Intelligent scheduling method and system based on stereoscopic warehouse

Abstract

The invention discloses an intelligent scheduling method and system based on a stereoscopic warehouse, relates to the technical field of path planning, and solves the problems that the transportation path of a smoke box is relatively single and insufficient in flexibility because the transportation path of the smoke box is not planned in combination with the actual area planning of a site in the prior art. According to the method, a task area and specific positions of task points in the task area are set, a task execution table is established, a task execution sequence is stipulated, a next task area of a current intelligent cigarette box is obtained through the task table, and the cigarette box is carried to the next task area through an AGV; in addition, the electric quantity state of the intelligent smoke box carried by the AGV and the temperature and humidity data of the intelligent smoke box are monitored in real time; once the electric quantity or the temperature and the humidity exceed a set safety threshold range, a user immediately goes to a charging task area or a fault storage area. According to the method, the transportation path of the smoke box is planned in combination with the actual area planning of the site, and the flexibility of the transportation path planning of the smoke box is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to an intelligent scheduling method and system based on a stereoscopic warehouse. Background Art

[0002] In the field of intelligent tobacco manufacturing, cigarette boxes are crucial for the storage of tobacco. They are not only physical protection devices for tobacco, ensuring its safety during storage and transportation, but also have a direct impact on the quality of tobacco and the efficiency of cigarette production. Temperature and humidity management in cigarette boxes is the core link in maintaining the quality of tobacco, because unsuitable temperature and humidity environment may cause tobacco to become damp and deteriorate, which in turn affects its combustion characteristics and smoking experience. Therefore, real-time monitoring of the temperature and humidity conditions inside the cigarette box is crucial for the control of the entire tobacco manufacturing process. By adopting an intelligent temperature and humidity monitoring system, the storage conditions of the cigarette box can be continuously monitored and adjusted to ensure that tobacco is stored in the most suitable environment, thereby improving the quality and consistency of cigarette products. This intelligent management not only improves production efficiency, but also helps to reduce energy consumption and reduce costs, and promote the tobacco industry to develop in an environmentally friendly and sustainable direction.

[0003] However, the current monitoring and management methods only focus on how to obtain the temperature and humidity data of the smoke box itself, and only automatically transport the smoke box based on a fixed path. In this process, the transportation route of the smoke box is not planned in combination with the actual area planning of the site. As a result, the transportation route of the smoke box is relatively single and lacks flexibility, which is not conducive to generating further response strategies when problems occur in the smoke box.

[0004] In view of this, an intelligent scheduling method and system based on a three-dimensional warehouse is needed. Summary of the invention

[0005] In view of the problem that the transportation route planning of cigarette boxes is not combined with the actual area planning of the site in the prior art, resulting in a relatively single transportation route of the cigarette boxes and insufficient flexibility, the present invention provides an intelligent scheduling method and system based on a stereoscopic warehouse, which can define the task area and task point in combination with the actual site, and describe the path planning strategy in real time based on the real-time location, temperature and humidity conditions and power conditions of the cigarette boxes, and then use the AGV car to carry the cigarette boxes to the task point with the lowest transportation cost in the corresponding task area. The specific technical solution is as follows:

[0006] An intelligent scheduling method based on a stereoscopic warehouse comprises the following steps:

[0007] Set the specific location of the task area and the task points in the task area, where the task area includes the charging area, the fault storage area and the task execution area X, where X = [1, 2, 3, ... N], and N is the total number of task execution areas;

[0008] Establish a task execution table to specify the order of task execution. The table at least includes the order of tasks and the starting point and destination of the tasks.

[0009] Obtain the real-time location, real-time power, and real-time temperature and humidity data of the smart cigarette box;

[0010] Obtain the next task area of ​​the current smart cigarette box through the task table, and use the AGV to carry the cigarette box to the next task area;

[0011] Real-time monitoring of the power status of the smart cigarette box carried by the AGV car and the temperature and humidity data of the smart cigarette box; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, a signal to go to the charging task area or the fault storage area is sent, and the AGV should immediately respond to the signal to go to the charging task area or the fault storage area.

[0012] Preferably, the process of determining the real-time position of the smart cigarette box is as follows:

[0013] When the smart cigarette box is mounted on an AGV, the real-time position of the smart cigarette box is the real-time position of the AGV;

[0014] When the smart cigarette box is not mounted on the AGV, the real-time location of the smart cigarette box is the specific location of the task point in the task area.

[0015] Preferably, the real-time position of the AGV is determined as follows:

[0016] S1: Deploy at least three UWB base stations in the indoor space, and each UWB base station is set at the same height;

[0017] S2: Select any one of the base stations as the coordinate origin, determine the directions of the three coordinate axes X, Y, and Z according to actual needs, and use the coordinate origin as a calibration to determine the coordinates of other base stations;

[0018] S3: The base station communicates with the tag on the car, measures the signal flight time, and multiplies the flight time by the propagation rate to get the distance from the base station to the tag;

[0019] S4: List the equations and solve them to get the label coordinates (x c ,y c ):

[0020]

[0021] In the formula, (x c ,y c ) is the label coordinate, (x i ,y i ) is the coordinate of each base station, i = [1, 2, ..., n], n is the number of base stations, d iis the distance from the base station to the tag, and solving the equation gives the tag coordinates (x c ,y c ) to complete the positioning.

[0022] S5: When the AGV is moving with the smart cigarette box, the coordinates of the AGV are used as the position coordinates of the smart cigarette box.

[0023] Preferably, when the AGV goes to the corresponding task area, the target point is set as a specific task point in the task area, wherein the specific task point is determined by establishing and solving an objective function, and the objective function is specifically as follows:

[0024]

[0025] In the formula, (x a ,y a ) is the starting point coordinate, (x b ,y b ) is the target point coordinate;

[0026] There are also constraints, including target point state constraints, as follows:

[0027] C b ≠0

[0028] In the formula, C b is the target point (x b ,y b ) Idle state, when the target point is idle C b =1, when the target point is not available C b =0.

[0029] Preferably, the objective function is solved by the gradient ascent method, as follows:

[0030] Step 1: Get the data set for decision making and randomly select an initial point as the starting point;

[0031] Step 2: Calculate the gradient of the objective function Z at the current point;

[0032] Step 3: Update the parameters along the direction of the gradient, define the learning rate, and control the step size;

[0033] Step 4: Check whether the magnitude of the gradient is less than a preset threshold, or check whether the value of the objective function changes very little in several consecutive iterations. If so, the algorithm is considered to have converged.

[0034] Step 5: If there is no convergence, return to step 2 and continue iterating;

[0035] Step 6: When the algorithm converges, output the value of the current decision.

[0036] Preferably, the smart cigarette box includes a cigarette box body and a sensor module, an acquisition module, a communication module, a microprocessor (MCU), a power module, a power monitoring module and a wireless charging receiver; wherein the sensor module is connected to the acquisition module, the acquisition module and the communication module are connected to the microprocessor module, the sensor module, the acquisition module and the communication module, the microprocessor module are connected, the power detection module and the wireless charging receiver are all connected to the power module, and, except for the sensor module exposed on the inner surface of the cigarette box, the rest are embedded inside the box.

[0037] Preferably, the sensor includes a temperature sensor and a humidity sensor.

[0038] An intelligent dispatching system based on a stereoscopic warehouse, comprising:

[0039] The smart cigarette box is used to obtain its own temperature and humidity data and remaining power data and transmit them to the outside through the communication module, including the cigarette box body and sensor module, acquisition module, communication module, microprocessor (MCU), power module, power monitoring module and wireless charging receiver; wherein the sensor module is connected to the acquisition module, the acquisition module and communication module are connected to the microprocessor module, the sensor module, acquisition module and communication module, microprocessor module are connected, power detection module, wireless charging receiver are all connected to the power module, and, except for the sensor module exposed on the inner surface of the cigarette box, the rest are embedded inside the box.

[0040] The task planning unit is used to establish a task execution table and specify the task execution order to obtain the destination of the AGV. The table contains information such as the task order and the starting point, passing point, destination and estimated arrival time between tasks, so that the AGV can execute the task according to the established path.

[0041] The scheduling and planning unit obtains the real-time position, real-time power, and real-time temperature and humidity data of the smart cigarette box; obtains the next task area of ​​the current cigarette box through the task table, and selects the task point position closest to the current position as the target point for controlling the AGV to move forward; at the same time, monitors the power status of the smart cigarette box carried by the AGV car and the temperature and humidity data of the smart cigarette box in real time; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, the next task area will be replaced with the charging area or the fault storage area, and then the task point position closest to the current position will be selected in the corresponding area as the target point for controlling the AGV to move forward.

[0042] The AGV is used to carry the smart cigarette box to the target location and locate its own position in real time, so that when the smart cigarette box is carried, its own position is used as the real-time position of the smart cigarette box. When the smart cigarette box is not carried on the AGV, the real-time position is the position of the corresponding task point.

[0043] A computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the intelligent scheduling method based on a stereoscopic warehouse as described above.

[0044] A processor is used to run a program, wherein the program executes the above-mentioned intelligent scheduling method based on a stereoscopic warehouse when running.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The present invention sets the specific location of the task area and the task point in the task area, establishes a task execution table, and specifies the order of task execution. The table at least contains the task order and the starting point and destination of the travel between tasks; obtains the real-time position, real-time power, and real-time temperature and humidity data of the smart cigarette box; obtains the next task area of ​​the current smart cigarette box through the task table, and carries the cigarette box to the next task area through the AGV trolley; and monitors the power status of the smart cigarette box carried by the AGV trolley and the temperature and humidity data of the smart cigarette box in real time; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, a signal to go to the charging task area or the fault storage area is sent, and the AGV should immediately respond to the signal to go to the charging task area or the fault storage area. The present invention combines the actual area planning of the site to plan the transportation route of the cigarette box, improves the flexibility of the transportation route planning of the cigarette box, and is conducive to generating further response strategies and corresponding processing when problems occur in the cigarette box. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0048] Figure 1 is a flow chart of the method of the present invention;

[0049] Figure 2 Flow chart to determine the real-time position of the AGV;

[0050] Figure 3 Schematic diagram of the specific steps of the gradient ascent method;

[0051] Figure 4 Schematic diagram of the system framework of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0054] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0055] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] In one embodiment of the present invention, an intelligent scheduling method based on a stereoscopic warehouse is provided. Figure 1 As shown, the following steps are included:

[0057] Step 1: Set the specific location of the mission area and the mission points within the mission area;

[0058] According to the spatial layout, the charging task area, fault storage area and task execution area X are divided, X = [1, 2, 3, ... N], N is the total number of task execution areas, and several task points are set in each task area, and the specific location information of each task point is collected. This information will be used for path planning and task allocation.

[0059] Step 2: Create a task execution table to specify the task execution order to obtain the destination of the AGV. For example, from task execution area 1 to task execution area 2, from task execution area 2 to task execution area 3, and then return to task execution area 1 to form a loop path. The table contains information such as the task order and the starting point, passing point, destination, and estimated arrival time between tasks, so that the AGV can execute tasks according to the established path.

[0060] In this embodiment, the order of tasks includes the packing, storage, unloading and cleaning of tobacco, among which the packing task is executed in task area 1, the storage task is executed in task 2, the unloading task is executed in task area 3, the cleaning task is executed in task area 4, the charging task is the charging area, and the fault storage task is the fault storage area.

[0061] The normal task sequence is: packing → storage → unloading → cleaning → packing. The task table storage format is shown in Table 1 below:

[0062] Table 1 Task execution table

[0063] Task Starting point end Packing → Storage The specific mission point where the smoke box is located Specific task points in the storage area Storage → Unloading The specific mission point where the smoke box is located Specific task points in the unloading area Unloading → Cleaning The specific mission point where the smoke box is located Specific task points in the cleaning area Cleaning → Packing The specific mission point where the smoke box is located Specific tasks in the packing area Charging task AGV car current location Specific mission points in the charging area Fault storage task AGV car current location Specific task points in the fault storage area

[0064] Based on the task execution table, the specific location of the target point can be sent to the AGV, and then the AGV will move from its current location to the target point based on its own path planning algorithm. Since the AGV's own path planning based on the target point location is a mature existing technology, it will not be further described here. The following is a brief introduction to the technologies used in the AGV's path planning. The details are as follows:

[0065] 1. Perform environmental modeling: including map creation, dynamic obstacle tracking, and object volume data integration, such as Figure 4 As shown, the details are as follows:

[0066] Map creation: Create a detailed map of the warehouse, including the location and dimensions of all aisles, shelves, and obstacles.

[0067] Dynamic obstacle tracking: Real-time updates of dynamic obstacles in the warehouse, such as other AGVs, staff, temporarily placed items, etc.

[0068] 2. Select a path planning algorithm with dimensional space constraints, such as A*, Dijkstra, RRT (rapid exploration of random trees), etc. This example uses A*.

[0069] 3. Collision detection: Ensure that the combination of AGV and object will not collide with any obstacle by calculating the bounding box of AGV and object. That is, check whether this bounding box overlaps with the bounding box of other obstacles. Overlap indicates a collision.

[0070] 4. Dynamic path adjustment: If during collision detection, it is detected that the space at a certain point on the path is insufficient to accommodate the AGV and the object, the path planning algorithm is modified to dynamically adjust the path to avoid obstacles.

[0071] Step 3: Obtain the real-time position, real-time power, and real-time temperature and humidity data of the smart cigarette box; obtain the next task area of ​​the current cigarette box through the task table, and use the AGV to carry the cigarette box to the next task area. At the same time, monitor the power status of the smart cigarette box carried by the AGV in real time and the temperature and humidity data of the smart cigarette box; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, a signal to go to the charging task area or the fault storage area is sent, and the AGV should immediately respond to the signal to go to the charging task area or the fault storage area;

[0072] Among them, the smart cigarette box includes a cigarette box body and a sensor module, an acquisition module, a communication module, a microprocessor (MCU), a power module, a power monitoring module and a wireless charging receiver; the sensor module is connected to the acquisition module, the acquisition module and the communication module are connected to the microprocessor module, the sensor module, the acquisition module and the communication module, the microprocessor module are connected, the power detection module, and the wireless charging receiver are all connected to the power module, and, except for the sensor module exposed on the inner surface of the cigarette box, the rest of the parts are embedded inside the box.

[0073] The sensor module includes a temperature sensor and a humidity sensor for collecting the temperature and humidity of the smoke box; the acquisition module is used to collect data from the sensor module and transfer the temperature and humidity data to the microprocessor for storage, and the microprocessor transmits the stored temperature and humidity data to the outside through the communication module. The power monitoring module is provided with a power monitoring circuit, which is connected to the power module to obtain the remaining power of the power module and then transmit it to the outside through the communication module.

[0074] In other words, the smart smoke box can obtain its own temperature and humidity data and remaining power data and transmit them to the outside through the communication module.

[0075] The AGV is also equipped with a positioning module, which uses a UWB tag to facilitate the use of UWB positioning technology to obtain the real-time position of the vehicle indoors. Figure 2 As shown, the process is as follows:

[0076] S1: Deploy at least three UWB base stations in the indoor space. The distance between base stations should be kept above 5 meters to reduce interference; and each UWB base station should be set at the same height.

[0077] S2: Select any one of the base stations as the coordinate origin, determine the directions of the three coordinate axes X, Y, and Z according to actual needs, and use the coordinate origin as a calibration to determine the coordinates of other base stations;

[0078] S3: The base station communicates with the tag on the car and measures the signal flight time (TOF). Since the propagation speed of UWB is the speed of light, the distance from the base station to the tag can be obtained by multiplying the flight time by the propagation speed.

[0079] S4: label coordinates are (x c ,y c ), the coordinates of each base station (x i ,y i ), the distance from the base station to the tag is d i , we can list the equation:

[0080]

[0081] In the formula, n is the number of base stations. From the above formula, we can see that the above formula only has (x c ,y c ) is unknown, by solving the above equation, we can get the label coordinates (x c ,y c ) to complete the positioning.

[0082] S5: When the AGV is moving with the smart cigarette box, the coordinates of the AGV are used as the position coordinates of the smart cigarette box.

[0083] In this process, the task points in the target area are selected. In this embodiment, an objective function is constructed with the minimization of straight-line distance as the goal, and the objective function is solved to obtain a specific task point selection strategy.

[0084] The objective function is as follows:

[0085]

[0086] In the formula, (x a ,y a ) is the starting point coordinate, (x b ,y b ) is the target point coordinate;

[0087] Set constraints, including target point status constraints, as follows:

[0088] C b ≠0

[0089] In the formula, C b is the target point (x b ,y b ) Idle state, when the target point is idle C b =1, when the target point is not available C b =0.

[0090] The decision output module of this embodiment adopts the gradient ascent algorithm. The gradient ascent method is an iterative method that gradually adjusts the parameters along the direction of the objective function gradient to find the minimum value of the function. Figure 3As shown, the following are the specific steps of the gradient ascent method:

[0091] Step 1: Get the data set for decision making and randomly select an initial point as the starting point;

[0092] Step 2: Calculate the gradient of the objective function Z at the current point;

[0093] Step 3: Update the parameters along the direction of the gradient, define the learning rate, and control the step size;

[0094] Step 4: Check whether the magnitude of the gradient is less than a preset threshold, or check whether the value of the objective function changes very little in several consecutive iterations. If so, the algorithm is considered to have converged.

[0095] Step 5: If there is no convergence, return to step 2 and continue iterating;

[0096] Step 6: When the algorithm converges, output the value of the current decision.

[0097] In summary, the implementation process of step three is as follows:

[0098] S01: Obtain the next task area of ​​the current smoke box through the task table, and then select the task point with the shortest straight-line distance to the current position as the target point in the next task area, and then use the target point as the destination of the AGV car, and automatically go to the target point through the path planning algorithm carried by the AGV car itself.

[0099] S02: In this process, the temperature and humidity of the smart cigarette box are monitored in real time, and the safety thresholds of temperature and humidity are set. Once the real-time data of temperature or humidity exceeds the safety threshold range of temperature and humidity, the current coordinate point of the smart cigarette box is obtained, and the current coordinate point is used as the starting point. Several task points in the fault storage area are used as target points. The task point closest to the current coordinate point is determined by solving the objective function, and then the AGV car automatically goes to the target point through the path planning algorithm carried by itself.

[0100] S03: Monitor the remaining power of the smart cigarette box in real time and set a power safety threshold. Once the real-time power data exceeds the power safety threshold, obtain the current coordinate point of the smart cigarette box, take the current coordinate point as the starting point, and several task points in the charging area as the target point. Determine the task point closest to the current coordinate point by solving the objective function, and then automatically go to the target point through the path planning algorithm carried by the AGV car itself.

[0101] In one embodiment of the present invention, an intelligent scheduling system based on a stereoscopic warehouse is provided. Figure 4 As shown, including:

[0102] The smart cigarette box is used to obtain its own temperature and humidity data and remaining power data and transmit them to the outside through the communication module, including the cigarette box body and sensor module, acquisition module, communication module, microprocessor (MCU), power module, power monitoring module and wireless charging receiver; wherein the sensor module is connected to the acquisition module, the acquisition module and communication module are connected to the microprocessor module, the sensor module, acquisition module and communication module, microprocessor module are connected, power detection module, wireless charging receiver are all connected to the power module, and, except for the sensor module exposed on the inner surface of the cigarette box, the rest are embedded inside the box.

[0103] The task planning unit is used to establish a task execution table and specify the task execution order to obtain the destination of the AGV. The table contains information such as the task order and the starting point, passing point, destination and estimated arrival time between tasks, so that the AGV can execute the task according to the established path.

[0104] The scheduling and planning unit obtains the real-time position, real-time power, and real-time temperature and humidity data of the smart cigarette box; obtains the next task area of ​​the current cigarette box through the task table, and selects the task point position closest to the current position as the target point for controlling the AGV to move forward; at the same time, monitors the power status of the smart cigarette box carried by the AGV car and the temperature and humidity data of the smart cigarette box in real time; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, the next task area will be replaced with the charging area or the fault storage area, and then the task point position closest to the current position will be selected in the corresponding area as the target point for controlling the AGV to move forward.

[0105] The AGV is used to carry the smart cigarette box to the target location and locate its own position in real time, so that when the smart cigarette box is carried, its own position is used as the real-time position of the smart cigarette box. When the smart cigarette box is not carried on the AGV, the real-time position is the position of the corresponding task point.

[0106] In summary, the present invention sets the specific location of the task area and the task points in the task area, establishes a task execution table, and specifies the task execution order, which at least includes the task order and the starting point and destination of the task; obtains the real-time position, real-time power, and real-time temperature and humidity data of the smart cigarette box; obtains the next task area of ​​the current smart cigarette box through the task table, and carries the cigarette box to the next task area through the AGV cart; and monitors the power status of the smart cigarette box carried by the AGV cart and the temperature and humidity data of the smart cigarette box in real time; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, a signal to go to the charging task area or the fault storage area is sent, and the AGV should immediately respond to the signal to go to the charging task area or the fault storage area. The present invention combines the actual area planning of the site to plan the transportation route of the cigarette box, improves the flexibility of the transportation route planning of the cigarette box, and is conducive to generating further response strategies and corresponding processing when problems occur in the cigarette box.

[0107] Those of ordinary skill in the art will appreciate that the units of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition of each example has been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0108] In the embodiments provided by the present invention, it should be understood that the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored, etc.

[0109] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-0nlyMemory), random access memory (RAM, RandomAccessMemory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. An intelligent scheduling method based on a stereoscopic warehouse, characterized in that: The following steps are involved: Set the specific location of the task area and the task points in the task area, where the task area includes the charging area, the fault storage area and the task execution area X, where X = [1, 2, 3, ... N], and N is the total number of task execution areas; Establish a task execution table to specify the order of task execution. The table at least includes the order of tasks and the starting point and destination of the tasks. Obtain the real-time location, real-time power, and real-time temperature and humidity data of the smart cigarette box; Obtain the next task area of ​​the current smart cigarette box through the task table, and use the AGV to carry the cigarette box to the next task area; Real-time monitoring of the power status of the smart cigarette box carried by the AGV car and the temperature and humidity data of the smart cigarette box; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, a signal to go to the charging task area or the fault storage area is sent, and the AGV should immediately respond to the signal to go to the charging task area or the fault storage area.

2. According to claim 1, the intelligent scheduling method based on the stereoscopic warehouse is characterized in that: The process of determining the real-time position of the smart cigarette box is as follows: When the smart cigarette box is mounted on an AGV, the real-time position of the smart cigarette box is the real-time position of the AGV; When the smart cigarette box is not mounted on the AGV, the real-time location of the smart cigarette box is the specific location of the task point in the task area.

3. The intelligent scheduling method based on a stereoscopic warehouse according to claim 2 is characterized in that: The real-time position of the AGV is determined as follows: S1: Deploy at least three UWB base stations in the indoor space, and each UWB base station is set at the same height; S2: Select any one of the base stations as the coordinate origin, determine the directions of the three coordinate axes X, Y, and Z according to actual needs, and use the coordinate origin as a calibration to determine the coordinates of other base stations; S3: The base station communicates with the tag on the car, measures the signal flight time, and multiplies the flight time by the propagation rate to get the distance from the base station to the tag; S4: List the equations and solve them to get the label coordinates (x c ,y c ): In the formula, (x c ,y c ) is the label coordinate, (x i ,y i ) is the coordinate of each base station, i = [1, 2, ..., n], n is the number of base stations, d i is the distance from the base station to the tag, and solving the equation gives the tag coordinates (x c ,y c ), complete the positioning; S5: When the AGV is moving with the smart cigarette box, the coordinates of the AGV are used as the position coordinates of the smart cigarette box.

4. The intelligent scheduling method based on a stereoscopic warehouse according to claim 1 is characterized in that: When the AGV goes to the corresponding task area, the target point is set as a specific task point in the task area. The specific task point is determined by establishing and solving the objective function. The objective function is as follows: In the formula, (x a ,y a ) is the starting point coordinate, (x b ,y b ) is the target point coordinate; There are also constraints, including target point state constraints, as follows: C b ≠0 In the formula, C b is the target point (x b ,y b ) Idle state, when the target point is idle C b =1, when the target point is not available C b =0.

5. The intelligent scheduling method based on a stereoscopic warehouse according to claim 4 is characterized in that: The objective function is solved by the gradient ascent method, as follows: Step 1: Get the data set for decision making and randomly select an initial point as the starting point; Step 2: Calculate the gradient of the objective function Z at the current point; Step 3: Update the parameters along the direction of the gradient, define the learning rate, and control the step size; Step 4: Check whether the magnitude of the gradient is less than a preset threshold, or check whether the value of the objective function changes very little in several consecutive iterations. If so, the algorithm is considered to have converged. Step 5: If there is no convergence, return to step 2 and continue iterating; Step 6: When the algorithm converges, output the value of the current decision.

6. The intelligent scheduling method based on a stereoscopic warehouse according to claim 1 is characterized in that: The smart cigarette box includes a cigarette box body and a sensor module, a collection module, a communication module, a microprocessor (MCU), a power module, a power monitoring module and a wireless charging receiver; wherein the sensor module is connected to the collection module, the collection module and the communication module are connected to the microprocessor module, the sensor module, the collection module and the communication module, the microprocessor module are connected, the power detection module and the wireless charging receiver are all connected to the power module, and, except for the sensor module exposed on the inner surface of the cigarette box, the rest are embedded inside the box.

7. The intelligent scheduling method based on a stereoscopic warehouse according to claim 6 is characterized in that: Sensors include temperature sensors and humidity sensors.

8. An intelligent scheduling system based on a three-dimensional warehouse, characterized in that: include: The smart smoke box is used to obtain its own temperature and humidity data and remaining power data and transmit them to the outside through the communication module, including the smoke box body and sensor module, acquisition module, communication module, microprocessor (MCU), power module, power monitoring module and wireless charging receiver; wherein the sensor module is connected to the acquisition module, the acquisition module and communication module are connected to the microprocessor module, the sensor module, acquisition module and communication module, microprocessor module are connected, power detection module, wireless charging receiver are all connected to the power module, and, except for the sensor module exposed on the inner surface of the smoke box, the rest are embedded inside the box; The task planning unit is used to establish a task execution table and specify the task execution order to obtain the destination of the AGV. The table contains information such as the task order and the starting point, passing point, destination and estimated arrival time between tasks, so that the AGV can execute the task according to the established path; The scheduling and planning unit obtains the real-time position, real-time power, and real-time temperature and humidity data of the smart cigarette box; obtains the next task area of ​​the current cigarette box through the task table, and selects the task point position closest to the current position as the target point for controlling the AGV to move forward; at the same time, monitors the power status of the smart cigarette box carried by the AGV car and the temperature and humidity data of the smart cigarette box in real time; once the power is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, the next task area is replaced with the charging area or the fault storage area, and then the task point position closest to the current position is selected in the corresponding area as the target point for controlling the AGV to move forward; The AGV cart is used to carry the smart cigarette box to the target location and locate its own position in real time. When the smart cigarette box is carried, its own position is used as the real-time position of the smart cigarette box. When the smart cigarette box is not carried on the AGV cart, the real-time position is the position of the corresponding task point.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the intelligent scheduling method based on a stereoscopic warehouse as described in any one of claims 1 to 7.

10. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the intelligent scheduling method based on a stereoscopic warehouse as described in any one of claims 1 to 7.

Images