Goods shelf sorting path planning method and system and medium

Abstract

The invention relates to a goods shelf sorting path planning method and system and a medium, and the method comprises the steps: obtaining the first position information of a user through a goods shelf closest to a current user, taking the first position information as a reference, screening out the closest target position information from final distribution information, and carrying out the screening of the nearest target position information; therefore, the time needed by the user to reach the first picking point from the actual position in the initial sorting stage is shortened, generation of redundant paths of the user is reduced, meanwhile, the optimal distribution path is generated based on the first picking point and the final distribution information, path planning is conducted on the rest target position information in the final distribution information from the first picking point, and the user experience is improved. And the stroke number of redundant paths in the sorting process of the user is further reduced, the walking duration of the user in the sorting process is shortened, and therefore the sorting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of path planning, and in particular to a shelf sorting path planning method, system and medium. Background Art

[0002] The model of online ordering and offline delivery has significant advantages in the catering and fresh food industries. In the offline delivery process, the corresponding items need to be sorted out from the warehouse in a short time and delivered after being sorted. In this process, the shelves of items are distributed by category. At the same time, customers also screen items in multiple categories during the shopping selection process, which requires warehouse delivery staff to walk back and forth to sort out the required items. During the sorting process, the system cannot obtain the location information of the warehouse delivery staff in time, which makes it easy for the warehouse delivery staff to find that the first item they pick is too far away from them when sorting items, resulting in the need to add extra redundant paths during the sorting process, reducing the sorting efficiency. Summary of the invention

[0003] In view of the above problems, the present invention provides a shelf sorting path planning method, system and medium, which solve the problem of low sorting efficiency caused by redundant paths in the existing sorting process.

[0004] To achieve the above objectives, in a first aspect, the present invention provides a shelf sorting path planning method, comprising:

[0005] Obtain the final distribution information corresponding to the current user, the final distribution information includes the target goods to be sorted, the target location information, the target location information is the location information of the shelf where the target goods are located, and obtain the first location information of the current user, the first location information is the location information of the shelf closest to the current user;

[0006] A first distribution area is generated with the first position information as the center and the first preset distance as the radius, the position information of the remaining shelves in the first distribution area is obtained, and the target position information closest to the current first position information is screened out in the final distribution information, recorded as the second position information, the shelf corresponding to the second position information is the first picking point, and a first sorting path corresponding to the current first picking point is generated;

[0007] Generate the optimal distribution path based on the first picking point and final distribution information;

[0008] The optimal distribution path is displayed.

[0009] In some embodiments, generating an optimal distribution path according to the first picking point and the final distribution information includes:

[0010] After picking is completed at the first picking point, a second distribution area is generated with the first picking point as the center and the second preset distance as the radius, the target position information in the second distribution area is obtained, and the target position information closest to the current second position information is screened out, recorded as the second picking point, and a second sorting path corresponding to the current second picking point is generated;

[0011] After picking is completed at the second picking point, the second picking point is updated to the first picking point, and the second sorting path is updated to the first sorting path;

[0012] Repeat the above steps until all target location information on the final distribution information is traversed to obtain the optimal distribution path.

[0013] In some embodiments, generating an optimal distribution path according to the first picking point and the final distribution information includes:

[0014] The remaining target location information in the final distribution information is recorded as the first remaining target location information, and the shelf corresponding to the first remaining target location information is the first remaining picking point;

[0015] The second location information and the first remaining target location information are input into the DFS algorithm model to obtain multiple distribution paths, which are recorded as alternative distribution paths;

[0016] Perform the following steps for each alternative fulfillment path:

[0017] Calculate the alternative delivery time and alternative delivery length required for the alternative delivery route;

[0018] A first weight value is obtained according to the alternative delivery time, and a second weight value is obtained according to the alternative delivery length;

[0019] Obtaining an adaptation value of the alternative distribution path according to the first weight value and the second weight value;

[0020] Sort multiple alternative distribution paths according to the size of the fitness value, and select the alternative distribution path with the highest fitness value;

[0021] This is recorded as the optimal distribution path.

[0022] In some embodiments, generating an optimal distribution path according to the first picking point and the final distribution information includes:

[0023] The remaining target location information in the final distribution information is recorded as the second remaining target location information, and the shelf corresponding to the second remaining target location information is the second remaining picking point;

[0024] The second location information and the second remaining target location information are input into the IDA algorithm model to obtain the optimal distribution path;

[0025] Inputting the second position information and the second remaining target position information into the IDA algorithm model further includes:

[0026] The first picking point is taken as the starting node, a second remaining picking point is randomly selected as the final node, the remaining second remaining picking points are taken as the target nodes, and the multiple target nodes are arranged;

[0027] Initialize the search threshold, which is the heuristic function value from the starting node to the final node;

[0028] Perform a depth-first search from the starting node, select the target node for the next move, and maintain the path consumption and heuristic function value of the current path;

[0029] If the cumulative result of the current path consumption and the heuristic function value is less than the search threshold, the depth-first search continues at the current target node;

[0030] If the cumulative result of the current path consumption and the heuristic function value is greater than the search threshold, then backtrack to the previous target node and update the cumulative result of the current path consumption and the heuristic function value to the search threshold;

[0031] Repeat the above steps until you reach the final node and get the optimal distribution path.

[0032] In some embodiments, before obtaining the final distribution information corresponding to the current user, the method further includes:

[0033] Get all current work orders to be picked and the number of users performing sorting operations in the warehouse;

[0034] Calculate the pressure value of each user according to the work order to be picked, and record it as the first pressure value;

[0035] Determine whether the first pressure value is within the preset threshold range one by one. If not, trigger the scheduling process. The scheduling process includes:

[0036] The to-be-picked work orders are graded to obtain a first to-be-picked work order set and a second to-be-picked work order set, wherein the first to-be-picked work order set includes the to-be-picked work orders that need to be completed within a first preset time period, which are recorded as first to-be-picked work orders, and the second to-be-picked work order set includes the to-be-picked work orders that need to be completed within a second preset time period, which are recorded as second to-be-picked work orders, and the first preset time period is different from the second preset time period;

[0037] Recalculate the pressure value of each user according to the first set of work orders to be picked, and record it as the second pressure value;

[0038] Generate initial distribution information for each user according to the second pressure value and the first work order to be picked;

[0039] The final distribution information of each user is obtained based on the initial distribution information.

[0040] In some embodiments, obtaining the final distribution information of each user according to the initial distribution information further includes:

[0041] In the current first cargo distribution area, part of the target location information contained in the multiple initial cargo distribution information is screened out, and the initial cargo distribution information is recorded as the cargo distribution information to be adjusted, and at least one target location information in the cargo distribution information to be adjusted is placed in the first cargo distribution area;

[0042] Filter out the target location information closest to the first location information from each piece of to-be-adjusted distribution information, and record it as the to-be-adjusted target location information;

[0043] Sort the multiple target position information to be adjusted according to their distance from the current first position information, obtain the target position information to be adjusted closest to the first position information, record it as the final target position information, and record the to-be-adjusted cargo distribution information corresponding to the final target position information as the actual cargo distribution information;

[0044] Determine whether the actual distribution information is consistent with the initial distribution information corresponding to the current user;

[0045] If not, the actual distribution information is updated to the final distribution information;

[0046] If so, the initial distribution information is updated to the final distribution information.

[0047] In some embodiments, the scheduling process further includes:

[0048] Obtaining users whose first pressure values ​​exceed a preset threshold range and recording them as first scheduling users, and obtaining users whose first pressure values ​​are within a preset threshold range and recording them as second scheduling users;

[0049] Grading of picking orders includes:

[0050] Arrange the to-be-picked work orders in order of the remaining response time, and match the arranged to-be-picked work orders with the second scheduling user, record the to-be-picked work orders corresponding to the matched second scheduling user as the second to-be-picked work orders, and record the remaining to-be-picked work orders as the first to-be-picked work orders.

[0051] In a second aspect, the present invention provides a shelf sorting path planning system, which is applicable to the method described in the first aspect. The system includes a data acquisition module, a path configuration module and a display module. The data acquisition module is used to obtain the final distribution information corresponding to the current user. The final distribution information includes the target goods to be sorted and the target position information. The target position information is the position information of the shelf where the target goods are located, and obtains the first position information where the current user is located. The first position information is the position information of the shelf closest to the current user; the path configuration module is used to generate a first distribution area with the first position information as the center and the first preset distance as the radius, obtain the position information of the remaining shelves in the first distribution area, and filter out the target position information closest to the current first position information in the final distribution information, record it as the second position information, the shelf corresponding to the second position information is the first picking point, and generate the first sorting path corresponding to the current first picking point; generate the optimal distribution path according to the first picking point and the final distribution information; the display module is used to display the optimal distribution path.

[0052] In some embodiments, the data collection module is configured to scan identification information on a shelf closest to the user to obtain the first location information.

[0053] In a third aspect, the present invention further provides a computer-readable storage medium storing computer program instructions, which implement the method described in the first aspect when executed by a processor.

[0054] Different from the prior art, in the above technical solution, the final distribution information corresponding to the current user and the first location information of the current user are obtained, a first distribution area is generated with the first location information as the center and a first preset distance as the radius, the location information of the remaining shelves in the first distribution area is obtained, and the target location information closest to the current first location information is screened out in the final distribution information, recorded as the second location information, the shelf corresponding to the second location information is the first picking point, and the first sorting path corresponding to the current first picking point is generated; the optimal distribution path is generated according to the first picking point and the final distribution information; and the optimal distribution path is displayed. This method uses the shelf closest to the current user to obtain the user's first location information, and uses the first location information as a reference to filter out the nearest target location information in the final distribution information, thereby shortening the time required for the user to reach the first picking point from the actual location at the beginning of sorting, reducing the generation of redundant paths for the user, and at the same time, generating the optimal distribution path based on the first picking point and the final distribution information, and planning the path for the remaining target location information in the final distribution information starting from the first picking point, further reducing the number of redundant path trips for the user during the sorting process, reducing the length of time the user spends walking during the sorting process, and thus improving the sorting efficiency.

[0055] The above-mentioned records related to the content of the invention are only an overview of the technical solution of the present invention. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present invention, and then implement it according to the text of the specification and the contents recorded in the drawings, and in order to make the above-mentioned purpose and other purposes, features and advantages of the present invention easier to understand, the following is a description in combination with the specific implementation mode of the present invention and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings are only used to illustrate the principles, implementations, applications, features and effects of the specific embodiments of the present invention and other related contents, and shall not be considered as limiting the present invention.

[0057] In the drawings of the specification:

[0058] Figure 1 A diagram showing the first step of a path planning method according to a specific embodiment of the present invention;

[0059] Figure 2 A diagram showing the second step of the path planning method according to a specific embodiment of the present invention;

[0060] Figure 3 A diagram showing the third step of the path planning method according to a specific embodiment of the present invention;

[0061] Figure 4 A diagram showing the fourth step of the path planning method according to a specific embodiment of the present invention;

[0062] Figure 5 This is a diagram of the fifth step of the path planning method described in a specific implementation manner of the present invention. DETAILED DESCRIPTION

[0063] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects of the present invention, the following is a detailed description in combination with the specific embodiments listed and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present invention, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present invention.

[0064] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The word "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present invention, as long as there is no technical contradiction or conflict, the various technical features mentioned in each embodiment can be combined in any way to form a corresponding implementable technical solution.

[0065] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which the present invention belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit the present invention.

[0066] In the description of the present invention, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in a logical relationship of "or".

[0067] In the present invention, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0068] Without further restrictions, in the present invention, the words "include", "comprises", "has" or other similar open-ended expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0069] Similar to the understanding in the Examination Guidelines, in the present invention, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of the present invention, the meaning of "multiple" is more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0070] See also Figure 1 In a first aspect, this embodiment provides a shelf sorting path planning method, comprising:

[0071] S101, obtaining final cargo distribution information corresponding to the current user, the final cargo distribution information including target goods to be sorted, target location information, the target location information is the location information of the shelf where the target goods are located, and obtaining first location information of the current user, the first location information is the location information of the shelf closest to the current user;

[0072] S102, generating a first distribution area with the first position information as the center and the first preset distance as the radius, obtaining the position information of the remaining shelves in the first distribution area, and filtering out the target position information closest to the current first position information in the final distribution information, recording it as the second position information, the shelf corresponding to the second position information as the first picking point, and generating a first sorting path corresponding to the current first picking point;

[0073] S103, generating an optimal distribution path according to the first picking point and the final distribution information;

[0074] S104: Display the optimal distribution path.

[0075] In step S101, each sorting employee currently in the warehouse is regarded as a user, and the final distribution information corresponding to the current user is obtained. The final distribution information includes the target goods to be sorted and the target location information. Specifically, the target location information is the location information of the shelf where the target goods are located. In this embodiment, each user will be randomly assigned to a work order to be sorted in the system. Each work order to be sorted can be an order purchased when the client places an order, or it can be generated after dividing the orders purchased by the client. The latter is suitable for scenarios where the content of some orders purchased by the client is too much. In order to shorten the sorting time of a single order and improve the sorting efficiency of a single order, the orders purchased by the client can be simply divided. For the convenience of expression, the work order to be sorted received by the user is recorded as the final distribution information, the items in the final distribution information are recorded as the target goods, and the location information of the shelf where the target goods are located is used as the target location information.

[0076] Furthermore, in step S101, it is also necessary to obtain the first location information of the current user. It should be noted that the step of obtaining the first location information and the allocation of the final distribution information do not have a clear order of precedence, that is, obtaining the first location information can be performed simultaneously with the allocation of the final distribution information, or the user obtains the first location information first and then obtains the final distribution information, or the user obtains the distribution information first and then obtains the first location information. Different orders of precedence are adapted to different application scenarios and can be adjusted according to actual needs. Specifically, the method of obtaining the first location information shown in this embodiment can be that the user obtains it by scanning the identification information of the nearest shelf. That is, in this embodiment, the user selects the nearest shelf nearby and scans the identification information on the shelf to obtain the location information of the currently scanned shelf, which is used as the user's location reference, and the distribution path is planned in the system. This method allows the system to use the user's actual location as a planning factor before the distribution path is generated, making the subsequent distribution path planning process more convenient.

[0077] In step S102, the first distribution area is generated with the first location information as the center and the first preset distance as the radius. The first preset distance can be obtained according to data statistics, that is, the walking distance of the current user in a certain time period is obtained by calculating the average walking speed of the current user, and this walking distance is used as the first preset distance. Further, the certain time period can be set according to actual needs, such as 5 minutes can be set, and within 5 minutes, the first preset distance is calculated based on the current average walking speed of the user. The location information of the remaining shelves in the first distribution area is obtained, and the target location information closest to the current first location information is screened out in the final distribution information, and recorded as the second location information. Specifically, multiple target location information in the final distribution information is obtained, and the location information of the remaining shelves in the first distribution area is matched one by one with the multiple target location information in the final distribution information, and the target location information placed in the first distribution area is obtained, and the target location information placed in the first distribution area is sorted according to the distance from the current first location information, and the target location information closest to the current first location information is obtained, which is recorded as the second location information, and the shelf corresponding to the second location information is the first picking point. Generate the first sorting path corresponding to the current first picking point, which may optionally include: obtaining the aisle information of the current warehouse, generating multiple first candidate sorting paths between the first position information and the second position information through the aisle information, and selecting the shortest first candidate sorting path from the multiple first candidate sorting paths as the first sorting path. In this step, after the user obtains the first position information through the nearest shelf, after screening, the position of the target position information closest to the user in the final distribution information can be quickly determined, and used as the first picking point, avoiding the problem that the user finds that the first item to be sorted is too far away from him during the sorting process, resulting in repeated walking when sorting the goods, resulting in low sorting efficiency.

[0078] In step S103, an optimal distribution path is generated according to the first picking point and the final distribution information. Specifically, according to the second location information of the first picking point and the remaining target location information obtained in the final distribution information, an optimal distribution path is generated according to the second location information and multiple target location information. In some optional embodiments, this step can be performed on an existing path planning algorithm to minimize changes to the existing system.

[0079] In step S104, the optimal distribution path is displayed. Specifically, it can be displayed on the current user's terminal, so that the user can find the next target goods for distribution according to the optimal distribution path after picking up the goods at the first picking point, thereby improving the sorting efficiency.

[0080] This embodiment uses the shelf closest to the current user to obtain the user's first location information, and uses the first location information as a reference to filter out the nearest target location information in the final distribution information, thereby shortening the time required for the user to reach the first picking point from the actual location at the beginning of sorting, reducing the generation of redundant paths for the user, and at the same time, generating the optimal distribution path based on the first picking point and the final distribution information, and performing path planning for the remaining target location information in the final distribution information starting from the first picking point, further reducing the number of redundant path trips of the user during the sorting process, reducing the length of time the user spends walking during the sorting process, and thus improving the sorting efficiency.

[0081] Correspondingly, in the second aspect, the present embodiment provides a shelf sorting path planning system, which is applicable to the method described in the first aspect, and the system includes a data acquisition module, a path configuration module and a display module. The data acquisition module is used to obtain the final distribution information corresponding to the current user, and the final distribution information includes the target goods to be sorted and the target position information, the target position information is the position information of the shelf where the target goods are located, and obtain the first position information where the current user is located, the first position information is the position information of the shelf closest to the current user; the path configuration module is used to generate a first distribution area with the first position information as the center and the first preset distance as the radius, obtain the position information of the remaining shelves in the first distribution area, and filter out the target position information closest to the current first position information in the final distribution information, record it as the second position information, the shelf corresponding to the second position information is the first picking point, and generate the first sorting path corresponding to the current first picking point; generate the optimal distribution path according to the first picking point and the final distribution information; the display module is used to display the optimal distribution path.

[0082] The logical thinking involved in the above content is the same as the logical thinking shown in the first aspect, and no unnecessary details will be given here.

[0083] Furthermore, in some embodiments, the data acquisition module is configured to scan the identification information on the shelf closest to the user to obtain the first location information. It should be noted that the identification information may be a QR code, barcode, etc. containing a shelf number, and each shelf number has a certain location information. The user selects the nearest shelf nearby and scans the identification information on the shelf to obtain the location information of the currently scanned shelf, which is used as the user's location reference, and the distribution path is planned in the system. This method allows the system to use the user's actual location as a planning factor before the distribution path is generated, making the subsequent distribution path planning process more convenient.

[0084] See also Figure 2 In some embodiments, generating an optimal distribution path according to the first picking point and the final distribution information includes:

[0085] S201, after picking is completed at the first picking point, a second distribution area is generated with the first picking point as the center and the second preset distance as the radius, target location information in the second distribution area is obtained, and the target location information closest to the current second location information is screened out, recorded as the second picking point, and a second sorting path corresponding to the current second picking point is generated;

[0086] S202: After picking is completed at the second picking point, the second picking point is updated to the first picking point, and the second sorting path is updated to the first sorting path;

[0087] S203, repeat the above steps until all target location information on the final distribution information is traversed to obtain the optimal distribution path.

[0088] In step S201, after picking is completed at the first picking point, the status of the target goods at the current first picking point can be updated in the final distribution information, from a to-be-picked state to a picked state. Furthermore, a second distribution area is generated with the first picking point as the center and the second preset distance as the radius, and the remaining target position information in the current final distribution information in the second distribution area is obtained. Optionally, the second preset distance can refer to the generation method of the first preset distance, or the second preset distance can be the same as the first preset distance. The remaining target position information is screened out in the second distribution area, and the target position information closest to the current second position information is further screened out, recorded as the second picking point, and a second sorting path between the current second picking point and the first picking point is generated. It should be noted that the specific process of step S201 can refer to the generation process of the first sorting path in the aforementioned embodiment.

[0089] In step S202 and step S203, after picking is completed at the second picking point, the current second picking point is updated to the first picking point, and the second sorting path is updated to the first sorting path. The content of step S201 is repeated to obtain a new second picking point and a second sorting path. After multiple iterations, the optimal distribution path is obtained.

[0090] This embodiment shows an embodiment of path planning from the first location information to the optimal distribution path. By successively confirming the form of the shortest path between two adjacent target goods, the path planning of multiple target location information in the same final distribution information is realized, and finally the optimal distribution path is obtained.

[0091] See also Figure 3 In some embodiments, generating an optimal distribution path according to the first picking point and the final distribution information includes:

[0092] S301, recording the remaining target location information in the final distribution information as the first remaining target location information, and the shelf corresponding to the first remaining target location information as the first remaining picking point;

[0093] S302, inputting the second location information and the first remaining target location information into the DFS algorithm model to obtain multiple distribution paths, which are recorded as candidate distribution paths;

[0094] Perform the following steps for each alternative fulfillment path:

[0095] S303, calculating the alternative delivery time and the alternative delivery length required for the alternative delivery path;

[0096] S304, obtaining a first weight value according to the alternative delivery time, and obtaining a second weight value according to the alternative delivery length;

[0097] S305: Obtaining an adaptation value of the alternative distribution path according to the first weight value and the second weight value;

[0098] S306. Sort the multiple alternative distribution paths according to the size of the fitness values, select the alternative distribution path with the highest fitness value, and record it as the optimal distribution path.

[0099] In step S302, the DFS algorithm model is a depth-first search algorithm, which takes the first picking point as the starting node and the remaining first remaining picking points as the nodes of the unexplored path, and maintains the nodes of the unexplored path in the form of a stack. Further, multiple distribution paths are obtained through the DFS algorithm, and for easy distinction, the multiple distribution paths generated in this step are recorded as alternative distribution paths.

[0100] In step S303, the alternative delivery time and the alternative delivery length required for the current alternative delivery path are calculated. The alternative delivery length is also the distance of the alternative delivery path. The alternative delivery time can be calculated by calculating the average walking speed of the current user and the distance of the alternative delivery path.

[0101] Further, in step S304, a first weight value is obtained according to the alternative distribution time, and a second weight value is obtained according to the alternative distribution length. Specifically, the first weight value can be determined by the remaining response time of the current final distribution information, and the second weight value can be determined by the pressure value described later. The response time of the final distribution information is the response time length reserved from the generation of the sorting work order corresponding to the final distribution information to the end of the goods sorting. The response time can be a preset value, such as, in the trough stage of goods sorting, the response time can be shortened to 20 minutes, and in the peak period of goods sorting, the response time can be set to 40 minutes. It should be noted that when the alternative distribution time is closer to the remaining response time corresponding to the current final distribution information, the corresponding first weight value is lower, and when the alternative distribution time is shorter, the corresponding first weight value is higher. Specifically, the above conversion relationship can be obtained by constructing a fitting curve model for calculation. Similarly, the user's stress value is associated with the second weight value. When the current user's stress value is too high, the second weight value corresponding to the current candidate delivery length is lower.

[0102] In step S305 and step S306, the adaptation value of the alternative distribution path is obtained according to the first weight value and the second weight value. The higher the adaptation value, the more the current alternative distribution path is in line with the actual status of the current user and the current final distribution information. Based on this principle, multiple alternative distribution paths are sorted according to the size of the adaptation value, and the alternative distribution path with the highest adaptation value is selected and recorded as the optimal distribution path.

[0103] This embodiment shows another embodiment of the path from the first picking point to the optimal distribution path. The DFS algorithm is used to enumerate the alternative distribution paths for multiple first remaining picking points. Finally, the adaptation value of each alternative distribution path is obtained by calculating the first weight value and the second weight value, and the alternative distribution path with the highest adaptation value is selected as the optimal distribution path to make it more in line with the actual application scenario.

[0104] See also Figure 4 In some embodiments, generating an optimal distribution path according to the first picking point and the final distribution information includes:

[0105] The remaining target location information in the final distribution information is recorded as the second remaining target location information, and the shelf corresponding to the second remaining target location information is the second remaining picking point;

[0106] The second location information and the second remaining target location information are input into the IDA algorithm model to obtain the optimal distribution path;

[0107] Inputting the second position information and the second remaining target position information into the IDA algorithm model further includes:

[0108] S401, taking the first picking point as the starting node, randomly selecting a second remaining picking point as the final node, and the remaining second remaining picking points as target nodes, and arranging the multiple target nodes;

[0109] S402, initializing a search threshold, where the search threshold is a heuristic function value from a starting node to a final node;

[0110] S403, starting from the starting node, performing a depth-first search, selecting a target node for the next move, and maintaining the path consumption and heuristic function value of the current path;

[0111] S404: If the cumulative result of the current path consumption and the heuristic function value is less than the search threshold, then continue to perform depth-first search at the current target node;

[0112] S405: If the cumulative result of the current path consumption and the heuristic function value is greater than the search threshold, backtrack to the previous target node and update the cumulative result of the current path consumption and the heuristic function value to the search threshold;

[0113] S406: Repeat the above steps until the final node is reached to obtain the optimal distribution path.

[0114] In this embodiment, the IDA algorithm model is used to generate the optimal distribution path online. Specifically, the IDA algorithm is a type of path planning algorithm. In step S401, the first picking point is used as the starting node, a second remaining picking point is randomly selected as the final node, and the remaining second sound picking points are used as target nodes, and multiple target nodes are arranged. Furthermore, in this step, the screening rules for the final node can be set, such as using the second remaining picking point closest to the warehouse door as the final node, or using the second remaining picking point farthest from the current first picking point as the final node. The remaining second remaining picking points are all target nodes that need to be traversed in the process from the starting node to the final node, and the sorting of multiple target nodes is generated in real time through steps S402 to S406.

[0115] Specifically, in step S402, the search threshold is initialized, and a default search threshold needs to be set. In this step, the heuristic function value from the starting node to the final node is used as the default search threshold. It should be noted that the heuristic function value can be obtained by Manhattan distance, Euclidean distance, heuristic search, etc.

[0116] In step S403, a depth-first search is performed starting from the start node to select a target node for the next move, and the path consumption and the heuristic function value from the start node to the target node for the next move are recorded.

[0117] In step S403, it also includes a step of breaking between the accumulated result of the path consumption and the heuristic function value and the current search threshold. Further, from step S404 and step S405, it can be seen that if the accumulated result of the path consumption and the heuristic function value of the current path is less than the search threshold, it means that the current path planning from the starting node to the target node is relatively accurate, and the path from the current target node to the next target node can be planned on this basis; if the accumulated result of the path consumption and the heuristic function value of the current path is greater than the search threshold, it means that the current path planning from the starting node to the target node is not the optimal solution, then backtrack to the previous target node, if the previous target node is the starting node, then backtrack to the starting node, and update the current path consumption and the accumulated result of the heuristic function value to the search threshold.

[0118] In step S406, by dynamically adjusting the search threshold, all target nodes are traversed until the final node, and the optimal distribution path is obtained.

[0119] This embodiment shows another embodiment of the path from the first picking point to the optimal distribution path. The IDA path planning algorithm can be used to generate the optimal distribution path to meet actual usage requirements.

[0120] In some embodiments, before obtaining the final distribution information corresponding to the current user, the method further includes:

[0121] Get all current work orders to be picked and the number of users performing sorting operations in the warehouse;

[0122] Calculate the pressure value of each user according to the work order to be picked, and record it as the first pressure value;

[0123] Determine whether the first pressure value is within the preset threshold range one by one. If not, trigger the scheduling process. The scheduling process includes:

[0124] The to-be-picked work orders are graded to obtain a first to-be-picked work order set and a second to-be-picked work order set, wherein the first to-be-picked work order set includes the to-be-picked work orders that need to be completed within a first preset time period, which are recorded as first to-be-picked work orders, and the second to-be-picked work order set includes the to-be-picked work orders that need to be completed within a second preset time period, which are recorded as second to-be-picked work orders, and the first preset time period is different from the second preset time period;

[0125] Recalculate the pressure value of each user according to the first set of work orders to be picked, and record it as the second pressure value;

[0126] Generate initial distribution information for each user according to the second pressure value and the first work order to be picked;

[0127] The final distribution information of each user is obtained based on the initial distribution information.

[0128] In this embodiment, a pressure value is introduced. The pressure value is a scheduling parameter for each user. The pressure value can be obtained through a comprehensive evaluation of factors such as the cumulative working hours of the day, the average walking speed of the user, the cumulative number of distribution times of the user, the peak and trough periods of warehouse distribution, all current work orders to be picked, and the total number of users in the current sorting operation.

[0129] In this embodiment, all current work orders to be picked and the number of users performing sorting operations in the warehouse are obtained, and the current pressure value of each user is updated according to the work orders to be picked, which is recorded as the first pressure value.

[0130] Determine one by one whether the first pressure value is within the preset threshold range. If so, it means that the current user can perform the sorting operation normally; if the first pressure value exceeds the preset threshold range, it means that the current user has a certain degree of fatigue. In this state, the scheduling process is triggered: the picking work orders are graded, and the pressure value of each user is recalculated according to the first set of picking work orders, recorded as the second pressure value; based on the second pressure value and the first picking work order, the initial distribution information of each user is generated.

[0131] Furthermore, in some embodiments, the scheduling process further includes:

[0132] Obtaining users whose first pressure values ​​exceed a preset threshold range and recording them as first scheduling users, and obtaining users whose first pressure values ​​are within a preset threshold range and recording them as second scheduling users;

[0133] Grading of picking orders includes:

[0134] Arrange the to-be-picked work orders in order of the remaining response time, and match the arranged to-be-picked work orders with the second scheduling user, record the to-be-picked work orders corresponding to the matched second scheduling user as the second to-be-picked work orders, and record the remaining to-be-picked work orders as the first to-be-picked work orders.

[0135] For users whose first pressure values ​​are within the preset threshold range, it means that they can perform the sorting operation normally. Based on this, the work orders to be picked are arranged in the order of the remaining response time, and the arranged work orders to be picked are matched with the second scheduling users. Specifically, the work orders to be picked with shorter remaining response time are matched with the second scheduling users, so that the second scheduling users can immediately handle the picking needs of the work orders to be picked that are about to end. After each second scheduling user is assigned a work order to be picked, the work orders to be picked that have been assigned by the second scheduling user are recorded as the second work orders to be picked, the remaining work orders to be picked are recorded as the first work orders to be picked, the time period required to complete the second work order to be picked is recorded as the second preset time period, and the time period required to complete the first work order to be picked is recorded as the first preset time period.

[0136] Furthermore, the pressure value of each user is recalculated according to the first set of work orders to be picked, and recorded as the second pressure value. Then, the initial distribution information of each user is obtained according to the second pressure value and the first work order to be picked. It should be noted that in this process, the first scheduling user has at least one first work order to be picked, and the second scheduling user has a second work order to be picked, and the second scheduling user may also have a first work order to be picked. In this process, the second work order to be picked requires the second scheduling user to perform at a higher picking efficiency, and the remaining response time of the first work order to be picked is longer than the remaining response time of the second work order to be picked. Based on this, the first scheduling user can perform at a normal picking efficiency or a briefing picking efficiency, so as to achieve intermittent rest for the first scheduling user, that is, the second pressure value of the first scheduling user in the scheduling process will be lower than the first pressure value of the first scheduling user, and the second pressure value of the second scheduling user is equal to or slightly higher than the first pressure value of the second scheduling user. Through the scheduling process, the pressure value is used to evaluate the picking efficiency of multiple users at present, and on this basis, the scheduling configuration of the work orders to be sorted is realized, and the initial distribution information of each user is obtained, so as to keep the sorting operation in the entire warehouse at a relatively balanced level as much as possible, ensure that the overall sorting efficiency is in a dynamic balance, and ensure that each user can get a dynamic rest.

[0137] For further information, see Figure 5 In some embodiments, obtaining the final distribution information of each user according to the initial distribution information further includes:

[0138] S501, filtering out part of the target location information contained in the multiple initial cargo distribution information in the current first cargo distribution area, and recording the initial cargo distribution information as the cargo distribution information to be adjusted, wherein at least one target location information in the cargo distribution information to be adjusted is located in the first cargo distribution area;

[0139] S502, selecting the target location information closest to the first location information from each piece of distribution information to be adjusted, and recording it as the target location information to be adjusted;

[0140] S503, sorting the plurality of target position information to be adjusted according to their distance from the current first position information, obtaining the target position information to be adjusted closest to the first position information, recording it as the final target position information, and recording the to-be-adjusted cargo distribution information corresponding to the final target position information as the actual cargo distribution information;

[0141] S504: Determine whether the actual distribution information is consistent with the initial distribution information corresponding to the current user;

[0142] S505: If not, the actual distribution information is updated to the final distribution information;

[0143] S506: If yes, the initial distribution information is updated to the final distribution information.

[0144] In this embodiment, before the final distribution information is generated, the user can scan the identification information of the nearby shelf to obtain the first location information of the current user, and obtain the first distribution area based on the first location information. In step S501, the first distribution area is used to screen multiple initial distribution information, and each initial distribution information contains multiple target goods and target location information. Further, the initial distribution information corresponding to the target location information placed in the first distribution area is recorded as the distribution information to be adjusted, that is, the current system has not yet completed the allocation of the final distribution information for each user. The allocation of the initial distribution information can be random or according to a preset allocation rule. In this process, if a user scans and generates the first location information in advance, the currently associated initial distribution information can be adjusted.

[0145] Specifically, in step S502, the target location information closest to the first location information is screened out from each piece of distribution information to be adjusted and recorded as the target location information to be adjusted. That is, each piece of distribution information to be adjusted has only one target location information to be adjusted.

[0146] In step S503, for multiple target location information to be adjusted, they are sorted according to the distance from the current first location information, and the target location information to be adjusted closest to the first location information is obtained and recorded as the final target location information, and then the to-be-adjusted cargo distribution information corresponding to the final target location information is recorded as the actual cargo distribution information. This method can enable the user to filter the initial cargo distribution information and obtain the initial cargo distribution information closest to itself, that is, the actual cargo distribution information.

[0147] In step S504 to step S506, the actual distribution information is judged against the initial distribution information pre-assigned by the current user. If the actual distribution information is consistent with the initial distribution information pre-assigned by the user, the initial distribution information is directly updated to the final distribution information. If the actual distribution information is inconsistent with the initial distribution information pre-assigned by the user, the actual distribution information is directly updated to the final distribution information.

[0148] This embodiment, based on the first distribution area, screens out the to-be-adjusted distribution information closest to the current user, records it as actual distribution information, determines whether the user's initial distribution information is consistent with the actual distribution information, and promptly transfers unreasonable or relatively far initial distribution information to the next user, thereby realizing secondary planning of the initial distribution information, so that the actual location of the current user is taken into consideration at the generation stage of the final distribution information. After the configuration of the final distribution information is realized, it is convenient to quickly confirm the first picking point, shorten the picking time, and improve the picking efficiency.

[0149] It should be noted that, in the above embodiment, when a user configures the final distribution information, the initial distribution information corresponding to the final distribution information will be deleted from the distribution information to be adjusted to avoid repeated distribution of other users. At the same time, under this logical idea, the distribution of the final distribution information of multiple users can be configured with the first position information as a reference factor, so that the distribution of the final distribution information is more in line with the actual application scenario, and the distribution process of the sorting operation of the entire warehouse is optimized.

[0150] In a third aspect, this embodiment further provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described in the first aspect is implemented.

[0151] In the above technical solution, the final distribution information corresponding to the current user and the first location information of the current user are obtained, and a first distribution area is generated with the first location information as the center and the first preset distance as the radius, and the location information of the remaining shelves in the first distribution area is obtained, and the target location information closest to the current first location information is screened out in the final distribution information, recorded as the second location information, the shelf corresponding to the second location information is the first picking point, and the first sorting path corresponding to the current first picking point is generated; the optimal distribution path is generated according to the first picking point and the final distribution information; and the optimal distribution path is displayed. This method uses the shelf closest to the current user to obtain the user's first location information, and uses the first location information as a reference to filter out the nearest target location information in the final distribution information, thereby shortening the time required for the user to reach the first picking point from the actual location at the beginning of sorting, reducing the generation of redundant paths for the user, and at the same time, generating the optimal distribution path based on the first picking point and the final distribution information, and planning the path for the remaining target location information in the final distribution information starting from the first picking point, further reducing the number of redundant path trips for the user during the sorting process, reducing the length of time the user spends walking during the sorting process, and thus improving the sorting efficiency.

[0152] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of the present invention, the patent protection scope of the present invention cannot be limited thereby. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of the present invention and using the contents recorded in the specification and drawings of the present invention, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A shelf sorting path planning method, characterized in that: include: Acquire final cargo distribution information corresponding to the current user, the final cargo distribution information includes target goods to be sorted, target location information, the target location information is the location information of the shelf where the target goods are located, and acquire first location information where the current user is located, the first location information is the location information of the shelf closest to the current user; A first distribution area is generated with the first position information as the center and the first preset distance as the radius, the position information of the remaining shelves in the first distribution area is obtained, and the target position information closest to the current first position information is screened out from the final distribution information and recorded as the second position information. The shelf corresponding to the second position information is the first picking point, and a first sorting path corresponding to the current first picking point is generated; Generate an optimal distribution path according to the first picking point and the final distribution information; The optimal distribution path is displayed.

2. The shelf sorting path planning method according to claim 1, characterized in that: Generating an optimal distribution path according to the first picking point and the final distribution information includes: After picking is completed at the first picking point, a second distribution area is generated with the first picking point as the center and the second preset distance as the radius, the target location information in the second distribution area is obtained, and the target location information closest to the current second location information is screened out, recorded as the second picking point, and a second sorting path corresponding to the current second picking point is generated; After picking is completed at the second picking point, the second picking point is updated to the first picking point, and the second sorting path is updated to the first sorting path; Repeat the above steps until all target location information on the final distribution information is traversed to obtain the optimal distribution path.

3. The shelf sorting path planning method according to claim 1, characterized in that: Generating an optimal distribution path according to the first picking point and the final distribution information includes: The remaining target location information in the final distribution information is recorded as the first remaining target location information, and the shelf corresponding to the first remaining target location information is the first remaining picking point; Input the second location information and the first remaining target location information into the DFS algorithm model to obtain multiple distribution paths, which are recorded as alternative distribution paths; Perform the following steps for each alternative fulfillment path: Calculate the alternative delivery time and the alternative delivery length required for the alternative delivery path; Obtaining a first weight value according to the alternative delivery time, and obtaining a second weight value according to the alternative delivery length; Obtaining an adaptation value of the alternative distribution path according to the first weight value and the second weight value; Sort the multiple candidate distribution paths according to the size of the fitness value, and select the candidate distribution path with the highest fitness value; This is recorded as the optimal distribution path.

4. The shelf sorting path planning method according to claim 1, characterized in that: Generating an optimal distribution path according to the first picking point and the final distribution information includes: The remaining target location information in the final distribution information is recorded as the second remaining target location information, and the shelf corresponding to the second remaining target location information is the second remaining picking point; Inputting the second location information and the second remaining target location information into an IDA algorithm model to obtain the optimal distribution path; Inputting the second position information and the second remaining target position information into the IDA algorithm model further includes: The first picking point is used as the starting node, one of the second remaining picking points is randomly selected as the final node, the other second remaining picking points are used as target nodes, and the multiple target nodes are arranged; Initialize a search threshold, where the search threshold is a heuristic function value from the starting node to the final node; Perform a depth-first search from the starting node, select a target node for the next move, and maintain the path consumption and heuristic function value of the current path; If the cumulative result of the current path consumption and the heuristic function value is less than the search threshold, then continue to perform depth-first search at the current target node; If the current path consumption and the cumulative result of the heuristic function value are greater than the search threshold, then backtrack to the previous target node and update the current path consumption and the cumulative result of the heuristic function value to the search threshold; Repeat the above steps until the final node is reached to obtain the optimal distribution path.

5. The shelf sorting path planning method according to any one of claims 1 to 4, characterized in that: Before obtaining the final distribution information corresponding to the current user, it also includes: Get all current work orders to be picked and the number of users performing sorting operations in the warehouse; Calculate the pressure value of each user according to the work order to be picked, and record it as a first pressure value; Determine one by one whether the first pressure value is within a preset threshold range, and if not, trigger a scheduling process, the scheduling process includes: The to-be-picked work orders are graded to obtain a first to-be-picked work order set and a second to-be-picked work order set, wherein the first to-be-picked work order set includes to-be-picked work orders that need to be completed within a first preset time period, which are recorded as first to-be-picked work orders, and the second to-be-picked work order set includes to-be-picked work orders that need to be completed within a second preset time period, which are recorded as second to-be-picked work orders, and the first preset time period is different from the second preset time period; Recalculate the pressure value of each user according to the first set of work orders to be picked, and record it as a second pressure value; Generate initial distribution information for each user according to the second pressure value and the first to-be-picked work order; The final distribution information of each user is obtained according to the initial distribution information.

6. The shelf sorting path planning method according to claim 5, characterized in that: Obtaining the final distribution information of each user according to the initial distribution information also includes: In the current first cargo distribution area, select part of the target location information contained in the multiple initial cargo distribution information, and record the initial cargo distribution information as the cargo distribution information to be adjusted, wherein at least one target location information in the cargo distribution information to be adjusted is located in the first cargo distribution area; Filtering out the target location information closest to the first location information from each of the to-be-adjusted distribution information, and recording it as the to-be-adjusted target location information; Sort multiple target position information to be adjusted according to their distance from the current first position information, obtain the target position information to be adjusted closest to the first position information, record it as the final target position information, and record the to-be-adjusted cargo distribution information corresponding to the final target position information as the actual cargo distribution information; Determine whether the actual distribution information is consistent with the initial distribution information corresponding to the current user; If not, the actual distribution information is updated to the final distribution information; If so, the initial distribution information is updated to the final distribution information.

7. The shelf sorting path planning method according to claim 5, characterized in that: The scheduling process also includes: Acquire users whose first pressure values ​​exceed the preset threshold range and record them as first scheduling users, and acquire users whose first pressure values ​​are within the preset threshold range and record them as second scheduling users; Grading the work orders to be picked includes: The work orders to be picked are arranged in order of the remaining response time, and the arranged work orders to be picked are matched with the second scheduling user, the work orders to be picked corresponding to the matched second scheduling user are recorded as second work orders to be picked, and the remaining work orders to be picked are recorded as first work orders to be picked.

8. A shelf sorting path planning system, characterized in that: The method according to any one of claims 1 to 7, wherein the system comprises: A data collection module, the data collection module is used to obtain the final distribution information corresponding to the current user, the final distribution information includes target goods to be sorted, target location information, the target location information is the location information of the shelf where the target goods are located, and obtain the first location information of the current user, the first location information is the location information of the shelf closest to the current user; A path configuration module, the path configuration module is used to generate a first distribution area with the first position information as the center and the first preset distance as the radius, obtain the position information of the remaining shelves in the first distribution area, and filter out the target position information closest to the current first position information in the final distribution information, record it as the second position information, the shelf corresponding to the second position information is the first picking point, and generate a first sorting path corresponding to the current first picking point; generate an optimal distribution path according to the first picking point and the final distribution information; A display module is used to display the optimal distribution path.

9. The shelf sorting path planning system according to claim 8, characterized in that: The data acquisition module is configured to scan identification information on a shelf closest to a user to obtain the first location information.

10. A computer-readable storage medium storing computer program instructions, characterized in that: The computer program instructions implement the method according to any one of claims 1 to 7 when executed by a processor.

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