An automated logistics warehousing and transportation scheduling system

Abstract

The present invention discloses an automated logistics warehousing and transportation scheduling system, which relates to the technical field of warehousing and transportation scheduling. The system establishes a module through a three-dimensional road condition model and accurately locates through GPS technology. The first evaluation module classifies the ground transport robots into equipment group queues of different priorities according to the expected path index Ys of each ground transport robot. Ground transport robots below the first threshold are given priority to perform tasks. The second calculation module calculates the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl by collecting the detour information, shelf or wall shielding of the ground transport robot in the actual path. It is used to calculate the detour correction index Rx and the actual path index SJz to minimize the negative impact of detour on transportation efficiency. The priority module reclassifies and schedules the ground transport robots according to the calculation result of the actual path index SJz.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing and transportation scheduling, and in particular to an automated logistics warehousing and transportation scheduling system. Background Art

[0002] As the core link of modern supply chain management, the logistics and warehousing industry faces many challenges and opportunities. Issues such as route optimization, real-time logistics monitoring, and reducing cargo losses have become important focuses in the current development of the industry. In particular, when multiple ground transport robots work in a limited space at the same time, collision accidents are prone to occur if there is a lack of effective coordination and route planning. Such collisions will not only cause equipment damage, but may also affect the smooth progress of transportation tasks and even pose a threat to personnel safety. Traditional robot scheduling is usually based on fixed task allocation or manual intervention, which makes it difficult to effectively avoid resource conflicts and competition among multiple robots, resulting in some robots being idle or working repeatedly, reducing resource utilization efficiency.

[0003] In addition, the slippery ground conditions common in warehouses increase the risks and costs during transportation. Traditional manual identification and processing are difficult to effectively deal with these ground obstacles, leading to frequent transportation accidents and increased cargo losses. Therefore, it is urgent to propose an automated logistics warehousing and transportation scheduling system to improve the intelligence and automation level of the transportation system, thereby achieving path optimization, real-time monitoring, and rapid response to various challenges in transportation. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides an automated logistics warehousing and transportation scheduling system to solve the problems mentioned in the background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automated logistics warehousing and transportation scheduling system, comprising:

[0006] The three-dimensional road condition model building module is used to obtain the warehouse distribution electronic map, lock several groups of warehouse sub-areas, and use GPS technology to perform real-time positioning of several ground transport robots in the warehouse distribution electronic map to obtain real-time coordinates;

[0007] The first evaluation module collects the orders and corresponding inventory status of each ground transport robot, constructs an estimated path index Ys for each ground transport robot, and classifies the robot into a first priority transport equipment group queue when the estimated path index Ys is lower than a first threshold, and classifies the robot into a second priority transport equipment group queue when the estimated path index Ys exceeds the first threshold;

[0008] The second calculation module collects the actual detour information of the actual path in the expected path index Ys of each ground transport robot and the blocking of the path by the shelf or wall to obtain the detour distance increment zjgw, the extended time increment ΔT, the ground slippery index shzs and the equipment overlapping avoidance distance brjl; and calculates the detour distance increment zjgw, the extended time increment ΔT, the ground slippery index shzs and the equipment overlapping avoidance distance brjl in association with each other to obtain the detour correction index Rx and the actual path index SJz;

[0009] The priority module, when the actual path index SJz is lower than the second threshold, re-establishes the first priority transport equipment group queue, and arranges them in order from low to high for real-time transportation. When the actual path index SJz is higher than the second threshold, the first strategy is generated and implemented. 30-60 seconds after the first priority transport equipment group queue starts the transport instruction, the second priority transport equipment group queue is triggered to carry out the second transport instruction.

[0010] Preferably, the first evaluation module includes a first calculation unit and a first evaluation unit, the first calculation unit is used to collect the orders and corresponding inventory status of each ground transport robot, and construct an estimated path index Ys for each ground transport robot, and the method for obtaining the estimated path index Ys includes the following steps:

[0011] S11. The distance from sub-region i to sub-region j is collected by a distance measuring sensor, and a distance matrix D is defined, where each element d(i, j) represents the distance from sub-region i to sub-region j. The matrix is ​​symmetrical, that is, d(i, j) = d(j, i). The distance matrix D is generated by the following formula:

[0012]

[0013] S12. Construct the shortest path based on the traveling salesman problem model, with the goal of minimizing the total distance min z for:

[0014]

[0015] In the formula, ∑ i∈P ∑ j∈P d(i,j) represents the sum of the paths selected by the ground transport robot from all paths from sub-area i to each sub-area j, x ij represents a binary decision variable. If the ground transport robot moves from sub-area i to each sub-area j, then x ij =1, otherwise x ij =0;

[0016] S13. Set the constraint conditions for each ground transport robot, indicating that there is only one path from each sub-area:

[0017]

[0018] Where P represents the set of all sub-areas that need to be visited. This constraint ensures that the ground transport robot reaches each sub-area j exactly once.

[0019] S14. Preventing the appearance of sub-loops is to ensure that the ground transport robot can visit all sub-areas and only visit them once, forming a complete loop, and preventing the sub-loop formula from being constrained by the following formula:

[0020]

[0021] In the formula, u i and u j They represent the distance from the starting point to the sub-area i or j of the ground transport robot. When the ground transport robot moves from i to j, the constraint u i -u j +n*x ij ≤n-1 ensures the continuity of the path. Specifically, x ij =1, indicating that the ground transport robot does move from i to j, then u i -u j +n*x ij ≤n-1, this inequality ensures that the path from i to j of the ground transport robot is valid and no sub-ring appears;

[0022] S15. Set the distance from the starting point s to each sub-area i of the ground transport robot to be C. i , to minimize the total distance min z The estimated path index Ys is obtained by correction using the following formula:

[0023]

[0024] Among them, x si represents the distance that the ground transport robot moves from the starting point s to the sub-area i, x js represents the distance that the ground transport robot equipment moves from sub-area j to the starting point s, Σ j∈P C i *x si represents the sum of the distances from the starting point s to each sub-region i, Σ i∈P ∑ j∈P d(i,j) represents the sum of the path distances between each sub-region, Σ j∈P C j *x jsRepresents the sum of the distances from each sub-area j back to the starting point s; the numerator is 1, indicating that it is defined as the inverse of the path sum.

[0025] Preferably, the first evaluation unit is used to compare the predicted path index Ys with a first threshold value, and when the predicted path index Ys is lower than the first threshold value, it indicates that the predicted path of the equipment is qualified, and the equipment is classified into a first priority transport equipment group queue;

[0026] When the predicted path index Ys exceeds the first threshold, it indicates that the predicted path of the device is unqualified, and the device is classified into the second priority transport device group queue.

[0027] Preferably, the second calculation module includes a second acquisition unit and a second calculation unit, the second acquisition unit is used to collect the actual detour information of the actual path of each ground transport robot and the blocking of the path by the shelf or wall, and generate the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl through the following formula:

[0028] zjgw=∑ k d k

[0029] Where k is an index variable used to mark all turning locations on the preset path of each ground transport robot, and d k represents the additional detour distance at the kth turn;

[0030]

[0031] Where, d rg represents the additional distance of the g-th detour path segment, g represents the index of the detour path segment, and V represents the average driving speed of the ground transport robot;

[0032]

[0033] In the formula, w f represents the weight of the slippery degree of the fth slippery area affecting the speed of the ground transport robot, a f It is expressed as the length of the fth slippery area;

[0034] brjl=∑ m (d br，m +t br，m *V

[0035] Where, d br，m represents the distance increased by the ground transport robot in the mth time due to avoiding other equipment, t br，mIt represents the additional time for the m-th ground transportation robot during the process of avoiding other devices. V represents the average traveling speed of the ground transportation robot, and m is the index of the avoidance event.

[0036] Preferably, the second calculation unit is used to calculate and generate a detour correction index Rx and an actual path index SJz through the following associated formulas for the detour distance increment zjgw, the extended time increment ΔT, the ground slipperiness index shzs, and the device overlapping avoidance distance brjl;

[0037]

[0038] SJz = Ys + λ * Rx

[0039] In the formula, w1, w2, w3, and w4 are the weight values of the detour distance increment zjgw, the extended time increment ΔT, the ground slipperiness index shzs, and the device overlapping avoidance distance brjl respectively, and 0 < w1 < 1, 0 < w2 < 1, 0 < w3 < 1, 0 < w4 < 1, w1 + w2 + w3 + w4 = 1. D1 is the first correction constant; λ is an adjustment coefficient used to balance the influence weights of the predicted path index and the detour correction index in the actual path index.

[0040] Preferably, the priority module includes a second evaluation unit and a regulation unit. The second evaluation unit is used to compare the actual path index SJz with a second threshold. When the actual path index SJz is lower than the second threshold, it indicates that the actual path of the device is qualified, the detour obstacle is clear and there is no abnormality. Then, a first-priority transportation device group queue is re-established, indicating that the transportation task and requirements can be completed qualifiedly;

[0041] When the actual path index SJz is higher than the second threshold, it indicates that the actual path of the device is unqualified and there is an abnormality in the detour obstacle. Then, it is reclassified into the second-priority transportation device group queue, indicating that the execution efficiency is unqualified and it is not suitable for priority scheduling, and a first regulation strategy is generated by the regulation unit.

[0042] Preferably, the first regulation strategy includes: identifying and moving the temporary obstacles affecting the path, cleaning the transportation path obstacles and the slippery ground according to the automatic device; increasing the speed of the ground transportation robot by 20% and optimizing and increasing the turning radius by 20%.

[0043] Preferably, the priority module further includes a priority unit. The priority unit is used to arrange the first-priority transportation device group queue in ascending order and issue a first transportation command;

[0044] After the first regulation strategy is implemented, 30 - 60 seconds after the transportation instruction is started in the first-priority transportation device group queue, the second-priority transportation device group queue is triggered to perform a second transportation instruction.

[0045] Preferably, it further includes a third collection module and a collaborative transportation module. The third collection module is used to set an aerial drone carrying a camera to cruise on the relevant paths of the first transportation instruction and the second transportation instruction, identify the information of dropped goods on the same path, construct a goods loss index Dsz, and issue a warning instruction if the goods loss index Dsz exceeds the third threshold;

[0046] The collaborative transportation module is used to identify the position of the dropped goods on the same path and collect the coordinates of the idle ground transportation robots that have completed the first transportation command when receiving the warning instruction, and identify the ground transportation robot with the shortest distance to go to the same path to recover the dropped goods.

[0047] Preferably, the goods loss index Dsz is obtained by the following formula:

[0048]

[0049] In the formula, w5 and w6 respectively represent weight values, and 0 < w5 < 1, 0 < w6 < 1, w5 + w6 = 1, u represents the number of dropped goods on the same path, pJy represents the average interval distance between the dropped goods, Y i represents the shortest distance from the i-th dropped goods to the center line of the path, bzcs t represents the number of obstacle avoidance times of the ground transportation robot during the t transportation period.

[0050] The present invention provides an automated logistics warehousing transportation scheduling system. It has the following beneficial effects:

[0051] (1) This automated logistics warehousing transportation scheduling system, through the three-dimensional road condition model building module, the system can obtain the specific location of each ground transport robot in the warehouse in real time, and accurately locate it through GPS technology. This provides basic data support for path optimization and efficient scheduling, and effectively avoids transportation delays and reduced efficiency caused by improper path selection. The first evaluation module classifies the ground transport robots into equipment group queues with different priorities according to the expected path index Ys of each ground transport robot. Ground transport robots below the first threshold are given priority to perform tasks, ensuring the reasonable allocation and efficient utilization of resources. This can reduce resource competition and conflicts between ground transport robots and avoid collision accidents and resource waste caused by improper scheduling. The second calculation module calculates the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl by collecting the detour information, shelf or wall occlusion of the ground transport robot in the actual path. These data are used to calculate the detour correction index Rx and the actual path index SJz, so that the path planning of the ground transport robot can be adjusted in real time to minimize the negative impact of detour on transportation efficiency. The priority module reclassifies and dispatches the ground transport robots according to the calculation results of the actual path index SJz. Ground transport robots below the second threshold are given priority to perform transportation tasks to ensure that the transportation path is unobstructed. Ground transport robots above the second threshold trigger the second priority transportation instructions again after executing the first strategy. This not only improves the safety of transportation tasks, but also improves the overall transportation efficiency. Through real-time monitoring and sensor technology, the system can effectively identify and handle slippery ground conditions inside the warehouse. For ground obstacles that are difficult to deal with in time by traditional manual labor, the system can quickly respond and avoid them through automated scheduling and path adjustment, thereby reducing the incidence of transportation accidents and reducing cargo losses. Through the collaborative work of multiple modules, the problems of improper path planning, resource conflicts, detour impacts, transportation safety hazards and untimely handling of ground obstacles in traditional logistics and warehousing systems are solved, significantly improving the automation level and overall operation efficiency of logistics and warehousing.

[0052] (2) This automated logistics warehousing and transportation scheduling system can accurately identify and classify the path execution status of the transportation equipment by comparing the actual path index SJz with the second threshold. When the actual path index SJz is lower than the second threshold, it means that the path is unobstructed and there are no abnormalities. The equipment can efficiently complete the transportation task, thereby improving the overall completion rate of the transportation task. When the actual path index SJz is higher than the second threshold, it means that there are problems or obstacles in the path execution. The system will reclassify the equipment into the second priority transportation equipment group queue to prevent it from taking priority in executing the task.

[0053] (3) By constructing the cargo loss index Dsz, the cargo loss on the same route can be quantitatively evaluated. This enables the system to judge the severity of the loss based on the data and take corresponding countermeasures.

[0054] The third acquisition module deploys aerial drones with cameras for patrolling, and through image recognition technology, it can monitor the situation of goods on the ground transportation path in real time. In this way, the problem of falling goods can be discovered in time, and the goods loss index Dsz can be constructed, ensuring the visibility and controllability of the entire transportation process. When the goods loss index Dsz exceeds the third threshold, the system will immediately issue an early warning command to notify the nearest idle ground transportation robot to go to the location of the fallen goods for recovery. The design of this collaborative transportation module enables the problem of falling goods to be quickly resolved and reduces the loss of goods. After receiving the early warning command, the collaborative transportation module can quickly identify the location of the fallen goods on the same path and dispatch the nearest ground transportation robot for recovery. This rapid response mechanism effectively improves the response speed of the system and ensures the continuity and stability of the transportation task. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the flow chart of an automated logistics warehousing and transportation scheduling system of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Example 1

[0058] See also Figure 1 The present invention provides an automated logistics warehousing and transportation scheduling system, comprising:

[0059] The three-dimensional road condition model building module is used to obtain the warehouse distribution electronic map, lock several groups of warehouse sub-areas, and use GPS technology to perform real-time positioning of several ground transport robots in the warehouse distribution electronic map to obtain real-time coordinates;

[0060] The first evaluation module collects the orders and corresponding inventory status of each ground transport robot, constructs an estimated path index Ys for each ground transport robot, and classifies the robot into a first priority transport equipment group queue when the estimated path index Ys is lower than a first threshold, and classifies the robot into a second priority transport equipment group queue when the estimated path index Ys exceeds the first threshold;

[0061] The second calculation module collects the actual detour information of the actual path in the expected path index Ys of each ground transport robot and the blocking of the path by the shelf or wall to obtain the detour distance increment zjgw, the extended time increment ΔT, the ground slippery index shzs and the equipment overlapping avoidance distance brjl; and calculates the detour distance increment zjgw, the extended time increment ΔT, the ground slippery index shzs and the equipment overlapping avoidance distance brjl in association with each other to obtain the detour correction index Rx and the actual path index SJz;

[0062] The priority module, when the actual path index SJz is lower than the second threshold, re-establishes the first priority transport equipment group queue, and arranges them in order from low to high for real-time transportation. When the actual path index SJz is higher than the second threshold, the first strategy is generated and implemented. 30-60 seconds after the first priority transport equipment group queue starts the transport instruction, the second priority transport equipment group queue is triggered to carry out the second transport instruction.

[0063] In this embodiment, through the three-dimensional road condition model building module, the system can obtain the specific location of each ground transport robot in the warehouse in real time, and accurately locate it through GPS technology. This provides basic data support for path optimization and efficient scheduling, and effectively avoids transportation delays and reduced efficiency caused by improper path selection. The first evaluation module classifies the ground transport robots into equipment group queues of different priorities according to the expected path index Ys of each ground transport robot. Ground transport robots below the first threshold perform tasks first, ensuring the rational allocation and efficient use of resources. This can reduce resource competition and conflicts between ground transport robots, and avoid collision accidents and waste of resources caused by improper scheduling. The second calculation module calculates the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl by collecting the detour information, shelf or wall shielding of the ground transport robot in the actual path. These data are used to calculate the detour correction index Rx and the actual path index SJz, so that the path planning of the ground transport robot can be adjusted in real time to minimize the negative impact of detour on transportation efficiency. The priority module reclassifies and dispatches the ground transport robots according to the calculation results of the actual path index SJz. Ground transport robots below the second threshold are given priority to perform transportation tasks to ensure that the transportation path is unobstructed. Ground transport robots above the second threshold trigger the second priority transportation instructions again after executing the first strategy. This not only improves the safety of transportation tasks, but also improves the overall transportation efficiency. Through real-time monitoring and sensor technology, the system can effectively identify and handle slippery ground conditions inside the warehouse. For ground obstacles that are difficult to deal with in time by traditional manual labor, the system can quickly respond and avoid them through automated scheduling and path adjustment, thereby reducing the incidence of transportation accidents and reducing cargo losses. Through the collaborative work of multiple modules, the problems of improper path planning, resource conflicts, detour impacts, transportation safety hazards and untimely handling of ground obstacles in traditional logistics and warehousing systems are solved, significantly improving the automation level and overall operation efficiency of logistics and warehousing.

[0064] Example 2: This example is an explanation of Example 1. Figure 1 Specifically, the first evaluation module includes a first calculation unit and a first evaluation unit, the first calculation unit is used to collect the orders and corresponding inventory status of each ground transport robot, and construct an estimated path index Ys of each ground transport robot. The method for obtaining the estimated path index Ys includes the following steps:

[0065] S11. The distance from sub-region i to sub-region j is collected by a distance measuring sensor, and a distance matrix D is defined, where each element d(i, j) represents the distance from sub-region i to sub-region j. The matrix is ​​symmetrical, that is, d(i, j) = d(j, i). The distance matrix D is generated by the following formula:

[0066]

[0067] The distance data between sub-areas is collected by ranging sensors, and a symmetrical distance matrix D is constructed to ensure that the distance calculation between each sub-area is accurate. This provides accurate data support for path optimization and helps minimize the total transportation distance.

[0068] S12. Construct the shortest path based on the traveling salesman problem model, with the goal of minimizing the total distance min z for:

[0069]

[0070] In the formula, Σ i∈P Σ j∈P d(i,j) represents the sum of the paths selected by the ground transport robot from all paths from sub-area i to each sub-area j, x ij represents a binary decision variable. If the ground transport robot moves from sub-area i to each sub-area j, then x ij =1, otherwise x ij =0;

[0071] S13. Set the constraint conditions for each ground transport robot, indicating that there is only one path from each sub-area:

[0072]

[0073] In the formula, P represents the set of all sub-areas that need to be visited. This constraint ensures that the ground transport robot reaches each sub-area j exactly once. By using the traveling salesman problem TSP model for path planning, the system can find the shortest path from the starting point to visit all sub-areas and return to the starting point. This can effectively reduce the driving distance of the ground transport robot in the warehouse, improve transportation efficiency, and save energy and time costs. Setting the constraint that each ground transport robot has only one path from each sub-area ensures that the ground transport robot will not repeatedly visit a sub-area in each transportation task, thereby avoiding unnecessary path selection and optimizing the transportation route.

[0074] S14. Preventing the appearance of sub-loops is to ensure that the ground transport robot can visit all sub-areas and only visit them once, forming a complete loop, and preventing the sub-loop formula from being constrained by the following formula:

[0075]

[0076] In the formula, u i and u j They represent the distance from the starting point to the sub-area i or j of the road robot. When the road robot moves from i to j, the constraint u i -u j +n*x ij ≤n-1 ensures the continuity of the path. Specifically, x ij =1, indicating that the ground transport robot does move from i to j, then u i -u j +n*x ij ≤n-1, this inequality ensures that the path from i to j of the ground transport robot is valid and no sub-loops appear; by preventing the occurrence of sub-loops, the system ensures the integrity and continuity of each transport path. This constraint can avoid invalid sub-loops in the path planning of the ground transport robot, and improve the reliability and accuracy of path planning.

[0077] S15. Set the distance from the starting point s to each sub-area i of the ground transport robot to be C. i , to minimize the total distance min z The estimated path index Ys is obtained by correction using the following formula:

[0078]

[0079] Among them, x si represents the distance that the ground transport robot moves from the starting point s to the sub-area i, x js represents the distance that the ground transport robot equipment moves from sub-area j to the starting point s, Σ j∈P C i *x si represents the sum of the distances from the starting point s to each sub-region i, Σ i∈P Σ j∈P d(i,j) represents the sum of the path distances between each sub-region, Σ j∈P C j *x js Represents the sum of the distances from each sub-area j back to the starting point s; the numerator is 1, indicating that it is defined as the inverse of the path sum.

[0080] In this embodiment, by setting factors such as path distance and return distance, all path distances of the ground transport robot from the starting point to each sub-area and back to the starting point are fully considered to calculate the expected path index Ys. This method can comprehensively evaluate the path efficiency of each transport task and provide an important reference for the scheduling system. The calculation method of the expected path index Ys can dynamically adjust the path planning according to the real-time order and inventory situation, ensure that the system can adapt to changes in the warehouse, optimize the transportation tasks in real time, and improve the flexibility and response speed of scheduling. Through accurate path planning and optimization, the system can effectively avoid waste and inefficient use of resources, ensure that each ground transport robot can complete the transportation with the most efficient path when performing tasks, and improve the overall resource utilization efficiency. The calculation method of the expected path index Ys significantly improves the path planning and scheduling efficiency of the ground transport robot by comprehensively considering multiple factors such as path optimization, avoiding repeated paths, preventing sub-rings, and accurate distance calculation, thereby achieving higher transportation efficiency and resource utilization in the logistics warehousing system.

[0081] Example 3, this example is an explanation of Example 1, please refer to Figure 1 Specifically, the first evaluation unit is used to compare the expected path index Ys with the first threshold value. When the expected path index Ys is lower than the first threshold value, it means that the expected path of the device is qualified, and the device is classified into the first priority transport device group queue;

[0082] When the predicted path index Ys exceeds the first threshold, it indicates that the predicted path of the device is unqualified, and the device is classified into the second priority transport device group queue.

[0083] In this embodiment, the first evaluation unit can monitor and evaluate the expected path index Ys of each ground transport robot in real time, dynamically adjust the transportation strategy according to actual conditions, ensure that the system can flexibly respond to various changes in the warehouse, and improve the adaptability and response speed of the system.

[0084] Example 4: This example is an explanation of Example 3. Figure 1 Specifically, the second calculation module includes a second acquisition unit and a second calculation unit, and the second acquisition unit is used to collect the actual detour information of the actual path of each ground transport robot and the blocking of the path by the shelf or wall, and generate the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl through the following formula:

[0085] zjgw=Σ k d k

[0086] Where k is an index variable used to mark all turning locations on the preset path of each ground transport robot, and dk represents the additional detour distance at the kth turn;

[0087]

[0088] Where, d rg represents the additional distance of the g-th detour path segment, g represents the index of the detour path segment, and V represents the average driving speed of the ground transport robot;

[0089]

[0090] In the formula, w f represents the weight of the slippery degree of the fth slippery area affecting the speed of the ground transport robot, a f It is expressed as the length of the fth slippery area;

[0091] brjl=Σ m (d br，m +t br，m *V

[0092] Where, d br，m represents the distance increased by the ground transport robot in the mth time due to avoiding other equipment, t br，m represents the additional time of the mth ground transport robot due to avoiding other equipment, V represents the average driving speed of the ground transport robot, and m is the index of the avoidance event.

[0093] Based on Example 3, this embodiment takes into account the actual detour information of the actual path and the obstruction of the path by shelves or walls, and calculates the detour distance increment zjgw, extended time increment ΔT, ground slippery index shzs and equipment overlapping avoidance distance brjl of each ground transport robot, so as to achieve the beneficial effects of accurate path evaluation, optimization of detour path, coping with ground slippery conditions and improving avoidance efficiency.

[0094] Example 5. This example is an explanation of Example 4. Please refer to Figure 1 Specifically, the second calculation unit is used to calculate the detour correction index Rx and the actual path index SJz by the following associated formulas using the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl;

[0095]

[0096] SJz=Ys+λ*Rx

[0097] Wherein, w1, w2, w3, and w4 are the weight values of the detour distance increment zjgw, the extended time increment ΔT, the ground slipperiness index shzs, and the equipment overlapping avoidance distance brjl respectively, and 0 < w1 < 1, 0 < w2 < 1, 0 < w3 < 1, 0 < w4 < 1, w1 + w2 + w3 + w4 = 1, D1 is the first correction constant; λ is the adjustment coefficient, which is used to balance the influence weights of the predicted path index and the detour correction index in the actual path index.

[0098] In this embodiment, by comprehensively considering various factors such as the detour distance increment, the extended time increment, the ground slipperiness index, and the equipment overlapping avoidance distance, the actual path index SJz can comprehensively evaluate various problems encountered by the ground transportation robot during the actual transportation process, and provide a more accurate path quality evaluation. The result of calculating the actual path index SJz can be used to optimize the path planning of the ground transportation robot, so that the ground transportation robot can select a more efficient and safer path, reduce detours and delays, and improve the overall transportation efficiency. By considering the ground slipperiness index and the equipment overlapping avoidance distance, the actual path index SJz can anticipate and evaluate potential safety problems during the transportation process in advance, take corresponding preventive measures, reduce the risk of transportation accidents, and improve the safety of the transportation process. The actual path index SJz can reflect the change of the path quality of the ground transportation robot during the transportation process in real time, help the system dynamically adjust the transportation strategy according to the actual situation, ensure that the ground transportation robot can flexibly respond to various emergencies, and improve the adaptability and flexibility of the path planning.

[0099] Embodiment 6. This embodiment is an explanatory description based on Embodiment 1. Please refer to Figure 1 , specifically, the priority module includes a second evaluation unit and a regulation unit. The second evaluation unit is used to compare the actual path index SJz with a second threshold. When the actual path index SJz is lower than the second threshold, it indicates that the actual path of the device is qualified, the detour obstacle is clear and normal, and then a first-priority transportation equipment group queue is re-established, indicating that the transportation task and demand can be completed successfully;

[0100] When the actual path index SJz is higher than the second threshold, it indicates that the actual path of the device is unqualified and there is an abnormality in the detour obstacle. Then it is reclassified into the second-priority transportation equipment group queue, indicating that the execution efficiency is unqualified and it is not suitable for priority scheduling, and a first regulation strategy is generated by the regulation unit.

[0101] The first regulation strategy includes: identifying and moving the temporary obstacles affecting the path, cleaning the obstacles on the transportation path and the slippery ground according to the automatic equipment; increasing the speed of the ground transportation robot by 20% and optimizing and increasing the turning radius by 20%.

[0102] In this embodiment, by comparing the actual path index SJz with the second threshold, the system can accurately identify and classify the path execution of the transport equipment. When the actual path index SJz is lower than the second threshold, it means that the path is unobstructed and there is no abnormality, and the equipment can efficiently complete the transport task, thereby improving the overall completion rate of the transport task. When the actual path index SJz is higher than the second threshold, it means that there are problems or obstacles in the path execution, and the system will reclassify the equipment into the second priority transport equipment group queue to avoid it from taking priority in executing the task. This mechanism ensures that only equipment with qualified path execution will be scheduled first, optimizing the use and scheduling efficiency of the equipment. Through the first control strategy generated by the control unit, the system can dynamically adjust the path execution strategy of the equipment. For example, identify and clear temporary obstacles that affect the path, increase the speed of the ground transport robot and optimize the turning radius. These adjustment measures can quickly improve the path execution of the equipment and ensure the smooth progress of the transport task. By identifying and moving temporary obstacles that affect the path, and clearing the slippery ground, the system can effectively reduce the impact of path obstacles on the transportation process, ensure that the ground transport robot can travel smoothly, and reduce the risk of accidents during transportation.

[0103] Example 7. This example is an explanation of Example 6. Please refer to Figure 1 Specifically, the priority module further includes a priority unit, and the priority unit is used to arrange the first priority transportation equipment group queue from low to high in order and issue a first transportation command;

[0104] After the first control strategy is implemented, 30-60 seconds after the first priority transport equipment group queue starts the transport instruction, the second priority transport equipment group queue is triggered to carry out the second transport instruction.

[0105] In this embodiment, the priority unit arranges the first priority transport equipment group queue in order from low to high to ensure that the most suitable equipment is given priority for transportation when tasks are assigned. This sorting mechanism optimizes the task allocation process so that each transport task can be executed by the most suitable equipment, thereby improving the efficiency of completing the transport task. After the first control strategy is implemented, the equipment in the first priority transport equipment group queue can respond quickly and execute the transport task. Subsequently, the transport instruction of the second priority transport equipment group queue is triggered after 30-60 seconds to ensure that the second priority task is started immediately after the first priority task is completed, reducing the waiting time of the equipment and the gap between tasks. The operation of the priority unit ensures the efficient use of equipment. The equipment in the first priority equipment group queue is arranged in order and performs tasks quickly, while the second priority equipment group queue is started at the appropriate time, ensuring the continuous and efficient operation of the overall system and avoiding waste of resources.

[0106] Example 8

[0107] However, the traditional manual operation mode shows its limitations in a high-frequency transportation environment. Ground transportation robots may cause goods to fall due to unstable operation or improper path selection, which poses an obvious threat to transportation efficiency and safety.

[0108] This embodiment is an explanatory illustration based on Embodiment 1. Please refer to Figure 1 , specifically, it further includes a third acquisition module and a collaborative transportation module. The third acquisition module is used to set an aerial drone equipped with a camera to cruise on the relevant paths of the first transportation instruction and the second transportation instruction, identify the information of dropped goods on the same path, construct a goods loss index Dsz, and issue a warning instruction if the goods loss index Dsz exceeds the third threshold.

[0109] The collaborative transportation module is used to identify the position of the dropped goods on the same path and collect the coordinates of the idle ground transportation robots that have completed the first transportation command when receiving the warning instruction, and identify the ground transportation robot with the shortest distance to go to the same path to recover the dropped goods.

[0110] The goods loss index Dsz is obtained through the following formula:

[0111]

[0112] In the formula, w5 and w6 respectively represent weight values, and 0 < w5 < 1, 0 < w6 < 1, w5 + w6 = 1, u represents the number of goods dropped on the same path, pJy represents the average interval distance between the dropped goods, Y i represents the shortest distance from the i-th dropped good to the center line of the path, and bzcs t represents the number of obstacle avoidance times of the ground transportation robot during the t transportation period.

[0113] In this embodiment, by constructing the goods loss index Dsz, the goods loss situation on the same path can be quantitatively evaluated. This enables the system to judge the severity of the loss situation based on data and take corresponding countermeasures.

[0114] The third acquisition module deploys aerial drones with cameras for patrolling, and through image recognition technology, it can monitor the situation of goods on the ground transportation path in real time. In this way, the problem of falling goods can be discovered in time, and the goods loss index Dsz can be constructed, ensuring the visibility and controllability of the entire transportation process. When the goods loss index Dsz exceeds the third threshold, the system will immediately issue an early warning command to notify the nearest idle ground transportation robot to go to the location of the fallen goods for recovery. The design of this collaborative transportation module enables the problem of falling goods to be quickly resolved and reduces the loss of goods. After receiving the early warning command, the collaborative transportation module can quickly identify the location of the fallen goods on the same path and dispatch the nearest ground transportation robot for recovery. This rapid response mechanism effectively improves the response speed of the system and ensures the continuity and stability of the transportation task.

[0115] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated logistics warehousing and transportation scheduling system, characterized by: include, The three-dimensional road condition model building module is used to obtain the warehouse distribution electronic map, lock several groups of warehouse sub-areas, and use GPS technology to perform real-time positioning of several ground transport robots in the warehouse distribution electronic map to obtain real-time coordinates; The first evaluation module collects the orders and corresponding inventory status of each transport robot, constructs an estimated path index Ys for each ground transport robot, and classifies the robot into a first priority transport equipment group queue when the estimated path index Ys is lower than a first threshold, and classifies the robot into a second priority transport equipment group queue when the estimated path index Ys exceeds the first threshold; The first evaluation module includes a first calculation unit and a first evaluation unit. The first calculation unit is used to collect orders and corresponding inventory conditions of each transport robot and construct an estimated path index Ys of each ground transport robot. The method for obtaining the estimated path index Ys includes the following steps: S11. The distance from sub-region i to sub-region j is collected by a distance measuring sensor, and a distance matrix D is defined, where each element d(i, j) represents the distance from sub-region i to sub-region j. The matrix is ​​symmetrical, that is, d(i, j) = d(j, i). The distance matrix D is generated by the following formula: S12. Construct the shortest path based on the traveling salesman problem model, with the goal of minimizing the total distance min z for: In the formula, ∑ i∈P ∑ j∈P d(i,j) represents the sum of the paths selected by the ground transport robot from all paths from sub-area i to each sub-area j, x ij represents a binary decision variable. If the ground transport robot moves from sub-area i to each sub-area j, then x ij =1, otherwise x ij =0; S13. Set the constraint conditions for each ground transport robot, indicating that there is only one path from each sub-area: Where P represents the set of all sub-areas that need to be visited. This constraint ensures that the ground transport robot reaches each sub-area j exactly once. S14. Preventing the appearance of sub-loops is to ensure that the ground transport robot can visit all sub-areas and only visit them once, forming a complete loop, and preventing the sub-loop formula from being constrained by the following formula: In the formula, u i and u j They represent the distance from the starting point to the sub-area i or j of the road robot. When the ground transport robot moves from i to j, the constraint u i -u j +n*x ij ≤n-1 ensures the continuity of the path. Specifically, x ij =1, indicating that the ground transport robot does move from i to j, then u i -u j +n*x ij ≤n-1, this inequality ensures that the path from i to j of the ground transport robot is valid and no sub-ring appears; S15. Set the distance from the starting point s to each sub-area i of the ground transport robot to be C. i , to minimize the total distance min z The estimated path index Ys is obtained by correction using the following formula: Among them, x si represents the distance that the ground transport robot moves from the starting point s to the sub-area i, x js represents the distance that the ground transport robot equipment moves from sub-area j to the starting point s, Σ j∈P C i *x si represents the sum of the distances from the starting point s to each sub-region i, ∑ i∈P ∑ j∈P d(i,j) represents the sum of the path distances between each sub-region, ∑ j∈P C j *x js It represents the sum of the distances from each sub-region j back to the starting point s; the numerator is 1, which means it is defined as the inverse of the path sum; The second calculation module collects the actual detour information of the actual path in the expected path index Ys of each ground transport robot and the blocking of the path by the shelf or wall to obtain the detour distance increment zjgw, the extended time increment ΔT, the ground slippery index shzs and the equipment overlapping avoidance distance brjl; and calculates the detour distance increment zjgw, the extended time increment ΔT, the ground slippery index shzs and the equipment overlapping avoidance distance brjl in association with each other to obtain the detour correction index Rx and the actual path index SJz; The second calculation module includes a second acquisition unit and a second calculation unit, and the second acquisition unit is used to collect the actual detour information of the actual path of each ground transport robot and the blocking of the path by the shelf or wall, and generate the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl through the following formula: zjgw=∑ k d k Where k is an index variable used to mark all turning locations on the preset path of each ground transport robot, and d k represents the additional detour distance at the kth turn; Where, d rg represents the additional distance of the g-th detour path segment, g represents the index of the detour path segment, and V represents the average driving speed of the ground transport robot; In the formula, w f represents the weight of the slippery degree of the fth slippery area affecting the speed of the ground transport robot, a f It is expressed as the length of the fth slippery area; brjl=∑ m (d br，m +t br，m *V) Where, d br，m represents the distance increased by the ground transport robot in the mth time due to avoiding other equipment, t br，m represents the time added by the ground transport robot in the mth time due to avoiding other equipment, V represents the average driving speed of the ground transport robot, and m is the index of the avoidance event; The second calculation unit is used to calculate the detour correction index Rx and the actual path index SJz by using the following associated formulas to calculate the detour distance increment zjgw, the extension time increment ΔT, the ground slippery index shzs and the equipment overlap avoidance distance brjl; SJz=Ys+λ*Rx Wherein, w1, w2, w3, and w4 are the weight values of the detour distance increment zjgw, the extended time increment ΔT, the ground slipperiness index shzs, and the equipment overlapping avoidance distance brjl respectively, and 0 < w1 < 1, 0 < w2 < 1, 0 < w3 < 1, 0 < w4 < 1, w1 + w2 + w3 + w4 = 1, D1 is the first correction constant; λ is an adjustment coefficient used to balance the influence weights of the predicted path index and the detour correction index in the actual path index; The priority module, when the actual path index SJz is lower than the second threshold, re - establishes the first - priority transport equipment group queue and arranges it in ascending order for real - time transportation. When the actual path index SJz is higher than the second threshold, after generating and implementing the first strategy, 30 - 60 seconds after the transportation instruction of the first - priority transport equipment group queue is started, trigger the second - priority transport equipment group queue to execute the second transportation instruction.

2. The automated logistics warehousing and transportation scheduling system according to claim 1 is characterized by: The first evaluation unit is used to compare the predicted path index Ys with the first threshold. When the predicted path index Ys is lower than the first threshold, it indicates that the predicted path of the equipment is qualified, and then it is classified into the first - priority transport equipment group queue; When the predicted path index Ys exceeds the first threshold, it indicates that the predicted path of the equipment is unqualified, and then it is classified into the second - priority transport equipment group queue.

3. The automated logistics warehousing and transportation scheduling system according to claim 1 is characterized by: The priority module includes a second evaluation unit and a regulation unit. The second evaluation unit is used to compare the actual path index SJz with the second threshold. When the actual path index SJz is lower than the second threshold, it indicates that the actual path of the equipment is qualified, the detour obstacles are clear and normal, and then re - establish the first - priority transport equipment group queue, indicating that the transportation task and requirements can be completed qualifiedly; When the actual path index SJz is higher than the second threshold, it indicates that the actual path of the equipment is unqualified and there are abnormalities in the detour obstacles, and then it is re - classified into the second - priority transport equipment group queue, indicating that the execution efficiency is unqualified and it is not suitable for priority scheduling, and the regulation unit generates the first regulation strategy.

4. The automated logistics storage and transportation scheduling system according to claim 3 is characterized by: The first regulation strategy includes: identifying and moving the temporary obstacles affecting the path, cleaning the transportation path obstacles and the slippery ground by the automatic equipment; increasing the speed of the ground transport robot by 20% and optimizing and increasing the turning radius by 20%.

5. The automated logistics storage and transportation scheduling system according to claim 4 is characterized by: The priority module further includes a priority unit, and the priority unit is used to arrange the first - priority transport equipment group queue in ascending order and issue the first transportation command; After the first regulation strategy is implemented, 30 - 60 seconds after the transportation instruction of the first - priority transport equipment group queue is started, trigger the second - priority transport equipment group queue to execute the second transportation instruction.

6. The automated logistics warehousing and transportation scheduling system according to claim 5 is characterized by: It also includes a third acquisition module and a collaborative transportation module. The third acquisition module is used to set an aerial drone with a camera to cruise on the relevant paths of the first transportation instruction and the second transportation instruction, identify the information of dropped goods on the same path, construct the goods loss index Dsz, and if the goods loss index Dsz exceeds the third threshold, issue a warning instruction; The collaborative transport module is used to identify the location of dropped goods on the same path after receiving an early warning instruction, collect the coordinates of the idle ground transport robot that has currently completed the first transport command, and identify the nearest ground transport robot to go to the same path to recover the dropped goods.

7. The automated logistics storage and transportation scheduling system according to claim 6, characterized in that: The goods loss index Dsz is obtained by the following formula: Wherein, w5 and w6 respectively represent weight values, and 0 < w5 < 1, 0 < w6 < 1, w5 + w6 = 1, u represents the number of goods dropped on the same path, pJy represents the average interval distance between the dropped goods, and Y i represents the shortest distance from the i-th dropped good to the center line of the path, bzcs t represents the number of obstacle avoidance of the ground transportation robot during the t transportation period.

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