagonal, resulting in more frequent movement of goods within the diagonal region. Conversely, goods located around the perimeter of the system are less likely to be moved due to other operations. Considering the characteristics of the diagonal algorithm and the ABC classification method, the layout of goods within the PBS system can be designed. Specifically, goods of categories A and B, which are accessed more frequently, are placed near the diagonal, while goods of category C, which are accessed less frequently, are placed around the perimeter. With this layout design, goods that are more likely to be needed in the system are more likely to be located in the diagonal region where they can be accessed more quickly. This improves overall operational efficiency when dealing with multiple consecutive access operations, while ensuring that the optimal solution is obtained in a single access operation.
[0058] Figure 6 A cargo movement path planning device is provided in the second embodiment of this application, which can be applied to the aforementioned cargo movement path planning method. For example... Figure 6 As shown, the cargo movement path planning device mainly includes:
[0059] The acquisition module 601 is used to acquire the target location associated with the first cargo identifier of the target cargo in a preset cargo storage map;
[0060] The first determining module 602 is used to determine the location type of the target location when the target location is not a preset pickup location; wherein the location type includes any of the following: a first target location type with the same row number and column number corresponding to the target location, a second target location type with a row number greater than the column number, and a third target location type with a row number less than the column number;
[0061] The second determining module 603 is used to determine the corresponding useful location from the cargo storage map according to the location type, and to determine the target useful location based on the useful location; wherein, the useful location is a location in the cargo storage map that simultaneously satisfies a preset first condition and a second condition, the first condition being that it is adjacent to the target location, and the second condition being that the Hammanton distance between the target location and the pickup location is less than the Hammanton distance between the pickup location and the pickup location.
[0062] The association module 604 is used to deassociate the second cargo identifier corresponding to the target useful location with the corresponding target free location, and then reassociate the target useful location with the new target location, and then continue the function of the first determination module;
[0063] The generation module 605 is used to generate the movement path of the target cargo according to the determined order of all target locations.
[0064] In some embodiments of this example, the goods movement path planning device further includes: a matching module, used to match the row number and column number corresponding to the target location with the row number and column number corresponding to the pickup location; when the row number and column number corresponding to the target location match the row number and column number corresponding to the pickup location, the target location is determined to be the pickup location; when the row number or column number corresponding to the target location does not match the row number or column number corresponding to the pickup location, the target location is determined to be a non-pickup location.
[0065] In some embodiments of this example, the second determining module is specifically used to: if there is only one useful location, determine the useful location as the target useful location; or, if there are multiple useful locations, calculate the relative distance between each useful location and the corresponding idle location, and determine the target useful location from the multiple useful locations based on the comparison results of the multiple relative distances.
[0066] In some other embodiments of this example, the second determining module is further configured to: when the location type is a first target location type, determine the first location to the left of the target location and the second location to the top of the target location in the cargo storage map as useful locations; when the location type is a second target location type, determine the second location in the cargo storage map as a useful location; and when the location type is a third target location type, determine the first location in the cargo storage map as a useful location.
[0067] Furthermore, in some other embodiments of this example, the second determining module is also used to: compare multiple relative distances to obtain the minimum relative distance; and determine the useful position corresponding to the minimum relative distance among multiple useful positions as the target useful position.
[0068] In some embodiments of this example, the target useful location is the second location. The association module is further configured to: when the column numbers corresponding to the target idle location, the target location, and the target useful location are all the same, and the target location is located between the target idle location and the target useful location, deassociate the third cargo identifier corresponding to the adjacent left position of the target idle location, or the fourth cargo identifier corresponding to the adjacent right position, and then reassociate it with the target idle location, so as to perform the step of deassociating the second cargo identifier corresponding to the target useful location and then reassociating it with the corresponding target idle location;
[0069] When the row number and column number corresponding to the target free location are different from those corresponding to the target useful location, the fifth cargo identifier corresponding to the adjacent upper position or the sixth cargo identifier corresponding to the adjacent lower position of the target free location is re-associated with the target free location, in order to perform the step of deassociating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target free location.
[0070] When the row number of the target vacant location is the same as that of the useful location but the column number is different, the seventh cargo identifier corresponding to the adjacent left position or the eighth cargo identifier corresponding to the adjacent right position of the target vacant location is de-associated and then re-associated with the target vacant location, in order to perform the step of de-associating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location.
[0071] In some other embodiments of this example, the target useful location is the first location, and the association module is further configured to: when the row number corresponding to the target idle location, the target location, and the target useful location are all the same, and the target location is located between the target idle location and the target useful location, re-associate the ninth cargo identifier corresponding to the adjacent upper position or the tenth cargo identifier corresponding to the adjacent lower position with the target idle location, so as to perform the step of deassociating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target idle location;
[0072] When the row number and column number corresponding to the target vacant location are different from those corresponding to the target useful location, the eleventh cargo identifier corresponding to the adjacent left position or the twelfth cargo identifier corresponding to the adjacent right position of the target vacant location is de-associated and then re-associated with the target vacant location, in order to perform the step of de-associating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location.
[0073] When the column number of the target vacant location is the same as that of the target useful location but the row number is different, the thirteenth cargo identifier corresponding to the adjacent upper position or the fourteenth cargo identifier corresponding to the adjacent lower position of the target vacant location is re-associated with the target vacant location, in order to perform the step of deassociating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location.
[0074] It should be noted that the cargo movement path planning methods in the foregoing embodiments can all be implemented based on the cargo movement path planning device provided in this embodiment. Those skilled in the art can clearly understand that, for the sake of convenience and brevity, the specific working process of the cargo movement path planning device described in this embodiment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0075] Based on the technical solution of the above embodiments of this application, the steps are as follows: Step 1: Obtain the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map; Step 2: When the target location is not the preset pickup location, determine the location type of the target location; wherein, the location type includes any of the following: a first target location type where the row number and column number of the target location are the same, a second target location type where the row number is greater than the column number, and a third target location type where the row number is less than the column number; Step 3: Determine the corresponding useful location from the cargo storage map according to the location type, and determine the target useful location based on the useful location; the useful location is a location in the cargo storage map that simultaneously satisfies the preset first condition and the second condition, the first condition being that it is adjacent to the target location, and the second condition being that the Harmanton distance to the pickup location is less than the Harmanton distance between the target location and the pickup location; Step 4: After unassociating the second cargo identifier corresponding to the target useful location, reassociate it with the corresponding target free location, and determine the target useful location as the new target location, and then return to execute Step 2; Step 5: Generate the movement path of the target cargo according to the determination order of all target locations. By implementing the solution in this application, the corresponding target useful location is obtained by determining the location of the target goods, and the movement path of the available location is determined based on the target useful location to move the target goods, thereby making the goods movement path optimal.
[0076] Figure 7 An electronic device provided in the third embodiment of this application, which can be used to implement the cargo movement path planning method in the foregoing embodiments, mainly includes:
[0077] The system includes a memory 701, a processor 702, and a computer program 703 stored on the memory 701 and executable on the processor 702. The memory 701 and the processor 702 are connected via communication. When the processor 702 executes the computer program 703, it implements the method described in Embodiment 1. The number of processors can be one or more.
[0078] The memory 701 can be a high-speed random access memory (RAM) or a non-volatile memory, such as a disk storage device. The memory 701 is used to store executable program code, and the processor 702 is coupled to the memory 701.
[0079] Furthermore, embodiments of this application also provide a computer-readable storage medium, which may be disposed in the aforementioned electronic device, and the computer-readable storage medium may be as described above. Figure 7 The memory in the illustrated embodiment.
[0080] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the cargo movement path planning method described in the foregoing embodiments. Furthermore, the computer-readable storage medium can also be a USB flash drive, a portable hard drive, a read-only memory (ROM), RAM, a magnetic disk, or an optical disk, or any other medium capable of storing program code.
[0081] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.
[0082] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.
[0083] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.
[0084] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.
[0085] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.
[0086] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0087] The above is a description of the cargo movement path planning method, apparatus, equipment, and readable storage medium provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A method for planning the movement path of goods, characterized in that, include: Step 1: Obtain the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map; Step 2: When the target location is not a preset pickup location, determine the location type of the target location; wherein, the location type includes any of the following: a first target location type where the row number and column number corresponding to the target location are the same, a second target location type where the row number is greater than the column number, and a third target location type where the row number is less than the column number; Step 3: Determine the corresponding useful location from the cargo storage map according to the location type, and determine the target useful location based on the useful location; wherein, the useful location is a location in the cargo storage map that simultaneously satisfies a preset first condition and a second condition, the first condition being that the useful location is adjacent to the target location, and the second condition being that the Harmanton distance between the useful location and the pickup location is less than the Harmanton distance between the target location and the pickup location; Step 4: After deassociating the second cargo identifier corresponding to the target useful location, reassociate it with the corresponding target free location, and determine the target useful location as the new target location. Then return to step 2. Step 5: Generate the movement path of the target cargo according to the determined order of all the target locations.
2. The cargo movement path planning method according to claim 1, characterized in that, The step of determining the target useful location based on the useful location includes: If there is only one useful location, then that useful location is determined as the target useful location; Alternatively, if there are multiple useful locations, the relative distance between each useful location and its corresponding idle location is calculated, and the target useful location is determined from the multiple useful locations based on the comparison results of the multiple relative distances.
3. The cargo movement path planning method according to claim 1, characterized in that, Before the step of determining the location type of the target location when the target location is not a preset pickup location, the method further includes: The row and column numbers corresponding to the target location are matched with the row and column numbers corresponding to the pickup location; When the row number and column number corresponding to the target location match the row number and column number corresponding to the pickup location, the target location is determined to be the pickup location. When the row number or column number corresponding to the target location does not match the row number or column number corresponding to the pickup location, the target location is determined to be a non-pickup location.
4. The cargo movement path planning method according to claim 1, characterized in that, The step of determining the corresponding useful location from the cargo storage map according to the location type includes: When the location type is the first target location type, the first location to the left of the target location and the second location to the top of the target location in the cargo storage map are determined as useful locations; When the location type is the second target location type, the second location in the cargo storage map is determined as a useful location; When the location type is the third target location type, the first location in the cargo storage map is determined as a useful location.
5. The cargo movement path planning method according to claim 2, characterized in that, The step of determining the target useful location from the multiple useful locations based on the comparison results of multiple relative distances includes: The minimum relative distance is obtained by comparing the multiple relative distances. The useful location corresponding to the minimum relative distance among the multiple useful locations is determined as the target useful location.
6. The cargo movement path planning method according to claim 4, characterized in that, The target useful location is the second location. Before the step of deassociating the second cargo identifier corresponding to the target useful location and reassociating it with the corresponding target free location, the method further includes: When the column numbers corresponding to the target vacant location, the target location, and the target useful location are all the same, and the target location is located between the target vacant location and the target useful location, the third cargo identifier corresponding to the adjacent left position or the fourth cargo identifier corresponding to the adjacent right position of the target vacant location is de-associated and then re-associated with the target vacant location, so as to perform the step of de-associating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location; When the row number and column number corresponding to the target vacant location are different from those corresponding to the target useful location, the fifth cargo identifier corresponding to the upper adjacent position or the sixth cargo identifier corresponding to the lower adjacent position of the target vacant location is re-associated with the target vacant location to perform the step of deassociating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location. When the row number of the target vacant location is the same as that of the useful location but the column number is different, the seventh cargo identifier corresponding to the adjacent left position or the eighth cargo identifier corresponding to the adjacent right position of the target vacant location is de-associated and then re-associated with the target vacant location, so as to perform the step of de-associating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location.
7. The cargo movement path planning method according to claim 4, characterized in that, The target useful location is the first location. Before the step of deassociating the second cargo identifier corresponding to the target useful location with the corresponding target free location, the method further includes: When the row numbers corresponding to the target idle position, the target position, and the target useful position are all the same, and the target position is located between the target idle position and the target useful position, the ninth cargo identifier corresponding to the upper adjacent position or the tenth cargo identifier corresponding to the lower adjacent position of the target idle position is reassociated with the target idle position to perform the step of deassociating the second cargo identifier corresponding to the target useful position and then reassociating it with the corresponding target idle position; When the row number and column number corresponding to the target vacant location are different from those corresponding to the target useful location, the eleventh cargo identifier corresponding to the adjacent left position or the twelfth cargo identifier corresponding to the adjacent right position of the target vacant location is de-associated and then re-associated with the target vacant location, so as to perform the step of de-associating the second cargo identifier corresponding to the target useful location and then re-associating it with the corresponding target vacant location. When the column number of the target vacant location is the same as that of the target useful location but the row number is different, the thirteenth cargo identifier corresponding to the adjacent upper position or the fourteenth cargo identifier corresponding to the adjacent lower position of the target vacant location is re-associated with the target vacant location, so as to perform the step of re-associating the second cargo identifier corresponding to the target useful location with the corresponding target vacant location after deassociating it.
8. A cargo movement path planning device, characterized in that, include: The acquisition module is used to acquire the target location associated with the first cargo identifier of the target cargo in the preset cargo storage map; The first determining module is used to determine the location type of the target location when the target location is not a preset pickup location; wherein the location type includes any one of the following: a first target location type in which the row number and column number of the target location are the same, a second target location type in which the row number is greater than the column number, and a third target location type in which the row number is less than the column number; The second determining module is used to determine a corresponding useful location from the cargo storage map according to the location type, and to determine a target useful location based on the useful location; wherein, the useful location is a location in the cargo storage map that simultaneously satisfies a preset first condition and a second condition, the first condition being that the useful location is adjacent to the target location, and the second condition being that the Harmanton distance between the useful location and the pickup location is less than the Harmanton distance between the target location and the pickup location; The association module is used to deassociate the second cargo identifier corresponding to the target useful location with the corresponding target free location, reassociate the target useful location with the new target location, and then continue the function of the first determination module. A generation module is used to generate the movement path of the target cargo according to a determined order of all the target locations.
9. An electronic device, characterized in that, Includes memory and processor, of which: The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the cargo movement path planning method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the cargo movement path planning method according to any one of claims 1 to 7.