Intelligent scheduling method and system based on stereoscopic warehouse

Abstract

This invention discloses an intelligent scheduling method and system based on an automated warehouse, relating to the field of path planning technology. It solves the problem in existing technologies where the transportation path planning for cigarette boxes is not integrated with the actual area planning of the site, resulting in a relatively simple and inflexible transportation path. This invention sets up task areas and the specific locations of task points within each task area, establishes a task execution table, specifies the task execution order, obtains the next task area for the current smart cigarette box through the task table, and uses an AGV (Automated Guided Vehicle) to transport the cigarette box to the next task area. Furthermore, it monitors the battery status and temperature and humidity data of the smart cigarette box carried by the AGV in real time; if the battery level or temperature and humidity exceed the set safety threshold range, it immediately proceeds to the charging task area or fault storage area. This invention integrates the actual area planning of the site for cigarette box transportation path planning, improving the flexibility of cigarette box transportation path planning.

Description

Technical Field

[0001] This invention relates to the field of route planning technology, and in particular to an intelligent scheduling method and system based on automated warehouses. Background Technology

[0002] In the field of intelligent tobacco manufacturing, tobacco boxes are crucial for the storage of tobacco shreds. They not only serve as physical protection for the tobacco, ensuring its safety during storage and transportation, but also directly impact the quality of the tobacco and the efficiency of cigarette production. Temperature and humidity management within the tobacco box is a core aspect of maintaining tobacco quality, as unsuitable environments can cause the tobacco to become damp and deteriorate, affecting its combustion characteristics and smoking experience. Therefore, real-time monitoring of the temperature and humidity inside the tobacco box is essential for controlling the entire tobacco manufacturing process. By adopting an intelligent temperature and humidity monitoring system, the storage conditions within the tobacco box can be continuously monitored and adjusted to ensure the 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 reduce energy consumption and costs, promoting the tobacco industry towards environmentally friendly and sustainable development.

[0003] However, current monitoring and management methods only focus on obtaining temperature and humidity data of the cigarette boxes themselves, and only automatically transport the cigarette boxes based on fixed paths. They do not combine the actual area planning of the site to plan the transportation path of the cigarette boxes, resulting in a relatively simple transportation path and insufficient flexibility, which is not conducive to developing further response strategies when problems occur with the cigarette boxes.

[0004] Therefore, an intelligent scheduling method and system based on automated warehouses is needed. Summary of the Invention

[0005] To address the problem that existing technologies fail to integrate actual site planning with cigarette box transportation route planning, resulting in limited and inflexible transportation paths, this invention provides an intelligent scheduling method and system based on an automated warehouse. This method delineates task areas and task points based on the actual site conditions and dynamically adjusts the route planning strategy based on the real-time location, temperature, humidity, and battery status of the cigarette boxes. Then, AGVs (Automated Guided Vehicles) transport the cigarette boxes to the task points within the corresponding task areas with the lowest transportation costs. The specific technical solution is as follows:

[0006] An intelligent scheduling method based on automated warehouses includes the following steps:

[0007] Define the task area and the specific locations of task points within it. The task area includes a charging area, a fault storage area, and a task execution X area. N is the total number of task execution areas;

[0008] Create a task execution table that specifies the order of task execution. The table should include at least the order of tasks and the starting point and destination for movement between tasks.

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

[0010] The task list is used to obtain the next task area of ​​the current smart cigarette box, and the cigarette box is transported to the next task area by an AGV vehicle.

[0011] The system monitors the battery status and temperature and humidity data of the smart cigarette box on the AGV in real time. If the battery level is lower than the preset threshold or the temperature and humidity exceed the set safety threshold range, a signal is sent to go to the charging task area or the fault storage area. The AGV should respond immediately to the signal to go to the charging task area or the fault storage area.

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

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

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

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

[0016] S1: Deploy at least 3 UWB base stations in an indoor space, with each UWB base station set at the same height;

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

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

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

[0020]

[0021] In the formula, ( x c , y c ) represents the label coordinates, ( xi , y i The coordinates of each base station. , n Number of base stations d i The distance from the base station to the tag is given by solving the equation to obtain the tag coordinates. x c , y c ), complete the positioning.

[0022] S5: During the movement of the AGV carrying the smart cigarette box, the coordinates of the AGV are used as the position coordinates of the smart cigarette box.

[0023] Preferably, during the process of the AGV moving to the corresponding task area, the target point is set as a specific task point within the task area. The specific task point is determined by establishing and solving an objective function, which is as follows:

[0024]

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

[0026] Constraints are also included, such as target point state constraints, as follows:

[0027]

[0028] In the formula, For the target point ( x b , y b Idle state, when the target point is idle. When the target point is unavailable .

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

[0030] Step 1: Obtain the dataset 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, defined as the learning rate, which controls the step size;

[0033] Step 4: Check if the magnitude of the gradient is less than the preset threshold, or check if 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 convergence is not achieved, return to step 2 and continue iterating;

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

[0036] Preferably, the smart cigarette case includes a cigarette case body, a sensor module, a data 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 data acquisition module, the data acquisition module and the communication module are connected to the microprocessor module, the sensor module, the data acquisition module, the communication module, the microprocessor module are connected, the power monitoring module, and the wireless charging receiver are all connected to the power module, and except for the sensor module which is exposed on the inner surface of the cigarette case, the rest are embedded inside the case body.

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

[0038] An intelligent scheduling system based on an automated warehouse includes:

[0039] The smart cigarette case is used to acquire its own temperature, humidity, and remaining power data and transmit them externally through a communication module. It includes the cigarette case body, sensor module, acquisition module, communication module, microprocessor (MCU), power module, power monitoring module, and 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, and the sensor module, acquisition module, communication module, microprocessor module, power monitoring module, and wireless charging receiver are all connected to the power module. Moreover, except for the sensor module which is exposed on the inner surface of the cigarette case, the rest of the components are embedded inside the case.

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

[0041] The scheduling and planning unit acquires the real-time location, power level, and temperature and humidity data of the smart cigarette box; it obtains the next task area for the current cigarette box from the task list and selects the task point closest to the current location as the target point for controlling the AGV's movement; simultaneously, it monitors the power status and temperature and humidity data of the smart cigarette box carried by the AGV in real time; once the power level is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, the next task area is replaced with a charging area or a fault storage area, and then the task point closest to the current location in the corresponding area is selected as the target point for controlling the AGV's movement.

[0042] The AGV (Automated Guided Vehicle) is used to carry smart cigarette boxes to the target location and to locate itself in real time. When carrying the smart cigarette box, its own location is used as the real-time location of the smart cigarette box. When the smart cigarette box is not carried by the AGV, its real-time location is the location of the corresponding task point.

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

[0044] A processor for running a program, wherein the program executes the intelligent scheduling method based on an automated warehouse as described above.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0046] This invention sets the specific locations of task areas and task points within them, establishes a task execution table, and specifies the task execution order. The table includes at least the task sequence and the starting and ending points for movement between tasks. It acquires real-time location, battery level, and temperature and humidity data of the smart cigarette box. The next task area for the current smart cigarette box is obtained through the task table, and the cigarette box is transported to the next task area by an AGV (Automated Guided Vehicle). The invention also monitors the battery level and temperature and humidity data of the smart cigarette box carried by the AGV in real time. If the battery level falls below a preset threshold, or the temperature and humidity exceed a set safety threshold, a signal is sent to proceed to the charging task area or the fault storage area, and the AGV should immediately respond to the signal. This invention combines the actual area planning of the site with the planning of the cigarette box's transportation path, improving the flexibility of the transportation path planning and facilitating further response strategies when problems occur with the cigarette box. Attached Figure Description

[0047] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. 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 to scale.

[0048] Figure 1 This is a flowchart of the method of the present invention;

[0049] Figure 2 A flowchart for determining the real-time position of an AGV (Automated Guided Vehicle).

[0050] Figure 3 A schematic diagram illustrating the specific steps of the gradient ascent method;

[0051] Figure 4 This is a schematic diagram of the system framework of the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

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

[0055] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0056] In one embodiment of the present invention, an intelligent scheduling method based on an automated warehouse is provided, such as... Figure 1 As shown, it includes the following steps:

[0057] Step 1: Set the task area and the specific locations of the task points within the task area;

[0058] Based on the spatial layout, the area is divided into a charging task area, a fault storage area, and a task execution area (X area). N represents the total number of task execution zones. Several task points are set within each task zone, 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 and obtain the destination of the AGV. For example, from task 1 to task 2, from task 2 to task 3, and then back to task 1, forming a loop path. The table contains information such as the task order, starting point, waypoints, destination, and estimated arrival time between tasks, so that the AGV can execute tasks according to the predetermined path.

[0060] In this embodiment, the sequence of tasks includes packing, storing, unloading, and cleaning the tobacco. The packing task is assigned to Task 1, the storage task to Task 2, the unloading task to Task 3, the cleaning task to Task 4, the charging task to the charging area, and the fault storage task to 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]

[0064] Based on the task execution table, the specific location of the target point can be sent to the AGV. The AGV then uses its own path planning algorithm to navigate from its current location to the target point. Since path planning based on the target point is a mature existing technology, it will not be elaborated upon here. The following is a brief introduction to the technologies generally used in AGV path planning. Specifically:

[0065] 1. Environmental modeling: This includes map creation, dynamic obstacle tracking, and integration of object volume data, 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, workers, and temporarily placed items.

[0068] 2. Choose a path planning algorithm with dimensional space constraints, such as A*, Dijkstra's algorithm, or RRT (Rapid Exploratory Random Tree). This example uses A*.

[0069] 3. Collision detection: By calculating the bounding box of the AGV and the item, it is ensured that the combination of the AGV and the item will not collide with any obstacles. That is, it checks whether the bounding box overlaps with the bounding box of other obstacles. If they overlap, it means that a collision has occurred.

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

[0071] Step 3: Obtain the real-time location, real-time battery level, 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 list, and use the AGV to carry the cigarette box to the next task area. At the same time, monitor the battery status and temperature and humidity data of the smart cigarette box carried by the AGV in real time; once the battery level 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 fault storage area is sent, and the AGV should immediately respond to the signal to go to the charging task area or fault storage area.

[0072] The smart cigarette case includes a cigarette case body, a sensor module, a data 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 data acquisition module, the data acquisition module and the communication module are connected to the microprocessor module, and the sensor module, data acquisition module, communication module, microprocessor module, power monitoring module, and wireless charging receiver are all connected to the power module. Moreover, except for the sensor module which is exposed on the inner surface of the cigarette case, the rest of the components are embedded inside the case.

[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 collects the data from the sensor module and transmits the temperature and humidity data to a microprocessor for storage. The microprocessor then transmits the stored temperature and humidity data externally via a communication module. The power monitoring module includes a power monitoring circuit connected to the power module to obtain the remaining power of the power module and transmits this information externally via the communication module.

[0074] In other words, the smart cigarette box can acquire its own temperature and humidity data as well as remaining power data and transmit them to the outside world through the communication module.

[0075] The AGV is also equipped with a positioning module, which uses a UWB tag to facilitate obtaining the vehicle's real-time location indoors using UWB positioning technology. Figure 2 As shown, the process is as follows:

[0076] S1: Deploy at least 3 UWB base stations in the indoor space, with a distance of more than 5 meters between the base stations 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 origin of the coordinate system, determine the directions of the three coordinate axes X, Y, and Z according to actual needs, and use the origin of the coordinate system as the calibration point to determine the coordinates of the other base stations;

[0078] S3: The base station communicates with the tag on the vehicle to measure the time of flight (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 time of flight 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 The equation can be written as follows:

[0080]

[0081] In the formula, n Let be the number of base stations. From the above formula, we can see that the formula only contains ( x c , y c The coordinates of the tag are unknown. By solving the above equation, we can obtain the tag coordinates. x c , y c ), complete the positioning.

[0082] S5: During the movement of the AGV carrying 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 selection of task points in the target area is involved. In this embodiment, the objective function is constructed with the goal of minimizing the straight-line distance, and the specific task point selection strategy is obtained by solving the objective function.

[0084] The objective function is as follows:

[0085]

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

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

[0088]

[0089] In the formula, For the target point ( x b , y b Idle state, when the target point is idle. When the target point is unavailable .

[0090] The decision output module in this embodiment uses the gradient ascent algorithm. Gradient ascent is an iterative method that finds the minimum value of a function by gradually adjusting the parameters along the direction of the gradient of the objective function. Figure 3 As shown, the following are the specific steps of the gradient ascent method:

[0091] Step 1: Obtain the dataset 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, defined as the learning rate, which controls the step size;

[0094] Step 4: Check if the magnitude of the gradient is less than the preset threshold, or check if 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 convergence is not achieved, return to step 2 and continue iterating;

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

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

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

[0099] S02: During this process, the temperature and humidity of the smart smoke box are monitored in real time, and a safety threshold for temperature and humidity is set. Once the real-time temperature or humidity data exceeds the safety threshold range, the current coordinate point of the smart smoke box is obtained. The current coordinate point is used as the starting point, and 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 path planning algorithm on the AGV itself is used to automatically go to the target point.

[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 coordinates of the smart cigarette box, take the current coordinates as the starting point, take several task points in the charging area as the target points, determine the task point closest to the current coordinates by solving the objective function, and then automatically go to the target point through the path planning algorithm on the AGV itself.

[0101] In one embodiment of the present invention, an intelligent scheduling system based on an automated warehouse is provided, such as... Figure 4 As shown, it includes:

[0102] The smart cigarette case is used to acquire its own temperature, humidity, and remaining power data and transmit them externally through a communication module. It includes the cigarette case body, sensor module, acquisition module, communication module, microprocessor (MCU), power module, power monitoring module, and 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, and the sensor module, acquisition module, communication module, microprocessor module, power monitoring module, and wireless charging receiver are all connected to the power module. Moreover, except for the sensor module which is exposed on the inner surface of the cigarette case, the rest of the components are embedded inside the case.

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

[0104] The scheduling and planning unit acquires the real-time location, power level, and temperature and humidity data of the smart cigarette box; it obtains the next task area for the current cigarette box from the task list and selects the task point closest to the current location as the target point for controlling the AGV's movement; simultaneously, it monitors the power status and temperature and humidity data of the smart cigarette box carried by the AGV in real time; once the power level is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, the next task area is replaced with a charging area or a fault storage area, and then the task point closest to the current location in the corresponding area is selected as the target point for controlling the AGV's movement.

[0105] The AGV (Automated Guided Vehicle) is used to carry smart cigarette boxes to the target location and to locate itself in real time. When carrying the smart cigarette box, its own location is used as the real-time location of the smart cigarette box. When the smart cigarette box is not carried by the AGV, its real-time location is the location of the corresponding task point.

[0106] In summary, this invention sets the specific locations of task areas and task points within them, establishes a task execution table, and specifies the task execution order. The table includes at least the task sequence and the starting and ending points for movement between tasks. It acquires real-time location, battery level, and temperature and humidity data of the smart cigarette box. The next task area for the current smart cigarette box is obtained through the task table, and the AGV (Automated Guided Vehicle) carries the cigarette box to the next task area. Furthermore, it monitors the battery status and temperature and humidity data of the smart cigarette box carried by the AGV in real time. If the battery level falls below a preset threshold, or the temperature and humidity exceed a set safety threshold, a signal is sent to proceed to the charging task area or fault storage area, and the AGV should immediately respond to the signal. This invention combines the actual area planning of the site with the planning of the cigarette box's transportation path, improving the flexibility of the transportation path planning and facilitating further response strategies when problems arise with the cigarette box.

[0107] Those skilled in the art will recognize that the units of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the invention.

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

[0109] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0110] If the integrated unit is implemented as 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An intelligent scheduling method based on an automated warehouse, characterized in that, Includes the following steps: Define the specific locations of the task area and task points within it. The task area includes a charging area, a fault storage area, and a task execution area. X district, N is the total number of task execution areas; Create a task execution table that specifies the order of task execution. The table should include at least the order of tasks and the starting point and destination for movement between tasks. Acquire real-time location, power consumption, and temperature and humidity data of the smart cigarette box; The task list is used to obtain the next task area of ​​the current smart cigarette box, and the cigarette box is transported to the next task area by an AGV vehicle. The system monitors the battery status and temperature and humidity data of the smart cigarette box carried by the AGV in real time. Once the battery level is lower than the preset threshold or the temperature and humidity exceed the set safety threshold range, a signal is sent to go to the charging task area or the fault storage area. The AGV should respond immediately to the signal to go to the charging task area or the fault storage area. The process of determining the real-time location of the smart cigarette box is as follows: When the smart cigarette box is mounted on the AGV, the real-time position of the smart cigarette box is the real-time position of the AGV. When the smart smoke box is not mounted on the AGV, its real-time location is the specific location of the task point within the task area. The real-time position of the AGV is determined as follows: S1: Deploy at least 3 UWB base stations in an indoor space, with each UWB base station set at the same height; S2: Select any one of the base stations as the origin of the coordinate system, determine the directions of the three coordinate axes X, Y, and Z according to actual needs, and use the origin of the coordinate system as the calibration point to determine the coordinates of the other base stations; S3: The base station communicates with the tag on the vehicle, measures the signal flight time, and multiplies the flight time by the propagation speed to obtain the distance from the base station to the tag; S4: List the equations and solve them to obtain the label coordinates. x c , y c ): In the formula, ( x c , y c ) represents the label coordinates, ( x i , y i The coordinates of each base station. , n Number of base stations d i The distance from the base station to the tag is given by solving the equation to obtain the tag coordinates. x c , y c ), complete the positioning; S5: During the movement of the AGV carrying the smart cigarette box, the coordinates of the AGV are used as the position coordinates of the smart cigarette box.

2. The intelligent scheduling method based on an automated warehouse according to claim 1, characterized in that, During the AGV's journey to the corresponding task area, the target point is set as a specific task point within that task area. This specific task point is determined by establishing and solving an objective function, which is as follows: In the formula, ( x a , y a () is the coordinate of the starting point, ( x b , y b () represents the coordinates of the target point; Constraints are also included, such as target point state constraints, as follows: In the formula, For the target point ( x b , y b Idle state, when the target point is idle. When the target point is unavailable .

3. The intelligent scheduling method based on an automated warehouse according to claim 2, characterized in that, The objective function is solved using the gradient ascent method, as follows: Step 1: Obtain the dataset 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, defined as the learning rate, which controls the step size; Step 4: Check if the magnitude of the gradient is less than the preset threshold, or check if 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 convergence is not achieved, return to step 2 and continue iterating; Step 6: When the algorithm converges, output the current decision value.

4. The intelligent scheduling method based on an automated warehouse according to claim 1, characterized in that, The smart cigarette case includes a cigarette case body, a sensor module, a data acquisition module, a communication module, a microprocessor, a power module, a power monitoring module, and a wireless charging receiver. The sensor module is connected to the data acquisition module, the data acquisition module and the communication module are connected to the microprocessor module, and the sensor module, data acquisition module, communication module, microprocessor module, power monitoring module, and wireless charging receiver are all connected to the power module. Except for the sensor module, which is exposed on the inner surface of the cigarette case, the rest are embedded inside the case.

5. The intelligent scheduling method based on an automated warehouse according to claim 4, characterized in that, The sensor module includes a temperature sensor and a humidity sensor.

6. An intelligent scheduling system based on an automated warehouse, characterized in that, include: The smart cigarette case is used to acquire its own temperature, humidity, and remaining power data and transmit them externally through a communication module. It includes the cigarette case body, sensor module, acquisition module, communication module, microprocessor, power module, power monitoring module, and 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, and the sensor module, acquisition module, communication module, microprocessor module, power monitoring module, and wireless charging receiver are all connected to the power module. Except for the sensor module, which is exposed on the inner surface of the cigarette case, the rest of the components are embedded inside the case. The task planning unit is used to create a task execution table, which specifies the task execution order to obtain the destination of the AGV. The task execution table contains the task order and the starting point, waypoint, destination and estimated arrival time of the tasks, so that the AGV can execute the tasks according to the predetermined path. The scheduling and planning unit acquires the real-time location, power level, and temperature and humidity data of the smart cigarette box; it obtains the next task area for the current cigarette box from the task list and selects the task point closest to the current location as the target point for controlling the AGV's movement; simultaneously, it monitors the power status and temperature and humidity data of the smart cigarette box carried by the AGV in real time; once the power level is lower than the preset threshold, or the temperature and humidity exceed the set safety threshold range, the next task area is replaced with a charging area or a fault storage area, and then the task point closest to the current location in the corresponding area is selected as the target point for controlling the AGV's movement. The AGV (Automated Guided Vehicle) is used to carry smart cigarette boxes to the target location and locate its own position in real time. When carrying smart cigarette boxes, its own position is used as the real-time position of the smart cigarette boxes. When the smart cigarette boxes are not carried on the AGV, its real-time position is the position of the corresponding task point.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the intelligent scheduling method based on an automated warehouse as described in any one of claims 1 to 5.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the intelligent scheduling method based on an automated warehouse as described in any one of claims 1 to 5.

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