Early arrival and transfer luggage storage scheduling method based on AMR

Abstract

The invention provides an AMR-based early arrival and transfer luggage storage scheduling method. The method comprises the steps of obtaining a current airport task order queue and shelf information; wherein the task order queue comprises warehouse-in luggage information and warehouse-out luggage information; optimizing the sparrow search algorithm based on a good point set method to obtain an improved sparrow search algorithm; obtaining a warehousing position queue through an improved sparrow search algorithm according to the warehousing luggage information and the shelf information; determining a warehouse-out position according to the first item in the warehouse-in position queue and the warehouse-out luggage information; the stacking type AMR is controlled to complete storage and delivery of the luggage according to the first item in the storage position queue and the delivery position; and the current airport task order queue and shelf information are obtained again for processing so as to complete storage scheduling of early arrival and transfer luggage newly entering the current task order queue.

Description

Technical Field

[0001] The present invention relates to the technical field of luggage storage scheduling, and in particular to an AMR-based early arrival and transfer luggage storage scheduling method. Background Art

[0002] In modern airports, facing the ever-increasing passenger throughput, luggage storage for early arrivals and transfer passengers has always been a difficult problem; that is, how to gradually carry out intelligent transformation of the luggage system through automation technology, and effectively realize the efficient collection and placement of checked luggage for early arrivals and transfer passengers. As mature solutions for the logistics and warehousing industry, stereoscopic warehouses and AMRs have been deeply studied by many scholars on their construction and scheduling. However, traditional research on stereoscopic warehouse storage and scheduling systems is basically limited to outbound and inbound storage in the form of batch orders, that is, assuming that the luggage to be inbound and outbound in this batch is known, the final completion time is shortened by different combinations of inbound and outbound storage orders in a batch order C = {I, O}; among them, the inbound task set I = {i1, i2, ..., i n}; The set of outbound tasks O = {o1, o2, ..., o m}, n is the number of luggage to be stored, and m is the number of luggage to be stored.

[0003] However, in actual airport operations, the check-in time for early passengers cannot be determined, and the number of storage tasks may change at any time; the entry and exit time of transfer luggage cannot be determined, resulting in a strong randomness in the incoming luggage. The existing method of completing the entry and exit of luggage in batches is less effective when handling random and highly urgent luggage. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an AMR-based early arrival and transfer baggage storage scheduling method, which solves the problems in the prior art.

[0005] According to an embodiment of the present invention, an AMR-based early arrival and transfer baggage storage scheduling method includes the following steps:

[0006] Get the current airport task order queue and shelf information; the task order queue includes inbound baggage information and outbound baggage information;

[0007] The sparrow search algorithm is optimized based on the good point set method to obtain an improved sparrow search algorithm;

[0008] According to the information of incoming baggage and shelf, the incoming position queue is obtained through the improved sparrow search algorithm;

[0009] Determine the outbound location based on the first item in the inbound location queue and the outbound baggage information;

[0010] Control the stacking AMR to complete the entry and exit of luggage according to the first item in the entry position queue and the exit position;

[0011] Re-acquire the current airport task order queue and shelf information for processing to complete the storage scheduling of early arrival and transfer baggage newly entering the current task order queue

[0012] As an embodiment of the present invention, the inbound baggage information includes: inbound baggage weight information and inbound baggage departure time information;

[0013] According to the incoming baggage information and shelf information, the incoming location queue is obtained through the improved sparrow search algorithm, including:

[0014] Determine the objective function, which is as follows:

[0015] minf=δ1f1+δ2f2

[0016] Among them, f is the objective function, δ1 is the first preset weight parameter, δ2 is the second preset weight parameter, f1 is the centroid cost, f2 is the frequency cost, δ1+δ1=1, and f1 is as follows:

[0017]

[0018] in, For the i τ The inbound baggage weight information of the inbound baggage, For the i τ The vertical coordinate of the center of gravity of the incoming baggage;

[0019] f2 looks like this:

[0020]

[0021] Among them, v y is the running speed of the stacking AMR in the longitudinal direction, v z is the horizontal running speed of the stacking AMR, For the i τ The time information of the incoming baggage from the departure time to the incoming baggage. For the i τ The storage location coordinates of the incoming luggage. L is the width of a storage compartment of the luggage rack, and H is the height of a storage compartment of the luggage rack.

[0022] According to the information of incoming baggage and shelf, the objective function is minimized by the improved sparrow search algorithm to obtain the incoming location queue.

[0023] As an embodiment of the present invention, the outbound baggage information includes: outbound baggage departure time information and outbound baggage coordinate position information;

[0024] Determine the outbound location based on the inbound location queue and outbound baggage information, including:

[0025] The first item in the incoming luggage queue is selected as the incoming luggage, and the storage coordinates of the incoming luggage are determined;

[0026] The distance cost is calculated based on the storage coordinates and outbound baggage information. The calculation formula is as follows:

[0027]

[0028] Among them, f3 is the distance cost, t sum_max t sum_cur The maximum value, t sum_min t sum_cur The minimum value of t sum_cur The calculation formula is as follows:

[0029] t sum_cur =t ep +t out

[0030]

[0031] in, is the coordinate position information of the outbound baggage, (y0, z0) is the storage coordinate;

[0032] The time cost is calculated based on the storage coordinates and outbound baggage information. The calculation formula is as follows:

[0033]

[0034] Among them, f4 is the time cost, t max is the maximum storage time of outbound baggage, t is The departure time information of the outbound baggage;

[0035] The outbound value is calculated based on the time cost and distance cost. The outbound value calculation formula is as follows:

[0036] F=δ3f3+δ4f4

[0037] Among them, F is the outbound value, δ3 is the third preset weight parameter, and δ4 is the fourth preset weight parameter;

[0038] Repeat the above steps to calculate the outbound values ​​of all outbound baggage, and select the position corresponding to the outbound baggage with the smallest outbound value as the outbound position.

[0039] As an embodiment of the present invention, controlling the stacking AMR to complete the entry and exit of luggage according to the entry position queue and the exit position includes:

[0040] Control the stacking AMR to move from the entry point to the storage coordinates to complete the entry of luggage;

[0041] Control the stacking AMR to move from the storage coordinates to the outbound location to complete the loading of outbound baggage;

[0042] Control the stacking AMR to move from the outbound position to the inbound point to complete the outbound baggage.

[0043] As an embodiment of the present invention, the operation process of the improved sparrow search algorithm includes:

[0044] Initialize necessary parameters and sparrow population;

[0045] The initialized sparrow population is optimized by the good point set method to optimize the population distribution;

[0046] The sparrow population is discretized through the LOV strategy, and the individual fitness function is calculated;

[0047] Update formulas and population information based on joiners and vigilants;

[0048] Determine whether the iteration termination condition or objective function is met. If so, end the algorithm; if not, calculate a new fitness function and iterate again.

[0049] Compared with the prior art, the present invention has the following beneficial effects: after a piece of luggage is stored in the warehouse, the stacking AMR will re-update the luggage that needs to be stored next time, that is, through a rolling optimization method to deal with the random and high-urgency luggage, the system operation efficiency is optimized and the possibility of luggage detention is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of a flow chart of an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the relative positions of incoming baggage and outgoing baggage according to another embodiment of the present invention;

[0052] Figure 3 A schematic diagram of the operation time of a stacking AMR according to another embodiment of the present invention;

[0053] Figure 4 The figure is a flow chart of an improved sparrow search algorithm according to another embodiment of the present invention. DETAILED DESCRIPTION

[0054] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0055] like Figures 1 to 4 As shown, the embodiment of the present invention proposes an AMR-based early arrival and transfer baggage storage scheduling method, comprising the following steps:

[0056] S1: Obtain the current airport task order queue and shelf information; the task order queue includes inbound baggage information and outbound baggage information;

[0057] S2: Optimize the sparrow search algorithm based on the good point set method to obtain an improved sparrow search algorithm;

[0058] S3: According to the incoming baggage information and shelf information, the incoming location queue is obtained through the improved sparrow search algorithm;

[0059] S4: Determine the outbound location according to the first item in the inbound location queue and the outbound baggage information;

[0060] S5: Control the stacking AMR to complete the entry and exit of luggage according to the first item in the entry position queue and the exit position;

[0061] S6: Re-acquire the current airport task order queue and shelf information for processing to complete the storage scheduling of the early arrival and transfer baggage newly entering the current task order queue.

[0062] Working principle of the above technical solution: In actual use, the conventional automated warehousing system is mainly composed of a control management system, an off-site conveying system, an in-site conveying system, and a cargo storage system. The off-site conveying system is generally equipment such as AGV / AMR / RGV, and the in-site conveying system is generally equipment such as stackers; the in-site conveying system involved in this technical solution is composed of multiple groups of conveying systems, one group of conveying systems includes shelves and stacking AMRs, that is, a model is established with one stacking AMR and a row of shelves. When there are multiple AMRs and multiple shelves, there are multiple groups of conveying systems; the stacking AMR operating area is inside and outside the shelf; before the luggage is entered or exited, the stacking AMR obtains the incoming luggage information, the outgoing luggage information and the shelf information at the entry point, and then obtains the entry position of the incoming luggage through the improved sparrow search algorithm. The stacking AMR is a stacking AMR that receives and stores the luggage at the designated shelf point according to the instruction. If the task includes picking up the luggage, the stacking AMR returns to the entry point and leaves the shelf area after picking up the luggage, and delivers the luggage to the designated location. After the delivery is completed, the stacking AMR enters the shelf area again to accept the task for loading and unloading. Each time the stacking AMR enters the shelf area, it enters from the entry point. After completing the outbound and inbound of the luggage, the stacking AMR repeats steps S1-S4, i.e., re-obtains the luggage information for processing, i.e., the stacking AMR only executes the first item in the entry position queue each time.

[0063] Beneficial effects of the above technical solution: Through the above technical solution, after the stacking AMR puts a piece of luggage into the warehouse, it will re-update the luggage that needs to be put into the warehouse next time, that is, through the rolling optimization method to deal with the random and high-urgency luggage, optimize the system operation efficiency and reduce the possibility of luggage detention.

[0064] In one embodiment, the inbound baggage information includes: inbound baggage weight information, inbound baggage departure time information, and inbound baggage quantity;

[0065] According to the incoming baggage information and shelf information, the incoming location queue is obtained through the improved sparrow search algorithm, including:

[0066] S21: Determine the objective function, which is as follows:

[0067] minf=δ1f1+δ2f2

[0068] Among them, f is the objective function, δ1 is the first preset weight parameter, δ2 is the second preset weight parameter, f1 is the centroid cost, f2 is the frequency cost, δ1+δ1=1, and f1 is as follows:

[0069]

[0070] in, For the i τ The inbound baggage weight information of the inbound baggage, For the i τ The vertical coordinate of the center of gravity of the incoming baggage, n is the number of incoming baggage;

[0071] f2 looks like this:

[0072]

[0073] Among them, v y is the running speed of the stacking AMR in the longitudinal direction, v z is the horizontal running speed of the stacking AMR, For the i τ The time information of the incoming baggage from the departure time to the incoming baggage. For the i τ The storage location coordinates of the incoming luggage. L is the width of a storage compartment of the luggage rack, and H is the height of a storage compartment of the luggage rack.

[0074] S22: According to the incoming baggage information and shelf information, the objective function is minimized by using the improved sparrow search algorithm to obtain the incoming location queue;

[0075] The working principle and beneficial effects of the above technical solution: In actual use, after obtaining the information of incoming baggage, outgoing baggage and shelf information, the objective function is minimized by the sparrow algorithm to obtain the incoming position queue, which is then executed by the stacking AMR; in the process of luggage storage, in order to ensure that the upper part is light and the lower part is heavy after the luggage is placed on the shelf, maintaining a lower center of gravity is more conducive to the stable storage of luggage, so one of the optimization goals of the incoming cargo space allocation is to minimize the sum of the product of the mass of the luggage on each pallet and the number of layers it is on, that is, the lowest center of gravity, so when designing the objective function of the sparrow algorithm, the load-bearing cost f1 is introduced to meet the storage requirements; at the same time, in order to improve the operating efficiency of the system, the principle of nearest in and out of the warehouse is adopted, and the planning is carried out according to the time of the current luggage flight, that is, the closer the luggage is to the flight departure time, the closer it is to the in and out of the warehouse, which is conducive to speeding up the in and out time of the luggage and improving the efficiency of in and out of the warehouse, so when designing the objective function of the sparrow algorithm, the frequency cost f2 is introduced; finally, in order to better meet the actual operating conditions of each airport, the weight parameters of the load-bearing cost and the frequency cost are set to achieve the purpose of controlling the priority of different luggage;

[0076] Among them, the improved sparrow search algorithm process is as follows: Set necessary parameters and initialize the sparrow population; Initialize the sparrow population through the good point set strategy to optimize the distribution of the initial population; Discretize the sparrow population through the LOV strategy and calculate the individual fitness function; Update the population information according to the updater and vigilant formulas; Judge whether the iteration termination condition (objective function or maximum number of iterations) is satisfied. If satisfied, end the algorithm; If not satisfied, calculate the new fitness function and run iteratively; Among them, the Sparrow Search Algorithm (SSA) was first proposed by scholars such as Xue Jiankai and others as a new type of intelligent optimization algorithm inspired by the process of sparrows searching for food. Its basic process is as follows:

[0077] Assume that the initial population size of sparrows is n, which can be expressed as follows:

[0078]

[0079] Among them, d is the dimension of the solution space, and n represents the number of sparrows; Therefore, the fitness function can be expressed as follows:

[0080]

[0081] Among them: f is the fitness function;

[0082] In SSA, the duty of the discoverer is to help the entire sparrow population find food and provide foraging directions for the joiners. Therefore, the foraging search range of the discoverer is larger than that of the joiners. In each iteration process, the position update of the discoverer is described as follows:

[0083]

[0084] Among them, t is the current iteration number, iter max is the maximum number of iterations, represents the position information of the i-th sparrow in the j-th dimension at time t; R2 ∈ [0, 1] represents the early warning value, and ST ∈ [0.5, 1] represents the vigilance value;

[0085] Specifically, when R2 ≥ ST, it means that some sparrow populations are in danger, and the sparrow population needs to find a new safe area to forage again; On the contrary, when R2 < ST, the sparrow group is in a relatively safe environment and can expand the foraging range to obtain more food;

[0086] The joiners in foraging have two different states. In In the case of , it is in a state of food shortage and needs to go to other areas to forage. At the same time, some joiners will compete with the discoverer for food. If the joiner wins, it will get the food of the discoverer. The joiner position update formula is as follows:

[0087]

[0088] in, Indicates the optimal position occupied by the current discoverer in the t+1 iteration;

[0089] It is usually assumed that individuals who detect danger are randomly generated from the population. As a vigilant, their position update is as follows:

[0090]

[0091] Among them, X best is the optimal position. β is the step size control parameter, and K is a random number in [-1,1]. i represents the individual fitness value, f g is the optimal fitness value, f w is the worst fitness value; ε is a constant to avoid the situation where the denominator is 0;

[0092] In traditional SSA, the initial population is randomly generated, which has a great impact on the quality of the final search results. Therefore, this patent designs an improvement measure based on the best point set to improve the quality of the initial population. In addition, the solution space of the standard sparrow search algorithm is continuous. Therefore, this patent converts continuous position elements into discrete stacking sorting schemes based on the largest order value (LOV) rule of random key encoding to form an improved discrete sparrow search algorithm (Improved Discrete Sparrow Search Algorithm, IDSSA), which is combined with the key point algorithm to achieve the optimization of the stacking space;

[0093] Among them, the good point set method was first proposed by Hua Luogeng and others. Its basic definition and construction are as follows: Let G s is the unit cube in s-dimensional Euclidean space, if r∈G s , in the form of Its deviation satisfy Among them: C(r,ε) is a constant that is only related to r and ε (ε is any positive number), then P n (k) is the set of good points, r is the good point; where p satisfies The smallest prime number of , then r is a good point; optimizing the initial sparrow population by the good point set method can make the population distribution more uniform and avoid the algorithm from falling into the local optimum; the optimization strategy also includes: encoding based on the largest order value rule (LOV) of random key encoding, mapping the continuous values ​​of the sparrow position coordinates to discrete values. As shown in Table 1. According to the numerical size of the encoding sequence, different encoding positions are assigned 2, 4, 1, 3, and 5 in turn to obtain the intermediate sequence The rule for determining π is as follows:

[0094]

[0095] That is, when k=1, π2=1; when k=2, π4=2; and so on, we have π i =[3,1,4,2,5];

[0096] Table 1 Maximum order value rules based on random key encoding

[0097]

[0098] The beneficial effects of the above technical solution are as follows: Through the above technical solution, by introducing the load-bearing cost and frequency cost for the storage characteristics of early arrival and transfer baggage at the airport, an optimization model is established in combination with the multi-objective optimization method; based on this model, the improved sparrow search algorithm is used for optimization, combined with the rolling optimization method in predictive control to cope with the dynamic changes in task orders, the selection of incoming baggage for the stacking AMR in the stereoscopic warehouse is completed, the system operation efficiency is optimized, and the possibility of baggage detention is reduced.

[0099] In one embodiment, the outbound baggage information includes: the outbound baggage departure time information and the outbound baggage coordinate position information;

[0100] Determine the outbound location based on the inbound location queue and outbound baggage information, including:

[0101] S31: Select the first item in the incoming luggage queue as the incoming luggage, and determine the storage coordinates of the incoming luggage;

[0102] S32: Calculate the distance cost according to the storage coordinates and the outbound baggage information. The calculation formula is as follows:

[0103]

[0104] Among them, f3 is the distance cost, t sum_max t sum_cur The maximum value, t sum_min t sum_cur The minimum value of t sum_cur The calculation formula is as follows:

[0105] t sum_cur =t ep +t out

[0106]

[0107] in, is the coordinate position information of the outbound baggage, (y0, z0) is the storage coordinate;

[0108] S33: Calculate the time cost according to the storage coordinates and the outbound baggage information. The calculation formula is as follows:

[0109]

[0110] Among them, f4 is the time cost, t max is the maximum storage time of outbound baggage, t is The departure time information of the outbound baggage;

[0111] S34: Calculate the outbound value based on the time cost value and the distance cost value. The outbound value calculation formula is as follows:

[0112] F=δ3f3+δ4f4

[0113] Among them, F is the outbound value, δ3 is the third preset weight parameter, and δ4 is the fourth preset weight parameter;

[0114] S35: Repeat the above steps to calculate the outgoing values ​​of all outgoing luggage, and select the position corresponding to the outgoing luggage with the smallest outgoing value as the outgoing position.

[0115] The working principle of the above technical solution: In actual use, after the stacking AMR completes the storage of the incoming luggage, the luggage needs to be taken out of the warehouse. When determining the location of the outgoing luggage, this patent takes two aspects into consideration, namely distance and time, and calculates the distance cost between the storage coordinates of the incoming luggage and the outgoing location, and the distance take-off time of the outgoing luggage respectively; and most of the current domestic research on stereoscopic warehouses almost adopts the shortest path principle when designing the entry and exit of goods, that is, only calculates the distance cost. However, for airport luggage, there are strict requirements for the delivery time of each piece of luggage. If only the minimum distance is optimized, some earlier storage will be delayed. The luggage that enters and stays at a remote location has a lower priority for pickup, and may even be picked up too late and miss the flight. To prevent such problems from happening, this patent defines a luggage shipment urgency rate based on the definition of the cargo residual value rate, where t is the time from the coordinate luggage to the flight departure time, and t is the maximum storage time of the luggage, which is preferably set to 240 minutes. The greater the shipment urgency rate, the closer the flight departure time is, and the luggage needs to be shipped out first, otherwise it does not need to be shipped out first. At the same time, this patent defines that the shipment urgency rate is 0 180 minutes before the flight takes off, and gradually increases as the flight departure approaches, and the shipment urgency rate reaches a peak 30 minutes before the flight takes off. Figure 3 As shown, the stacking AMR starts from the storage point (origin o in the figure) and after the first period of time t in After that, it arrives at the storage location of the incoming luggage (the five-pointed star position in the attached figure), and then after the second period of time t ep After that, it moves from the storage coordinates to the outbound luggage's outbound luggage position (circular position in the attached figure), and after a third period of time t out Return to the storage point; therefore, the moving time of the stacking AMR in one storage and retrieval task is T = t in +t ep +t out ;

[0116] Beneficial effects of the above technical solution: Through the above technical solution, by introducing distance cost and time cost, combined with outbound baggage, the outbound baggage selection of the stacking AMR in the stereoscopic warehouse is completed, the system operation efficiency is optimized, and the outbound efficiency of the stacking AMR is improved. At the same time, the situation that the baggage is picked up too late and missed the plane is avoided.

[0117] In one embodiment, controlling the stacking AMR to complete the entry and exit of luggage according to the entry position queue and the exit position includes:

[0118] S41: Control the stacking AMR to move from the entry point to the storage coordinates to complete the entry of the luggage;

[0119] S42: Control the stacking AMR to move from the storage coordinates to the outbound position to complete the loading of the outbound baggage;

[0120] S43: Control the stacking AMR to move from the outbound position to the inbound point to complete the outbound baggage.

[0121] The working principle and beneficial effects of the above technical solution are as follows: The stacking AMR operating area is inside and outside the shelf. Each time it enters the shelf area, it enters from the entry point. At the entry point, the stacking AMR receives and stores and retrieves the luggage at the designated shelf position according to the instructions. If the task includes picking up luggage, after picking up the luggage, it returns to the entry point and leaves the shelf area, and goes to the designated location to deliver the luggage. After the delivery is completed, it enters the entry point again to accept the task for loading and unloading.

[0122] In one embodiment, the operation process of the improved sparrow search algorithm includes:

[0123] Initialize necessary parameters and sparrow population;

[0124] The initialized sparrow population is optimized by the good point set method to optimize the population distribution;

[0125] The sparrow population is discretized through the LOV strategy, and the individual fitness function is calculated;

[0126] Update formulas and population information based on joiners and vigilants;

[0127] Determine whether the iteration termination condition or objective function is met. If so, end the algorithm; if not, calculate a new fitness function and iterate again.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A storage scheduling method for early arrival and transfer baggage based on AMR, characterized in that: The following steps are involved: Get the current airport task order queue and shelf information; the task order queue includes inbound baggage information and outbound baggage information; The sparrow search algorithm is optimized based on the good point set method to obtain an improved sparrow search algorithm; According to the information of incoming baggage and shelf, the incoming position queue is obtained through the improved sparrow search algorithm; Determine the outbound location based on the first item in the inbound location queue and the outbound baggage information; Control the stacking AMR to complete the entry and exit of luggage according to the first item in the entry position queue and the exit position; The current airport task order queue and shelf information are retrieved for processing to complete the storage scheduling of early arrival and transfer baggage newly entering the current task order queue.

2. The AMR-based early arrival and transfer baggage storage scheduling method as claimed in claim 1, characterized in that: The inbound baggage information includes: inbound baggage weight information, inbound baggage departure time information and inbound baggage quantity; According to the incoming baggage information and shelf information, the incoming location queue is obtained through the improved sparrow search algorithm, including: Determine the objective function, which is as follows: minf=δ1f1+δ2g2 Among them, f is the objective function, δ1 is the first preset weight parameter, δ2 is the second preset weight parameter, f1 is the centroid cost, f2 is the frequency cost, δ1+δ1=1, and f1 is as follows: in, For the i τ The inbound baggage weight information of the inbound baggage, For the i τ The vertical coordinate of the center of gravity of the incoming baggage, n is the number of incoming baggage; f2 looks like this: Among them, v y is the running speed of the stacking AMR in the longitudinal direction, v z is the horizontal running speed of the stacking AMR, For the i τ The time information of the incoming baggage from the departure time to the incoming baggage. For the i τ The storage location coordinates of the incoming luggage. L is the width of a storage compartment of the luggage rack, and H is the height of a storage compartment of the luggage rack. According to the information of incoming baggage and shelf, the objective function is minimized by the improved sparrow search algorithm to obtain the incoming location queue.

3. The AMR-based early arrival and transfer baggage storage scheduling method as claimed in claim 1, characterized in that: The outbound baggage information includes: the outbound baggage departure time information and the outbound baggage coordinate location information; Determine the outbound location based on the inbound location queue and outbound baggage information, including: The first item in the incoming luggage queue is selected as the incoming luggage, and the storage coordinates of the incoming luggage are determined; The distance cost is calculated based on the storage coordinates and outbound baggage information. The calculation formula is as follows: Among them, f3 is the distance cost, t sum_max t sum_cur The maximum value, t sum_min t sum_cur The minimum value of t sum_cur The calculation formula is as follows: t sum_cur =t ep +t out in, is the coordinate position information of the outbound baggage, (y0, z0) is the storage coordinate; The time cost is calculated based on the storage coordinates and outbound baggage information. The calculation formula is as follows: Among them, f4 is the time cost, t max is the maximum storage time of outbound baggage, t is The departure time information of the outbound baggage; The outbound value is calculated based on the time cost and distance cost. The outbound value calculation formula is as follows: F=δ3f3+δ4f4 Among them, F is the outbound value, δ3 is the third preset weight parameter, and δ4 is the fourth preset weight parameter; Repeat the above steps to calculate the outbound values ​​of all outbound baggage, and select the position corresponding to the outbound baggage with the smallest outbound value as the outbound position.

4. The AMR-based early arrival and transfer baggage storage scheduling method as claimed in claim 3, characterized in that: Control the stacking AMR to complete the entry and exit of luggage according to the entry position queue and exit position, including: Control the stacking AMR to move from the entry point to the storage coordinates to complete the entry of luggage; Control the stacking AMR to move from the storage coordinates to the outbound location to complete the loading of outbound baggage; Control the stacking AMR to move from the outbound position to the inbound point to complete the outbound baggage.

5. The AMR-based early arrival and transfer baggage storage scheduling method as claimed in claim 1, characterized in that: The operation process of the improved sparrow search algorithm includes: Initialize necessary parameters and sparrow population; The initialized sparrow population is optimized by the good point set method to optimize the population distribution; The sparrow population is discretized through the LOV strategy, and the individual fitness function is calculated; Update formulas and population information based on joiners and vigilants; Determine whether the iteration termination condition or objective function is met. If so, end the algorithm; if not, calculate a new fitness function and iterate again.

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