A PTL warehouse logistics picking method, device and system based on digital twinning

Abstract

The application discloses a PTL warehouse logistics picking method, device and system based on digital twinning, and belongs to the field of digital twinning technology application; firstly, a digital twinning model of a warehouse workshop is constructed, then a picking location is determined after a picking task is acquired, then a current positioning of a picker is acquired, a nearest target picking task is distributed according to the current positioning, and a travel path is generated. Whether the picker is familiar with the workshop or not, the picker can quickly go to the picking location to complete the task according to the travel path. The task is quickly and accurately executed, and no conflict is caused. When the picker arrives at the picking location, the indicator light of the goods shelf is always on or flashes, so as to remind the picker of the goods shelf corresponding to the picking task and speed up the task execution efficiency. The application scheme is based on the traditional PTL picking mode, task distribution and path generation are carried out by using the digital twinning model, the task can be quickly and accurately executed, and no conflict is caused.

Description

Technical Field

[0001] The present application relates to the application field of digital twin technology, and in particular, to a PTL warehousing logistics picking method, device and system based on digital twin. Background Art

[0002] Picking is a crucial part of smart warehousing operations, requiring significant manpower and material resources. Pick to Light (PTL), also known as electronic tag-assisted picking, is a picking method based on SKU (stock keeping unit) management. Typically, an indicator light is installed at each shelf location as a reminder of that location, and barcode technology is used to facilitate the exchange of order information within the system. Workers then select items based on the indicator light. The sorting process consists of three steps: "See (light)", "Pick (item)", and "Press (Complete)". First, workers determine the number of items to be picked based on the light indication. Then, they remove the corresponding number of items from the corresponding picking location. Finally, when the worker has completed the picking process, they press the corresponding button to indicate task completion.

[0003] In traditional warehouse management, companies invest heavily in picking operations, accounting for nearly half of a warehouse's overall operating costs. However, the actual results are less than ideal, and efficiency is extremely low. With the continuous advancement of technology, PTL electronic tag light-on picking methods and systems have become increasingly popular and are now widely used in various industries.

[0004] However, this picking method still has shortcomings:

[0005] 1. Although pickers can operate according to the indicator lights on the shelf locations, for pickers who are not familiar with the warehouse environment, how to plan a reasonable picking route and quickly reach the picking location is one of the difficulties;

[0006] 2. When there are many picking orders, pickers only rely on light instructions to pick orders. When multiple people are working, conflicts and picking errors are likely to occur. Summary of the Invention

[0007] In order to overcome the shortcomings of the existing technology, the present application provides a PTL warehousing logistics picking method, device and system based on digital twins to solve the problems in the existing technology that pickers cannot quickly reach the picking location and conflicts and picking errors are prone to occur when multiple people are working.

[0008] The technical solution adopted by this application to solve its technical problems is:

[0009] In a first aspect, a PTL warehousing logistics picking method based on digital twin is provided, the method comprising:

[0010] Build a digital twin model of the warehouse workshop;

[0011] Acquire multiple picking tasks, determine a picking quantity or a picking weight based on the picking tasks, and determine a picking location in the digital twin model;

[0012] Obtaining the current location of the picker, and generating a travel path from the current location to a target picking location based on the digital twin model, where the target picking location is the picking location of the target picking task that is closest to the current location;

[0013] Sending the target picking task and the travel path to the picking personnel so that the picking personnel go to the target picking location according to the travel path;

[0014] When it is detected that the picker arrives at the target picking location, the indicator light on the shelf is controlled to be always on or flashing so that the picker can quickly determine the shelf;

[0015] When the goods on the shelf are first category goods, the picking task is determined to be completed when the goods scanned by the code scanning device on the shelf reach the quantity of the goods. The first category goods have QR codes or electronic tags. When the goods on the shelf are second category goods, the picking task is determined to be completed when the weight reduced by the weighing device under the goods on the shelf reaches the weight of the goods. The second category goods do not have QR codes or electronic tags and the quantity is large and difficult to count.

[0016] Furthermore, the construction of the digital twin model of the warehouse workshop includes:

[0017] Carry out 3D modeling of the workshop building according to the workshop civil engineering drawings to obtain a workshop building model;

[0018] Model each piece of equipment in the workshop according to pre-designed schematic drawings; and / or, for equipment for which drawings are missing, photograph or 3D scan it to obtain images or point cloud data, and then obtain a 3D building model based on the images or point cloud data;

[0019] Applying rendering software to restore the workshop building model and the equipment model to their original proportions by rendering and texture rendering to obtain a geometric model;

[0020] For the equipment model involving motion, based on the geometric model, it is improved from the perspectives of the force changes of the moving equipment and the mechanical coupling characteristics of the equipment;

[0021] The improved model is imported into the preset software to set the behavior model and rule model of each motion device to obtain a constructed digital discourse model. The behavior model is used to represent the motion state and motion action of each motion device during operation; the rule model is used to represent the operation trajectory, constraint conditions, motion range and expert knowledge of each motion device.

[0022] Furthermore, sending the target picking task and the travel path to the picking personnel includes:

[0023] Sending the target picking task and the travel path to the picking personnel through the earphones worn by the picking personnel;

[0024] And / or, the target picking task and the travel path are sent to the picking personnel via a display screen of a handheld mobile device.

[0025] Furthermore, it also includes:

[0026] When the target picking task and the travel path are sent to the picker via the display screen of the handheld mobile device, an error message and the picker's own position are received from the picker via the handheld mobile device, wherein the error message indicates that the starting position displayed in the travel path is inconsistent with the current position;

[0027] generating a first travel path from the own position to the target picking location based on the digital twin model;

[0028] The first travel path is sent to the picker.

[0029] Furthermore, it also includes:

[0030] When the target picking task and the travel path are sent to the picker via the display screen of the handheld mobile device, an error message and the picker's own position are received from the picker via the handheld mobile device, wherein the error message indicates that the starting position displayed in the travel path is inconsistent with the current position;

[0031] generating a second travel path from the own position to a second target picking location based on the digital twin model, where the second target picking location is a picking location of a second target picking task that is closest to the own position;

[0032] The second target picking task and the second travel path are sent to the picking personnel.

[0033] Furthermore, it also includes:

[0034] When the picking personnel completes the picking task, the indicator light is controlled to turn off.

[0035] In a second aspect, the device is provided, comprising:

[0036] Model building module, used to build a digital twin model of the warehouse workshop;

[0037] a location determination module, configured to obtain a plurality of picking tasks, determine a picking quantity or a picking weight based on the picking tasks, and determine a picking location in the digital twin model;

[0038] a path generation module, configured to obtain the current location of the picker and generate a travel path from the current location to a target picking location based on the digital twin model, where the target picking location is the picking location of the target picking task that is closest to the current location;

[0039] A task assignment module, configured to send the target picking task and the travel path to the picker, so that the picker proceeds to the target picking location according to the travel path;

[0040] The shelf guidance module is used to control the indicator light on the shelf to be constantly on or flashing when the picker arrives at the target picking location, so that the picker can quickly determine the shelf;

[0041] The completion judgment module is used to judge that the picking task is completed when the goods on the shelf are first-category goods and the number of goods scanned by the code scanning device on the shelf reaches the said number of goods. The first-category goods are accompanied by QR codes or electronic tags; when the goods on the shelf are second-category goods, the picking task is judged to be completed when the weight reduced by the weighing device under the goods on the shelf reaches the said weight of the goods. The second-category goods do not have QR codes or electronic tags and the quantity is large and difficult to count.

[0042] Thirdly, a PTL warehousing logistics picking system based on digital twin is provided, including:

[0043] at least one processor and at least one memory;

[0044] The memory stores executable instructions of the processor;

[0045] The processor is configured to execute the above-mentioned digital twin-based PTL warehouse logistics picking method.

[0046] Beneficial effects:

[0047] The present application provides a PTL warehousing logistics picking method, device and system based on digital twins. First, a digital twin model of the warehouse workshop is constructed. Then, after obtaining the picking task, the picking location is determined. Then, the current location of the picker is obtained, and the nearest target picking task is assigned according to the current location, and a travel path is generated. The target picking task and the travel path are then sent to the picker. Regardless of whether the picker is familiar with the workshop, he can quickly go to the picking location according to the travel path to complete the task. Moreover, since the tasks are assigned by the digital twin model, there will be no conflict even if multiple people perform multiple tasks together. When the picker arrives at the picking location, the indicator light of the shelf is always on or flashing to remind the picker to pick the shelf corresponding to the task, thereby speeding up the task execution efficiency. Based on the traditional PTL picking method, the present application utilizes a digital twin model for task assignment and path generation, ensuring that tasks can be executed quickly and accurately without causing conflicts. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 This is a flow chart of a PTL warehousing logistics picking method based on digital twins provided in an embodiment of the present application;

[0050] Figure 2 This is a structural diagram of a PTL warehousing logistics picking device based on digital twins provided in an embodiment of the present application;

[0051] Figure 3 This is a structural diagram of a PTL warehousing logistics picking system based on digital twins provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application are described in detail below with reference to the accompanying drawings and examples. Obviously, the described embodiments are only some of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other implementation methods obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0053] Reference Figure 1 , an embodiment of the present application provides a PTL warehousing logistics picking method based on digital twins, the method comprising:

[0054] S11: Construct a digital twin model of the warehouse workshop. Specifically, the workshop building is 3D-modeled based on the workshop civil engineering drawings to obtain a workshop building model. Equipment models are constructed based on pre-designed schematic drawings for each piece of equipment in the workshop. And / or, for equipment for which drawings are missing, the equipment is photographed or 3D-scanned to obtain images or point cloud data, and a 3D-modeled building model is obtained based on the images or point cloud data. That is, the overall building model of the entire workshop is first constructed, and then the internal equipment models are constructed. The advantage of constructing them separately is that the overall building model of the workshop is generally not easily modified. Therefore, when the equipment models in the workshop are improved, such as adding or deleting, the equipment models can be directly modified. This reduces the cost of model construction.

[0055] The workshop building model and the equipment model are rendered and restored in original proportion using rendering software to obtain a geometric model; for example, the workshop building model and the equipment model are rendered and restored in original proportion using 3dmax software to represent the appearance, shape, size, structure and assembly relationship of the building and equipment.

[0056] For the equipment model involving motion, on the basis of the geometric model, it is improved from the dimensions of the force changes of the motion equipment and the mechanical coupling characteristics of the equipment; for example, ANSYS software and MATLAB software are used to improve its physical model to reflect the force changes of the motion equipment and express the mechanical coupling characteristics of the equipment.

[0057] The refined model is imported into the preset software to set the behavior model and rule model of each motion device to obtain a constructed digital argumentation model. The behavior model is used to represent the motion state and motion action of each motion device during operation; the rule model is used to represent the operation trajectory, constraints, motion range, and expert knowledge of each motion device. For example, the constructed model is imported into Unity3D, and the behavior model and rule model of each motion device are set in the Unity3D environment. Finally, the digital twin model of the workshop building and each device is completed, realizing the mutual mapping between the twin model and the physical entity. The constructed digital twin model is saved on the server, making it convenient for users to directly open, view, and call the digital twin system when using it.

[0058] After completing the development of the digital twin system, the real-time intelligent visualization of the digital twin system was used to upgrade and update the PTL electronic tag light-up picking method and system. The development of the PTL warehouse logistics picking system based on the digital twin was completed.

[0059] S12: Acquire multiple picking tasks, determine the number or weight of goods to be picked based on the picking tasks, and determine the picking location in the digital twin model. For example, transmit the newly received picking information to the digital twin system, which then generates a picking order based on the acquired picking information and splits the picking order into corresponding picking tasks. The picking order includes the name of the goods to be picked and the number or weight of goods to be picked. Based on the name of the goods, the location of the goods in the workshop, i.e., the picking location, is determined.

[0060] S13: Obtain the current location of the picker, and generate a path from the current location to the target picking location based on the digital twin model. The target picking location is the picking location of the target picking task closest to the current location. The nearest allocation reduces the walking distance of the picker, and the picker does not need to plan the path by himself.

[0061] S14: Sending the target picking task and the travel path to the picker, so that the picker goes to the target picking location according to the travel path.

[0062] Among them, sending the target picking task and the travel path to the picker includes: sending the target picking task and the travel path to the picker through headphones worn by the picker; and / or sending the target picking task and the travel path to the picker through the display screen of a handheld mobile device.

[0063] When the target picking task and the travel path are sent to the picker via the display screen of the handheld mobile device, an error message and the picker's own position are received from the picker via the handheld mobile device, wherein the error message indicates that the starting position displayed in the travel path is inconsistent with the current position;

[0064] In one embodiment, a first path from the user's location to the target picking location is generated based on the digital twin model; this first path is then sent to the picker. This means that the task is not reassigned; the path for executing the original task is simply regenerated based on the user's location. However, in practice, the user's location may be far from the current location, making the first path excessively long.

[0065] Therefore, in another embodiment, a second path is generated from the user's location to a second target picking location based on the digital twin model. The second target picking location is the picking location of the second target picking task closest to the user's location. The second target picking task and the second path are then sent to the picker. This means that the task is then replaced, the closest second target picking task is determined, and the second path is generated. This reduces the workload of the picker.

[0066] S15: When it is detected that the picker arrives at the target picking location, the indicator light on the shelf is controlled to be always on or flashing, so that the picker can quickly determine the shelf.

[0067] S16: When the goods on the shelf are first category goods, when the goods scanned by the code scanning device on the shelf reach the quantity of the goods, it is determined that the picking task is completed. The first category goods have QR codes or electronic tags; when the goods on the shelf are second category goods, when the weight reduced by the weighing device under the goods on the shelf reaches the weight of the goods, it is determined that the picking task is completed. The second category goods do not have QR codes or electronic tags and the quantity is large and difficult to count.

[0068] In addition, when the picker completes the picking task, the indicator light is controlled to go out. This is convenient for reminding the picker that the picking is complete. In the embodiment of the present application, the goods are divided into the first category of goods and the second category of goods. Among them, the first category of goods are goods with QR codes or electronic tags, that is, they have been affixed to the goods before entering the warehouse. For this type of goods, when the picker picks, he only needs to go to the fixed cargo location and take out the corresponding number of goods according to the voice prompts of the system. Finally, he can align the QR code or other electronic tag on the goods with the code reading sensor installed on the shelf to scan and complete the picking process.

[0069] The second category of goods is goods that do not have QR codes or electronic tags and are large in quantity and difficult to count. In practice, all goods that are not the first category can be set as the second category of goods. In order to facilitate verification, this application sets a weighing device under the second category of goods to determine whether the picking is completed based on the weight reduction when picking up the goods.

[0070] In order to more clearly illustrate the solution of the embodiment of the present application, a specific implementation method is provided below:

[0071] The embodiments of this application primarily utilize a digital twin system to optimize the PTL electronic tag lighting method and upgrade the system, making the picking method and system more intelligent and modern. Therefore, it is necessary to first build a digital twin system for the entire workshop or factory, using digital twin technology to achieve a two-way mapping between the real workshop scene and the virtual workshop scene.

[0072] First, a digital twin model must be constructed. The first step is to 3D model the workshop building according to the workshop civil engineering drawings, and then build models of each piece of equipment in the workshop according to the pre-designed scheme drawings. For equipment that lacks drawings, it is photographed or 3D scanned to obtain its image or point cloud data, and then 3D modeling is performed based on this data. The workshop building model and equipment model are constructed and rendered in the original proportion using 3dmax software to characterize the appearance, shape, size, structure and assembly relationship of the building and equipment, completing the construction of the geometric model. For equipment models that include motion, ANSYS software and MATLAB software are used to improve their geometric models based on the geometric models to reflect the force changes of the moving equipment and represent the mechanical coupling characteristics of the equipment. The constructed model was imported into Unity3D, and within the Unity3D environment, the behavioral model and rule model for each motion device were set. The behavioral model was used to represent the motion state and motion movements of each motion device during operation; the rule model was used to represent the operating trajectory, constraints, motion range, and expert knowledge of each motion device. Finally, the digital twin model of the workshop building and each device was established, achieving mutual mapping between the twin model and the physical entity. The constructed digital twin model was saved on the server, allowing users to directly open, view, and call the digital twin system. After the development of the digital twin system was completed, the real-time intelligent visualization of the digital twin system was used to upgrade and update the PTL electronic tag light-up picking method and system. The development of the PTL warehousing logistics picking system based on digital twin was completed.

[0073] After entering the workshop, pickers need to wear wearable sensor devices and wireless headphones. The wearable sensor devices can locate the current position and status of the personnel. The picking system will assign picking tasks based on the located personnel's position, and plan the optimal path from the current position to the target picking point. The picking tasks and voice path navigation will be sent to the picking staff through wireless headphones.

[0074] At the same time, the picking steps are optimized and the goods on the shelves are divided into two categories;

[0075] The first category of goods is goods with QR codes or other electronic tags attached to them, which have been affixed to the goods before entering the warehouse. For this type of goods, when picking, the pickers only need to follow the system's voice prompts to go to the fixed storage location to take out the corresponding number of goods, and finally align the QR code or other electronic tag on the goods with the code reading sensor installed on the shelf to scan and complete the picking process. After the code scanning is completed, the digital twin system will also update the type and quantity of goods in real time to assist the pickers in verifying the order tasks.

[0076] The second category of goods is small in size and large in quantity (for example, screws, nuts, etc., which are often stored in boxes, and the boxes are placed on shelf locations). For such goods, it is difficult to affix electronic tags to the goods themselves. Therefore, shelf weighing sensors are installed at the bottom of each shelf location where such items are stored. The sensor data and the digital twin system are updated in real time. The weighing sensors will weigh the goods on the shelves. After the picking is completed, the weighing sensors will calculate the number of goods taken by the pickers through the monitored data and upload it to the digital twin system to assist in completing the order task verification. When the number of goods taken by the system pickers is inconsistent with the number of goods calculated by the system based on weight, the digital twin system will prompt the pickers to recheck through wireless headphones until they are consistent.

[0077] PTL warehouse logistics picking method based on digital twin:

[0078] The newly received picking information is transmitted to the digital twin system through the WMS system. The digital twin system will synchronously generate picking orders based on the obtained picking information and split the picking orders into corresponding picking tasks.

[0079] The digital twin system obtains the current location information and current working status of the pickers through the wearable sensor devices worn by the pickers;

[0080] The digital twin system assigns picking tasks to corresponding pickers based on the collected picker information, and simultaneously transmits the personnel information and picking tasks to the PTL picking system;

[0081] The digital twin system communicates picking tasks to pickers through wireless earphones worn by the pickers. In addition to receiving information through the earphones, pickers can also use the digital twin system on their mobile phones to view their tasks and locations in real time and confirm their tasks. (If their location is inconsistent with the location displayed in the mobile digital twin system, the mobile digital twin system can report the location error and update and adjust it in real time).

[0082] After the picker confirms his or her task and location, the digital twin system will plan a travel route based on the picker's current location and the location of the shelf where the picking task is located, and transmit the travel route to the picker through wireless headphones. In addition, the picker can also view the travel route in real time through the digital twin system on the mobile APP, and reach the picking area according to voice instructions or path display.

[0083] When the picker arrives at the shelf position in the picking area, the digital twin system will also transmit the picker's location information to the PTL picking system. When the PTL picking system receives the signal, the indicator light on the shelf will also flash continuously (when the picker leaves the shelf, the indicator light will go out) to assist in confirmation. In addition, the picker will receive an indication of arrival at the location through wireless headphones.

[0084] Furthermore, according to the instructions of the digital twin system, the picking personnel arrive at the location where the goods to be picked are located, and the picking operation is performed according to the type of goods and the number of system voice prompts received by the wireless headset. The specific picking operation is based on the type of goods as described above, and the picking operation and system verification are completed. When the digital twin system confirms that the received data is correct and completes the verification, it proves that the picking operation at the location has been completed. The voice prompts the picking personnel that the picking is completed, and guides the picking personnel to perform the next picking operation until all the picking tasks they have received are completed.

[0085] The embodiment of this application combines the PTL electronic picking system with the digital twin system to achieve visualization and intelligent upgrades of the picking system; the new system can locate the position and physical condition of staff in real time, dispatch picking tasks in real time, and plan the optimal picking path for pickers in real time; optimize traditional picking steps, upgrade picking methods, and avoid conflicts and incorrect picking quantities when multiple people are picking.

[0086] Based on the same inventive concept, Figure 2 As shown, this embodiment provides a PTL warehousing logistics picking device 20 based on digital twins, the device comprising:

[0087] The model construction module 21 is used to construct a digital twin model of the storage workshop; specifically, the model construction module 21 performs three-dimensional modeling of the workshop building according to the workshop civil engineering drawings to obtain a workshop building model; models each equipment in the workshop according to the pre-designed scheme drawings to construct an equipment model; and / or, for equipment that lacks drawings, photographs or three-dimensionally scans it to obtain images or point cloud data, and obtains a three-dimensional modeled building model based on the image or point cloud data; the workshop building model and the equipment model are applied to the rendering software to perform original scale mapping and rendering restoration to obtain a geometric model; for the equipment model containing motion, on the basis of the geometric model, it is improved from the dimensions of the force changes of the motion equipment and the mechanical coupling characteristics of the equipment; the improved model is imported into the preset software to set the behavior model and rule model of each motion equipment to obtain a constructed digital discourse model, wherein the behavior model is used to represent the motion state and motion action of each motion equipment during operation; the rule model is used to represent the operation trajectory, constraint conditions and motion range and expert knowledge of each motion equipment.

[0088] The location determination module 22 is used to obtain multiple picking tasks, determine the picking quantity or picking weight based on the picking tasks, and determine the picking location in the digital twin model.

[0089] The path generation module 23 is used to obtain the current location of the picker and generate a travel path from the current location to the target picking location based on the digital twin model. The target picking location is the picking location of the target picking task closest to the current location.

[0090] The task assignment module 24 is configured to send the target picking task and the travel path to the picker so that the picker can proceed to the target picking location according to the travel path. The sending of the target picking task and the travel path to the picker includes:

[0091] Sending the target picking task and the travel path to the picking personnel through the earphones worn by the picking personnel;

[0092] And / or, the target picking task and the travel path are sent to the picking personnel via a display screen of a handheld mobile device.

[0093] In addition, when the target picking task and the travel path are sent to the picker through the display screen of the handheld mobile device, the error message and the picker's own position sent by the handheld mobile device are received, and the error message is used to indicate that the starting position displayed in the travel path is inconsistent with the current position.

[0094] In one embodiment, the path generation module 23 generates a first travel path from the own position to the target picking location based on the digital twin model; the task allocation module 24 sends the first travel path to the picking personnel.

[0095] In another embodiment, the path generation module 23 generates a second travel path from the own position to the second target picking location based on the digital twin model, where the second target picking location is the picking location of the second target picking task closest to the own position; the task allocation module 24 sends the second target picking task and the second travel path to the picking personnel.

[0096] The shelf guidance module 25 is used to control the indicator light on the shelf to be constantly on or flashing when the picker arrives at the target picking location, so that the picker can quickly identify the shelf. It also includes: when the picker completes the picking task, the indicator light is turned off.

[0097] Completion judgment module 26: When the goods on the shelf are first category goods, the picking task is judged to be completed when the goods scanned by the code scanning device on the shelf reach the quantity of the goods, and the first category goods have QR codes or electronic tags; when the goods on the shelf are second category goods, the picking task is judged to be completed when the weight reduced by the weighing device under the goods on the shelf reaches the weight of the goods, and the second category goods do not have QR codes or electronic tags and the quantity is large and difficult to count.

[0098] The digital twin-based PTL warehousing logistics picking device provided in the embodiment of the present application first constructs a digital twin model of the warehousing workshop, then determines the picking location after obtaining the picking task, and then obtains the current location of the picker, assigns the nearest target picking task according to the current location, and generates a travel path. The target picking task and the travel path are then sent to the picker. Regardless of whether the picker is familiar with the workshop, he can quickly go to the picking location according to the travel path to complete the task. Moreover, since the tasks are assigned by the digital twin model, even if multiple people perform multiple tasks together, there will be no conflict. When the picker arrives at the picking location, the indicator light of the shelf is always on or flashing to remind the picker to pick the shelf corresponding to the task, thereby speeding up the efficiency of task execution. Based on the traditional PTL picking method, the present application solution uses a digital twin model to perform task assignment and path generation, ensuring that tasks can be executed quickly and accurately without causing conflicts.

[0099] Based on the same inventive concept, Figure 3 As shown, this embodiment provides a PTL warehousing logistics picking system 30 based on digital twins, including:

[0100] at least one processor 31 and at least one memory 32;

[0101] The memory stores executable instructions of the processor;

[0102] The processor is configured to execute the above-mentioned digital twin-based PTL warehouse logistics picking method.

[0103] The PTL warehousing logistics picking system based on digital twins provided by the embodiment of the present application stores the executable instructions of the processor in the memory. When the executable instructions are executed, the processor can first build a digital twin model of the warehouse workshop, and then determine the picking location after obtaining the picking task, and then obtain the current location of the picker, assign the nearest target picking task according to the current location, and generate a travel path. The target picking task and travel path are then sent to the picker. Regardless of whether the picker is familiar with the workshop, he can quickly go to the picking location according to the travel path to complete the task. Moreover, the digital twin model assigns tasks, and even if multiple people perform multiple tasks together, there will be no conflict. When the picker arrives at the picking location, the indicator light of the shelf is always on or flashing to remind the picker to pick the shelf corresponding to the task, thereby speeding up the efficiency of task execution. Based on the traditional PTL picking method, the present application solution uses a digital twin model to perform task assignment and path generation, ensuring that tasks can be executed quickly and accurately without causing conflicts.

[0104] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0105] It should be noted that, in the description of this application, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0106] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0107] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0108] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0109] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0110] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0111] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0112] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A PTL warehousing logistics picking method based on digital twin, characterized in that: The method comprises: Build a digital twin model of the warehouse workshop, including: Carry out 3D modeling of the workshop building according to the workshop civil engineering drawings to obtain a workshop building model; Modeling each piece of equipment in the workshop according to pre-designed schematic drawings to obtain an equipment model; and / or photographing or 3D scanning equipment for which a schematic drawing is missing to obtain an image or point cloud data, and obtaining an equipment model based on the image or point cloud data; Applying the workshop building model and the equipment model to rendering software to perform original scale construction and rendering restoration to obtain a geometric model; For the equipment model involving motion, based on the geometric model, it is improved from the perspectives of the force changes of the moving equipment and the mechanical coupling characteristics of the equipment; The improved model is imported into the preset software to set the behavior model and rule model of each motion device to obtain the constructed digital twin model. The behavior model is used to represent the motion state and motion action of each motion device during operation; the rule model is used to represent the operation trajectory, constraint conditions, motion range and expert knowledge of each motion device; After building a digital twin model of the warehouse workshop, a plurality of picking tasks are obtained, and a picking quantity or a picking weight is determined based on the picking tasks, and a picking location and a picking quantity or a picking weight are determined in the digital twin model; Obtaining the current location of the picker, and generating a travel path from the current location to a target picking location based on the digital twin model, where the target picking location is the picking location of the target picking task that is closest to the current location; Sending the target picking task and the travel path to the picking personnel so that the picking personnel go to the target picking location according to the travel path; When it is detected that the picker arrives at the target picking location, the indicator light on the shelf is controlled to be always on or flashing so that the picker can quickly determine the shelf; When the goods on the shelf are first category goods, the picking task is determined to be completed when the number of goods scanned by the code scanning device on the shelf reaches a preset number of goods. The first category goods are accompanied by QR codes or electronic tags. When the goods on the shelf are second category goods, the picking task is determined to be completed when the weight reduced by the weighing device under the goods on the shelf reaches a preset weight of goods. The second category goods do not have QR codes or electronic tags and the quantity is large and difficult to count.

2. The method according to claim 1, wherein: The sending the target picking task and the travel path to the picking personnel includes: Sending the target picking task and the travel path to the picking personnel through the earphones worn by the picking personnel; And / or, the target picking task and the travel path are sent to the picking personnel via a display screen of a handheld mobile device.

3. The method according to claim 2, characterized in that Also includes: When the target picking task and the travel path are sent to the picker via the display screen of the handheld mobile device, an error message and the picker's own position are received from the picker via the handheld mobile device, wherein the error message indicates that the starting position displayed in the travel path is inconsistent with the current position; generating a first travel path from the own position to the target picking location based on the digital twin model; The first travel path is sent to the picker.

4. The method according to claim 2, characterized in that Also includes: When the target picking task and the travel path are sent to the picker via the display screen of the handheld mobile device, an error message and the picker's own position are received from the picker via the handheld mobile device, wherein the error message indicates that the starting position displayed in the travel path is inconsistent with the current position; generating a second travel path from the own position to a second target picking location based on the digital twin model, where the second target picking location is a picking location of a second target picking task that is closest to the own position; The second target picking task and the second travel path are sent to the picking personnel.

5. The method according to claim 1, wherein Also includes: When the picking personnel completes the picking task, the indicator light is controlled to turn off.

6. A PTL warehousing logistics picking device based on digital twin, characterized in that: The device comprises: A model building module is used to build a digital twin model of a warehouse workshop, specifically including: three-dimensional modeling of the workshop building according to the workshop civil engineering drawings to obtain a workshop building model; modeling of each equipment in the workshop according to the pre-designed scheme drawings to obtain an equipment model; and / or, for equipment that lacks drawings, photographing or three-dimensionally scanning it to obtain images or point cloud data, and obtaining an equipment model based on the images or point cloud data; applying the workshop building model and the equipment model to rendering software to perform original scale mapping and rendering restoration to obtain a geometric model; for equipment models that include motion, based on the geometric model, improving the model from the dimensions of force changes of the motion equipment and the mechanical coupling characteristics of the equipment; importing the improved model into the preset software to set the behavior model and rule model of each motion equipment to obtain a constructed digital twin model, wherein the behavior model is used to represent the motion state and motion action of each motion equipment during operation; the rule model is used to represent the operation trajectory, constraint conditions, motion range and expert knowledge of each motion equipment; a location determination module, configured to obtain a plurality of picking tasks, determine a picking quantity or a picking weight based on the picking tasks, and determine a picking location and a picking quantity or a picking weight in the digital twin model; a path generation module, configured to obtain the current location of the picker and generate a travel path from the current location to a target picking location based on the digital twin model, where the target picking location is the picking location of the target picking task that is closest to the current location; A task assignment module, configured to send the target picking task and the travel path to the picker, so that the picker proceeds to the target picking location according to the travel path; The shelf guidance module is used to control the indicator light on the shelf to be constantly on or flashing when the picker arrives at the target picking location, so that the picker can quickly determine the shelf; The completion judgment module is used to judge that the picking task is completed when the goods on the shelf are first-category goods and the number of goods scanned by the code scanning device on the shelf reaches a preset number of goods. The first-category goods are accompanied by QR codes or electronic tags; when the goods on the shelf are second-category goods, the picking task is completed when the weight reduced by the weighing device under the goods on the shelf reaches a preset weight of goods. The second-category goods do not have QR codes or electronic tags and the quantity is large and difficult to count.

7. A PTL warehousing logistics picking system based on digital twins, characterized by: include: at least one processor and at least one memory; The memory stores executable instructions of the processor; The processor is configured to execute the method according to any one of claims 1 to 5.

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