A method, system, and medium for rack sort path planning

Abstract

The present application relates to a kind of shelf sorting path planning method, system and medium, by utilizing the first position information of user in the nearest shelf of current user, and with first position information as reference, the target position information of nearest in final distribution information is filtered out, to shorten the time required for user to reach the first picking point from actual position in the starting stage of sorting, reduce the generation of the redundant path of user, simultaneously, based on the first picking point and final distribution information, generate optimal distribution path, from the first picking point, the rest of target position information in final distribution information is path planned, further reduce the travel quantity of redundant path of user in the process of sorting, reduce the walking time of user in the process of sorting, to improve sorting efficiency.

Description

Technical Field

[0001] This invention relates to the field of path planning, and more specifically to a method, system, and medium for planning the path of a shelf sorting system. Background Technology

[0002] The online ordering and offline delivery model has significant advantages in the catering and fresh food industries. In offline delivery, items need to be sorted from the warehouse quickly, organized, and then delivered. During this process, shelves are arranged by category, and customers browse multiple categories of items, requiring warehouse delivery personnel to move around to sort the necessary items. However, the system cannot promptly track the location of warehouse delivery personnel during sorting, which can lead to situations where the first item to be sorted is too far away, requiring additional steps and reducing 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 solves 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 order fulfillment information corresponding to the current user. The final order fulfillment information includes the target goods to be sorted, the target location information, the location information of the shelf where the target goods are located, and the first location information of the current user, which is the location information of the shelf closest to the current user.

[0006] A first picking area is generated with the first location information as the center and the first preset distance as the radius. The location information of the other shelves in the first picking area is obtained. The target location information that is closest to the current first location information is selected from the final picking information and 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.

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

[0008] The optimal delivery route will be displayed.

[0009] In some embodiments, generating the optimal picking route based on the first picking point and the final picking information includes:

[0010] After the first picking point is completed, a second picking area is generated with the first picking point as the center and a second preset distance as the radius. The target location information within the second picking area is obtained, and the target location information closest to the current second location information is selected and recorded as the second picking point. The second sorting path corresponding to the current second picking point is generated.

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

[0012] Repeat the above steps until all target location information in the final delivery information is traversed to obtain the optimal delivery route.

[0013] In some embodiments, generating the optimal picking route based on the first picking point and the final picking information includes:

[0014] The remaining target location information in the final picking 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 cargo distribution paths, which are denoted as alternative cargo distribution paths.

[0016] For each alternative delivery route, perform the following steps:

[0017] Calculate the alternative loading time and alternative loading length required for the alternative loading routes;

[0018] The first weight value is obtained based on the alternative delivery time, and the second weight value is obtained based on the alternative delivery length;

[0019] The suitability values ​​for the alternative delivery routes are obtained based on the first weight value and the second weight value;

[0020] Sort multiple alternative delivery routes according to their suitability value, and select the alternative delivery route with the highest suitability value.

[0021] This is recorded as the optimal delivery route.

[0022] In some embodiments, generating the optimal picking route based on the first picking point and the final picking information includes:

[0023] The remaining target location information in the final picking 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 cargo allocation route;

[0025] The input of the second location information and the second remaining target location information into the IDA algorithm model also includes:

[0026] Take the first picking point as the starting node, randomly select one of the second remaining picking points as the final node, and take the remaining second remaining picking points as target nodes, and arrange the multiple target nodes.

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

[0028] Starting from the initial node, perform a depth-first search, select the target node for the next move, and maintain the path cost and heuristic function value of the current path;

[0029] If the current path consumption and the sum of the heuristic function values ​​are less than the search threshold, then continue the depth-first search at the current target node;

[0030] If the current path consumption and the accumulated 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 accumulated result of the heuristic function value to the search threshold;

[0031] Repeat the above steps until the final node is reached to obtain the optimal delivery route.

[0032] In some embodiments, the method further includes the following steps before obtaining the final delivery information for the current user:

[0033] Get all current pending picking orders and the number of users performing picking operations in the warehouse;

[0034] Calculate the pressure value for each user based on the picking order, and record it as the first pressure value;

[0035] Each pressure value is checked individually to see if it falls within a preset threshold range. If not, a scheduling process is triggered, which includes:

[0036] The picking orders are classified to obtain a first set of picking orders and a second set of picking orders. The first set of picking orders includes the picking orders that need to be completed within a first preset time period, and is denoted as the first picking order. The second set of picking orders includes the picking orders that need to be completed within a second preset time period, and is denoted as the second picking order. The first preset time period and the second preset time period are different.

[0037] The pressure value for each user is recalculated based on the first set of pick orders and recorded as the second pressure value.

[0038] Based on the second pressure value and the first picking order, generate the initial picking information for each user;

[0039] The final allocation information for each user is obtained based on the initial allocation information.

[0040] In some embodiments, obtaining the final delivery information for each user based on the initial delivery information further includes:

[0041] Within the current first distribution area, select some target location information contained in multiple initial distribution information, and record the initial distribution information as distribution information to be adjusted. At least one target location information in the distribution information to be adjusted is placed within the first distribution area.

[0042] In each shipment information to be adjusted, the target location information that is closest to the first location information is selected and recorded as the target location information to be adjusted.

[0043] Sort multiple target location information to be adjusted according to their distance from the current first location information, obtain the target location information to be adjusted that is closest to the first location information, and record it as the final target location information. Record the cargo distribution information to be adjusted corresponding to the final target location information as the actual cargo distribution information.

[0044] Determine whether the actual order fulfillment information matches the initial order fulfillment information for the current user;

[0045] If not, update the actual delivery information to the final delivery information;

[0046] If so, the initial allocation information will be updated to the final allocation information.

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

[0048] Users whose first pressure value exceeds a preset threshold range are identified and recorded as first dispatch users; users whose first pressure value is within the preset threshold range are identified and recorded as second dispatch users.

[0049] The classification of picking orders includes:

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

[0051] In a second aspect, the present invention provides a shelf sorting path planning system 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 acquire the final picking information corresponding to the current user. The final picking information includes the target goods to be sorted, target location information, the location information of the shelf where the target goods are located, and the first location information of the current user, which is the location information of the shelf closest to the current user. The path configuration module is used to generate a first picking area with the first location information as the center and a first preset distance as the radius, acquire the location information of the other shelves in the first picking area, and filter out the target location information closest to the current first location information from the final picking information, which is denoted as the second location information. The shelf corresponding to the second location information is the first picking point, and a first sorting path corresponding to the current first picking point is generated. An optimal picking path is generated based on the first picking point and the final picking information. The display module is used to display the optimal picking path.

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

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

[0054] Unlike existing technologies, the above technical solution obtains the final order fulfillment information corresponding to the current user and the first location information of the current user. A first order fulfillment 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 within the first order fulfillment area is obtained. The target location information closest to the current first location information is selected from the final order fulfillment information and recorded as the second location information. The shelf corresponding to the second location information is the first picking point, and a first sorting path corresponding to the current first picking point is generated. An optimal order fulfillment path is generated based on the first picking point and the final order fulfillment information. The optimal order fulfillment path is then displayed. This method obtains the user's initial location information by utilizing the shelf closest to the current user, and then filters the nearest target location information from the final packing information based on this initial location information. This shortens the time required for the user to reach the first picking point from their actual location at the beginning of the sorting process, reducing the generation of unnecessary paths for the user. At the same time, based on the first picking point and the final packing information, an optimal packing path is generated. Starting from the first picking point, path planning is performed on the remaining target location information in the final packing information, further reducing the number of unnecessary paths the user travels during the sorting process and reducing the user's walking time during the sorting process, thereby improving sorting efficiency.

[0055] The above description of the invention is merely an overview of the technical solution of the present invention. In order to enable those skilled in the art to better understand the technical solution of the present invention and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of the present invention easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of the present invention. Attached Figure Description

[0056] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of the present invention and other related contents, and should not be considered as limitations on the present invention.

[0057] In the accompanying drawings of the instruction manual:

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

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

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

[0061] Figure 4 This is a diagram illustrating 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 according to a specific embodiment of the present invention. Detailed Implementation

[0063] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this invention in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this invention and are therefore intended only as examples, not as limiting the scope of protection of this invention.

[0064] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this invention, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0065] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0066] In the description of this invention, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0067] In this invention, terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy, or order between these entities or operations.

[0068] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0069] Similar to the understanding in the Examination Guidelines, in this invention, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this invention, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0070] Please see Figure 1 In a first aspect, this embodiment provides a shelf sorting path planning method, including:

[0071] S101. Obtain the final order fulfillment information corresponding to the current user. The final order fulfillment information includes the target goods to be sorted, the target location information, the target location information being 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.

[0072] S102. A first picking area is generated with the first location information as the center and the first preset distance as the radius. The location information of the other shelves in the first picking area is obtained. The target location information that is closest to the current first location information is selected from the final picking information and recorded as the second location information. The shelf corresponding to the second location information is the first picking point. The first sorting path corresponding to the current first picking point is generated.

[0073] S103. Generate the optimal picking route based on the first picking point and the final picking information;

[0074] S104. Display the optimal delivery route.

[0075] In step S101, each sorting employee currently inside the warehouse is treated as a user, and the final picking information corresponding to the current user is obtained. The final picking information includes the target goods to be picked 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 is randomly assigned a picking order in the system. Each picking order can be an order purchased by the client when placing 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 client-purchased orders is too large. In order to shorten the picking time of a single order and improve the picking efficiency of a single order, the orders purchased by the client can be simply divided. For ease of description, the picking order received by the user is recorded as the final picking information, the items in the final picking information are recorded as target goods, and the location information of the shelf where the target goods are located is recorded as the target location information.

[0076] Furthermore, step S101 also requires obtaining the user's current location information. It should be noted that the acquisition of the first location information and the allocation of the final distribution information do not have a fixed order. That is, acquiring the first location information can be done simultaneously with the allocation of the final distribution information, or the user can acquire the first location information first and then obtain the final distribution information, or the user can obtain the distribution information first and then acquire the first location information. Different orders adapt to different application scenarios and can be adjusted according to actual needs. Specifically, the method for acquiring the first location information shown in this embodiment is 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 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 route is planned in the system. This method allows the system to use the user's actual location as a planning factor before generating the distribution route, making the subsequent distribution route planning process more convenient.

[0077] In step S102, a first picking area is generated with the first location information as the center and a first preset distance as the radius. The first preset distance can be obtained based on data statistics, that is, by calculating the current user's walking distance within a certain time period based on the current user's average walking speed, and using this walking distance as the first preset distance. Furthermore, the certain time period can be set according to actual needs, such as 5 minutes, in which case the first preset distance is calculated based on the user's current average walking speed within 5 minutes. The location information of the remaining shelves in the first picking area is obtained, and the target location information closest to the current first location information is selected from the final picking information and recorded as the second location information. Specifically, multiple target location information in the final picking information is obtained, and the location information of the remaining shelves in the first picking area is matched one by one with the multiple target location information in the final picking information to obtain the target location information placed in the first picking area. The target location information placed in the first picking area is sorted according to its distance from the current first location information to obtain the target location information closest to the current first location information, recorded as the second location information. The shelf corresponding to the second location information is the first picking point. Generate the first picking path corresponding to the current first picking point. Optionally, this may include: obtaining the aisle information of the current warehouse, generating multiple first alternative picking paths between the first and second location information using the aisle information, and selecting the shortest first alternative picking path as the first picking path. In this step, after the user obtains the first location information through the nearest shelf, the location can be quickly determined as the closest target location information to the user in the final picking information after filtering. This location is then used as the first picking point, avoiding the problem of the user having to repeatedly walk around during the picking process because the first item to be picked is too far away, resulting in low picking efficiency.

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

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

[0080] This embodiment obtains the user's first location information by utilizing the shelf closest to the current user, and uses this first location information as a reference to filter the nearest target location information in the final packing information. This shortens the time required for the user to reach the first picking point from the actual location at the beginning of the sorting process, reducing the generation of unnecessary paths for the user. At the same time, an optimal packing path is generated based on the first picking point and the final packing information. Starting from the first picking point, path planning is performed on the remaining target location information in the final packing information, further reducing the number of unnecessary paths the user travels during the sorting process and reducing the user's walking time during the sorting process, thereby improving sorting efficiency.

[0081] Accordingly, in a second aspect, this embodiment provides a shelf sorting path planning system 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 acquire the final picking information corresponding to the current user. The final picking information includes the target goods to be sorted, target location information, the location information of the shelf where the target goods are located, and the first location information of the current user, which is the location information of the shelf closest to the current user. The path configuration module is used to generate a first picking area with the first location information as the center and a first preset distance as the radius, acquire the location information of the other shelves in the first picking area, and filter out the target location information closest to the current first location information from the final picking information, which is denoted as the second location information. The shelf corresponding to the second location information is the first picking point, and a first sorting path corresponding to the current first picking point is generated. An optimal picking path is generated based on the first picking point and the final picking information. The display module is used to display the optimal picking path.

[0082] The logical reasoning involved in the above content is the same as that shown in the first aspect, and will not be elaborated further 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 first location information. It should be noted that the identification information can be a QR code, barcode, etc., containing a shelf number, and each shelf number has a specific location information. By having the user select the nearest shelf and scan the identification information on that shelf, the location information of the currently scanned shelf is obtained. This location is used as the user's location reference, and the system is used to plan the delivery route. This approach allows the system to consider the user's actual location as a planning factor before generating the delivery route, making the subsequent delivery route planning process more convenient.

[0084] Please see Figure 2 In some embodiments, generating the optimal picking route based on the first picking point and the final picking information includes:

[0085] S201. After picking is completed at the first picking point, a second picking area is generated with the first picking point as the center and the second preset distance as the radius. The target location information within the second picking area is obtained, and the target location information closest to the current second location information is selected and recorded as the second picking point. The second sorting path corresponding to the current second picking point is generated.

[0086] S202. After picking is completed at the second picking point, update the second picking point to the first picking point and update the second sorting path to the first sorting path.

[0087] S203. Repeat the above steps until all target location information on the final delivery information is traversed to obtain the optimal delivery 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 packing information, changing from pending picking to picked. Further, a second packing area is generated with the first picking point as the center and a second preset distance as the radius. The remaining target location information in the current final packing information within the second packing area is then obtained. Optionally, the second preset distance can be generated in the same way as the first preset distance, or the second preset distance can be the same as the first preset distance. The remaining target location information is then filtered out within the second packing area, and the target location information closest to the current second location information is further filtered out and recorded as the second picking point. Simultaneously, a second sorting path is generated between the current second picking point and the first picking point. 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 steps S202 and S203, after the picking at the second picking point is completed, 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 picking path is obtained.

[0090] This embodiment illustrates a path planning method from first location information to the optimal delivery route. By sequentially confirming the form of the shortest path between two adjacent target goods, the method realizes the planning of paths for multiple target location information in the same final delivery information, and finally obtains the optimal delivery route.

[0091] Please see Figure 3 In some embodiments, generating the optimal picking route based on the first picking point and the final picking information includes:

[0092] S301. Record the remaining target location information in the final picking information as the first remaining target location information, and the shelf corresponding to the first remaining target location information is the first remaining picking point.

[0093] S302. Input the second location information and the first remaining target location information into the DFS algorithm model to obtain multiple delivery routes, which are recorded as alternative delivery routes.

[0094] For each alternative delivery route, perform the following steps:

[0095] S303. Calculate the alternative loading time and alternative loading length required for the alternative loading routes;

[0096] S304. Obtain a first weight value based on the alternative delivery time and a second weight value based on the alternative delivery length;

[0097] S305. Based on the first weight value and the second weight value, obtain the matching value of the alternative delivery route;

[0098] S306. Sort the multiple alternative delivery routes according to their suitability values, select the alternative delivery route with the highest suitability value, and record it as the optimal delivery route.

[0099] In step S302, the DFS algorithm model is a depth-first search algorithm. The first picking point is taken as the starting node, and the remaining first remaining picking points are taken as nodes of unexplored paths. The nodes of unexplored paths are maintained in the form of a stack. Furthermore, multiple picking paths are obtained through the DFS algorithm. For easy differentiation, the multiple picking paths generated in this step are recorded as candidate picking paths.

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

[0101] Furthermore, in step S304, a first weight value is obtained based on the alternative picking time, and a second weight value is obtained based on the alternative picking length. Specifically, the first weight value can be determined by the remaining response time for the current final picking information, and the second weight value can be determined by the pressure value described later. The response time for the final picking information is the length of time reserved from the generation of the sorting work order corresponding to the final picking information to the end of goods sorting. The response time can be a preset value; for example, during the off-peak period of goods sorting, the response time can be shortened to 20 minutes, and during the peak period of goods sorting, the response time can be set to 40 minutes. It should be noted that the closer the alternative picking time is to the remaining response time corresponding to the current final picking information, the lower its corresponding first weight value; the shorter the alternative picking time, the higher its corresponding first weight value. Specifically, the above conversion relationship can be obtained by constructing a fitting curve model. Similarly, the user's stress value is related to the second weight value. When the current user's stress value is too high, the second weight value corresponding to the current alternative delivery length is lower.

[0102] In steps S305 and S306, the adaptation value of the alternative delivery routes is obtained based on the first weight value and the second weight value. The higher the adaptation value, the more suitable the current alternative delivery route is for the current user and the actual state of the current final delivery information. Based on this principle, multiple alternative delivery routes are sorted according to the size of their adaptation values, and the alternative delivery route with the highest adaptation value is selected and recorded as the optimal delivery route.

[0103] This embodiment illustrates another implementation of the optimal picking route from the first picking point. The DFS algorithm is used to exhaustively search for alternative picking routes to multiple first remaining picking points. Finally, the fitness value of each alternative picking route is obtained by calculating the first weight value and the second weight value, and the alternative picking route with the highest fitness value is selected as the optimal picking route, making it more in line with the actual application scenario.

[0104] Please see Figure 4 In some embodiments, generating the optimal picking route based on the first picking point and the final picking information includes:

[0105] The remaining target location information in the final picking 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 cargo allocation route;

[0107] The input of the second location information and the second remaining target location information into the IDA algorithm model also includes:

[0108] S401. Take the first picking point as the starting node, randomly select one of the second remaining picking points as the final node, and take the remaining second remaining picking points as target nodes, and arrange the multiple target nodes.

[0109] S402. Initialize the search threshold, which is the heuristic function value from the starting node to the final node;

[0110] S403. Start from the starting node and perform a depth-first search to select the target node for the next move, and maintain the path consumption and heuristic function value of the current path.

[0111] S404. If the current path consumption and the sum of the heuristic function values ​​are less than the search threshold, then continue the depth-first search at the current target node.

[0112] S405. If the sum 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 sum 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 delivery route.

[0114] In this embodiment, the IDA algorithm model is used to generate the optimal picking route 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 remaining picking points are used as target nodes. These target nodes are then arranged in a specific order. Further, this step can set filtering rules for the final node, such as using the second remaining picking point closest to the warehouse entrance 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 from the starting node to the final node. The ordering of the multiple target nodes is generated in real time through steps S402 to S406.

[0115] Specifically, in step S402, the search threshold is initialized. 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 through Manhattan distance, Euclidean distance, heuristic search, etc.

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

[0117] Step S403 also includes a step to break the connection between the accumulated path consumption, the heuristic function value, and the current search threshold. Further, as seen in steps S404 and S405, if the accumulated path consumption and heuristic function value of the current path are less than the search threshold, it indicates that the current path planning from the starting node to the target node is relatively accurate, and a path from the current target node to the next target node can be planned based on this. If the accumulated path consumption and heuristic function value of the current path are greater than the search threshold, it indicates that the current path planning from the starting node to the target node is not the optimal solution. In this case, the process backtracks to the previous target node. If the previous target node is the starting node, the process backtracks to the starting node and updates the current path consumption and the accumulated heuristic function value to the search threshold.

[0118] In step S406, by dynamically adjusting the search threshold, all target nodes are eventually traversed until the final node, thus obtaining the optimal delivery route.

[0119] This embodiment illustrates another implementation of the optimal picking route from the first picking point. The optimal picking route can be generated using the IDA path planning algorithm, meeting practical application requirements.

[0120] In some embodiments, the method further includes the following steps before obtaining the final delivery information for the current user:

[0121] Get all current pending picking orders and the number of users performing picking operations in the warehouse;

[0122] Calculate the pressure value for each user based on the picking order, and record it as the first pressure value;

[0123] Each pressure value is checked individually to see if it falls within a preset threshold range. If not, a scheduling process is triggered, which includes:

[0124] The picking orders are classified to obtain a first set of picking orders and a second set of picking orders. The first set of picking orders includes the picking orders that need to be completed within a first preset time period, and is denoted as the first picking order. The second set of picking orders includes the picking orders that need to be completed within a second preset time period, and is denoted as the second picking order. The first preset time period and the second preset time period are different.

[0125] The pressure value for each user is recalculated based on the first set of pick orders and recorded as the second pressure value.

[0126] Based on the second pressure value and the first picking order, generate the initial picking information for each user;

[0127] The final allocation information for each user is obtained based on the initial allocation 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 by comprehensively evaluating factors such as the cumulative working time of the day, the average walking speed of the user, the cumulative number of picking times of the user, the peak and off-peak periods of warehouse picking, the current total number of picking orders, and the total number of users currently sorting.

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

[0130] Each user is checked to see if the first pressure value is within the preset threshold range. If it is, 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 is fatigued. In this state, the scheduling process is triggered: the picking orders are classified and the pressure value of each user is recalculated based on the first set of picking orders, which is recorded as the second pressure value. Based on the second pressure value and the first set of picking orders, the initial picking information of each user is generated.

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

[0132] Users whose first pressure value exceeds a preset threshold range are identified and recorded as first dispatch users; users whose first pressure value is within the preset threshold range are identified and recorded as second dispatch users.

[0133] The classification of picking orders includes:

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

[0135] For users whose first pressure value falls within a preset threshold range, indicating they can perform sorting operations normally, the pending orders are arranged in order of remaining response time. These arranged pending orders are then matched with second dispatch users. Specifically, pending orders with shorter remaining response times are matched with second dispatch users, allowing them to promptly handle the picking needs of orders nearing completion. After each second dispatch user is assigned a pending order, the assigned pending orders are recorded as second pending orders, the remaining pending orders are recorded as first pending orders, the time period required for the second pending orders to complete is recorded as the second preset time period, and the time period required for the first pending orders to complete is recorded as the first preset time period.

[0136] Furthermore, the pressure value for each user is recalculated based on the first set of pending picking orders, and denoted as the second pressure value. Then, the initial picking information for each user is obtained based on the second pressure value and the first set of pending picking orders. It should be noted that in this process, the first dispatcher has at least one first pending picking order, while the second dispatcher has one second pending picking order, and may also have one first pending picking order. During this process, the second pending picking order requires the second dispatcher to operate at a higher picking efficiency. The remaining response time for the first pending picking order is greater than the remaining response time for the second pending picking order. Based on this, the first dispatcher can operate at normal or the specified picking efficiency, achieving intermittent rest for the first dispatcher. That is, the second pressure value for the first dispatcher in the scheduling process will be lower than the first pressure value, while the second pressure value for the second dispatcher will be equal to or slightly higher than the first pressure value. Through the scheduling process, the picking efficiency of multiple users is evaluated using pressure values. Based on this, the scheduling configuration of work orders to be sorted is implemented, and the initial picking information of each user is obtained. This aims to keep the sorting operation in the entire warehouse at a relatively balanced level, ensure that the overall sorting efficiency is in a dynamic balance, and guarantee that each user can get dynamic rest.

[0137] For further details, please refer to Figure 5 In some embodiments, obtaining the final delivery information for each user based on the initial delivery information further includes:

[0138] S501. Select some target location information contained in multiple initial distribution information within the current first distribution area, and record the initial distribution information as distribution information to be adjusted. At least one target location information in the distribution information to be adjusted is placed within the first distribution area.

[0139] S502. In each shipment information to be adjusted, select the target location information that is closest to the first location information and record it as the target location information to be adjusted.

[0140] S503. Sort multiple target location information to be adjusted according to their distance from the current first location information, obtain the target location information to be adjusted that is closest to the first location information, and record it as the final target location information. Record the cargo distribution information to be adjusted corresponding to the final target location information as the actual cargo distribution information.

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

[0142] S505. If not, update the actual delivery information to the final delivery information.

[0143] S506. If so, update the initial loading information to the final loading information.

[0144] In this embodiment, before the final order fulfillment information is generated, the user can scan the nearest shelf for identification information to obtain the user's first location information and obtain the first order fulfillment area based on the first location information. In step S501, multiple initial order fulfillment information are filtered using the first order fulfillment area. Each initial order fulfillment information contains multiple target goods and target location information. Further, the initial order fulfillment information corresponding to the target location information placed in the first order fulfillment area is recorded as order fulfillment information to be adjusted. That is, the system has not yet completed the allocation of final order fulfillment information for each user. The allocation of initial order fulfillment information can be random or according to a preset allocation rule. During this process, if a user scans and generates first location information in advance, the currently associated initial order fulfillment information can be adjusted.

[0145] Specifically, in step S502, the target location information closest to the first location information is selected from each shipment information to be adjusted, and is recorded as the target location information to be adjusted. That is, each shipment 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 their distance from the current first location information to obtain the target location information to be adjusted closest to the first location information, which is recorded as the final target location information. Then, the order fulfillment information to be adjusted corresponding to the final target location information is recorded as the actual order fulfillment information. This method allows users to filter the initial order fulfillment information and obtain the initial order fulfillment information closest to themselves, which is also the actual order fulfillment information.

[0147] In steps S504 to S506, the actual delivery information is compared with the initial delivery information pre-assigned by the user. If the actual delivery information matches the initial delivery information pre-assigned by the user, the initial delivery information is directly updated to the final delivery information. If the actual delivery information does not match the initial delivery information pre-assigned by the user, the actual delivery information is directly updated to the final delivery information.

[0148] This embodiment, based on the first picking area, filters out the picking information to be adjusted that is closest to the current user and records it as the actual picking information. It then determines whether the user's initial picking information is consistent with the actual picking information. For unreasonable or distant initial picking information, it can be promptly transferred to the next user, realizing secondary planning of the initial picking information. This ensures that the actual location of the current user is taken into account during the generation stage of the final picking information. After the final picking information is configured, it is convenient to quickly confirm the first picking point, shorten picking time, and improve picking efficiency.

[0149] It should be noted that in the above embodiments, once a user configures the final picking information, the initial picking information corresponding to this final picking information is deleted from the picking information to be adjusted, so as to avoid duplicate allocation for other users. At the same time, this logic allows the allocation of the final picking information of multiple users to be configured with the first position information as a reference factor, making the allocation of the final picking information more in line with the actual application scenario and optimizing the allocation process of the overall warehouse sorting operation.

[0150] In a third aspect, this embodiment also provides a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the method described in the first aspect.

[0151] In the above technical solution, the final order fulfillment information corresponding to the current user and the first location information of the current user are obtained. A first order fulfillment area is generated with the first location information as the center and a first preset distance as the radius. The location information of the other shelves in the first order fulfillment area is obtained. The target location information closest to the current first location information is selected from the final order fulfillment information and recorded as the second location information. The shelf corresponding to the second location information is the first picking point, and a first sorting path corresponding to the current first picking point is generated. An optimal order fulfillment path is generated based on the first picking point and the final order fulfillment information. The optimal order fulfillment path is then displayed. This method obtains the user's initial location information by utilizing the shelf closest to the current user, and then filters the nearest target location information from the final packing information based on this initial location information. This shortens the time required for the user to reach the first picking point from their actual location at the beginning of the sorting process, reducing the generation of unnecessary paths for the user. At the same time, based on the first picking point and the final packing information, an optimal packing path is generated. Starting from the first picking point, path planning is performed on the remaining target location information in the final packing information, further reducing the number of unnecessary paths the user travels during the sorting process and reducing the user's walking time during the sorting process, thereby improving sorting efficiency.

[0152] Finally, it should be noted that although the above embodiments have been described in the description and drawings of this invention, this should not limit the scope of patent protection of this invention. Any technical solutions that are based on the essential concept of this invention, utilize the content described in the description and drawings of this invention to make equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this invention.

Claims

1. A method for planning shelf sorting paths, characterized in that, include: Obtain the final order fulfillment information corresponding to the current user. The final order fulfillment information includes the target goods to be sorted, the target location information, the target location information being 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 being the location information of the shelf closest to the current user. A first picking area is generated with the first location information as the center and a first preset distance as the radius. The location information of the other shelves in the first picking area is obtained, and the target location information closest to the current first location information is selected from the final picking information and 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. Generate the optimal picking route based on the first picking point and the final picking information; The optimal delivery route will be displayed. Before obtaining the final order fulfillment information for the current user, the following steps are also included: Get all current pending picking orders and the number of users performing picking operations in the warehouse; Calculate the pressure value of each user based on the picking order, and record it as the first pressure value; Each pressure value is checked individually to determine whether it falls within a preset threshold range. If not, a scheduling process is triggered, which includes: The pending picking work orders are classified to obtain a first pending picking work order set and a second pending picking work order set. The first pending picking work order set includes pending picking work orders that need to be completed within a first preset time period, and is denoted as the first pending picking work order. The second pending picking work order set includes pending picking work orders that need to be completed within a second preset time period, and is denoted as the second pending picking work order. The first preset time period and the second preset time period are different. The pressure value of each user is recalculated based on the first set of pick orders and recorded as the second pressure value. Based on the second pressure value and the first picking order, generate the initial order information for each user. The final allocation information for each user is obtained based on the initial allocation information; The scheduling process also includes: Users whose first pressure value exceeds the preset threshold range are identified and recorded as first dispatch users; users whose first pressure value is within the preset threshold range are identified and recorded as second dispatch users. The classification of the picking work orders includes: The pending pickup orders are arranged in order of remaining response time, and the arranged pending pickup orders are matched with the second scheduling user. The pending pickup orders corresponding to the matched second scheduling user are recorded as the second pending pickup orders, and the remaining pending pickup orders are recorded as the first pending pickup orders.

2. The shelf sorting path planning method according to claim 1, characterized in that, Generating the optimal picking route based on the first picking point and the final picking information includes: After the first picking point has finished picking, a second picking area is generated with the first picking point as the center and a second preset distance as the radius. The target location information in the second picking area is obtained, and the target location information that is closest to the current second location information is selected and recorded as the second picking point. The second sorting path corresponding to the current second picking point is generated. After the 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 in 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 the optimal picking route based on the first picking point and the final picking 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; The second location information and the first remaining target location information are input into the DFS algorithm model to obtain multiple delivery routes, which are denoted as alternative delivery routes. For each alternative delivery route, perform the following steps: Calculate the alternative delivery time and alternative delivery length required for the alternative delivery routes; A first weight value is obtained based on the alternative delivery time, and a second weight value is obtained based on the alternative delivery length; The adaptation value of the alternative delivery route is obtained based on the first weight value and the second weight value; The multiple alternative delivery routes are sorted according to their suitability values, and the alternative delivery route with the highest suitability value is selected. This is denoted as the optimal delivery route.

4. The shelf sorting path planning method according to claim 1, characterized in that, Generating the optimal picking route based on the first picking point and the final picking 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; The second location information and the second remaining target location information are input into the IDA algorithm model to obtain the optimal delivery route; The input of the second location information and the second remaining target location information into the IDA algorithm model also includes: Take the first picking point as the starting node, randomly select one of the second remaining picking points as the final node, and take the remaining second remaining picking points as target nodes, and arrange the multiple target nodes. Initialize the search threshold, which is the heuristic function value from the starting node to the final node; Starting from the initial node, a depth-first search is performed to select the target node for the next move, and the path consumption and heuristic function value of the current path are maintained. If the current path consumption and the sum of the heuristic function values ​​are less than the search threshold, then continue the depth-first search at the current target node; If the current path consumption and the sum of the heuristic function values ​​are greater than the search threshold, then backtrack to the previous target node and update the current path consumption and the sum of the heuristic function values ​​to the search threshold; Repeat the aforementioned steps until the final node is reached to obtain the optimal delivery route.

5. The shelf sorting path planning method according to claim 1, characterized in that, The final allocation information for each user, obtained based on the initial allocation information, also includes: Within the current first distribution area, select some target location information contained in multiple initial distribution information, and record the initial distribution information as distribution information to be adjusted. At least one target location information in the distribution information to be adjusted is placed within the first distribution area. In each of the shipment information to be adjusted, the target location information that is closest to the first location information is selected and recorded as the target location information to be adjusted; Multiple target location information to be adjusted are sorted according to their distance from the current first location information to obtain the target location information to be adjusted that is closest to the first location information, which is recorded as the final target location information. The cargo distribution information to be adjusted corresponding to the final target location information is recorded as the actual cargo distribution information. Determine whether the actual delivery information is consistent with the initial delivery information corresponding to the current user; If not, then update the actual delivery information to the final delivery information; If so, the initial allocation information will be updated to the final allocation information.

6. A shelf sorting path planning system, characterized in that, The system applicable to the method of any one of claims 1-5 comprises: The data acquisition module is used to obtain the final order information corresponding to the current user. The final order information includes the target goods to be sorted, the target location information, the target location information being the location information of the shelf where the target goods are located, and the first location information of the current user, which is the location information of the shelf closest to the current user. The path configuration module is used to generate a first picking area with the first location information as the center and a first preset distance as the radius, obtain the location information of the remaining shelves within the first picking area, and filter out the target location information closest to the current first location information from the final picking information, denoted as the second location information. The shelf corresponding to the second location information is the first picking point, and a first sorting path corresponding to the current first picking point is generated. The optimal picking path is generated based on the first picking point and the final picking information. The display module is used to display the optimal delivery route; Before the data acquisition module obtains the final delivery information for the current user, it also includes: Get all current pending picking orders and the number of users performing picking operations in the warehouse; Calculate the pressure value of each user based on the picking order, and record it as the first pressure value; Each pressure value is checked individually to determine whether it falls within a preset threshold range. If not, a scheduling process is triggered, which includes: The pending picking work orders are classified to obtain a first pending picking work order set and a second pending picking work order set. The first pending picking work order set includes pending picking work orders that need to be completed within a first preset time period, and is denoted as the first pending picking work order. The second pending picking work order set includes pending picking work orders that need to be completed within a second preset time period, and is denoted as the second pending picking work order. The first preset time period and the second preset time period are different. The pressure value of each user is recalculated based on the first set of pick orders and recorded as the second pressure value. Based on the second pressure value and the first picking order, generate the initial order information for each user. The final allocation information for each user is obtained based on the initial allocation information.

7. The shelf sorting path planning system according to claim 6, characterized in that, The data acquisition module is configured to scan the identification information on the shelf closest to the user to obtain the first location information.

8. A computer-readable storage medium storing computer program instructions thereon, characterized in that, The computer program instructions, when executed by a processor, implement the method as described in any one of claims 1 to 5.

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