Scheduling control method and system for storage AGV

Abstract

The invention discloses a scheduling control method and system for storing an AGV, and relates to the technical field of AGV intelligent inventory stocktaking, and the method comprises the steps: receiving an inventory stocktaking request sent by a user; querying warehouse lane data from a preset warehouse database and calling an A algorithm; optimizing the algorithm A according to warehouse lane data, and performing global path planning by using the optimized algorithm A; performing local path adjustment and obstacle avoidance on the global path planning by using a dynamic window method, and generating a stocktaking path diagram; according to the inventory path diagram, an inventory instruction is generated and executed; monitoring environment change data is obtained, a real-time environment map is constructed, a global path is updated in time, and a local path is re-planned; in a dynamic environment, a fusion algorithm is used to avoid dynamic obstacles and unknown static obstacles, and the requirements of a global optimal path and dynamic obstacle avoidance are met in a complex map. The method has the effect of improving the AGV inventory checking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV control, and in particular to a scheduling control method and system for warehousing AGV. Background Art

[0002] In recent years, logistics warehousing systems have been widely used in various industries. The management of warehousing systems includes storage, handling and sorting. The intelligent handling system, intelligent storage system and intelligent picking system currently used in the logistics industry have realized the automation of warehouse storage, handling and sorting, and can replace manpower to a certain extent.

[0003] AGV is a kind of transport machinery that can travel along a specified guide path and has automatic control functions. It is usually composed of a walking mechanism, a drive system, a control system, sensors and auxiliary equipment, and can be widely used in industrial enterprises, logistics warehousing and other fields. In a warehousing environment, AGV can automatically complete tasks such as handling, storage and sorting of goods, significantly improving the operating efficiency of the warehouse.

[0004] With respect to the above-mentioned related technologies, the inventors believe that there are the following defects: when the AGV forklift takes inventory of the goods in the warehouse, due to the complex terrain of the warehouse, it is difficult for the AGV to find the optimal path during the work process, resulting in low working efficiency of the AGV. Summary of the invention

[0005] In order to improve the inventory efficiency of AGV forklifts, the present invention provides a scheduling control method and system for storage AGVs.

[0006] The present invention provides a dispatching control method and system for warehousing AGVs using the following technical solutions:

[0007] In a first aspect, the present invention provides a scheduling control method for a warehouse AGV, comprising the following steps:

[0008] Receive an inventory request sent by a user, where the inventory request carries inventory information for controlling the AGV to perform inventory on items in the warehouse;

[0009] Query warehouse lane data from the preset warehouse database and call algorithm A;

[0010] According to the warehouse lane data, the A algorithm is optimized, and the optimized A algorithm is used for global path planning;

[0011] Use a dynamic window method to perform local path adjustment and obstacle avoidance on the global path planning to generate a disk library path diagram;

[0012] Generate and execute a library disk instruction according to the library disk path diagram;

[0013] Obtain monitoring environment change data, build real-time environment maps, instantly update global paths and replan local paths;

[0014] In a dynamic environment, a fusion algorithm is used to avoid dynamic obstacles and unknown static obstacles, meeting the requirements of global optimal path and dynamic obstacle avoidance in complex maps.

[0015] By adopting the above technical solution, the system can quickly respond to and execute the inventory task of warehouse items by receiving the inventory request sent by the user and carrying the inventory information. This improves the efficiency and accuracy of warehouse management and reduces errors and omissions in manual operations. By using the warehouse lane data in the preset storage database and combining the optimized A algorithm for global path planning, it can ensure that the AGV (automatic guided vehicle) moves along the optimal path in the warehouse. This not only reduces the movement time and energy consumption of the AGV, but also improves the execution efficiency of the inventory task. Using the dynamic window method to adjust the local path and avoid obstacles on the global path can ensure that the AGV can respond flexibly when encountering obstacles or environmental changes to avoid collisions and stagnation. This enhances the robustness and adaptability of the system and improves the reliability and safety of the inventory task. By obtaining monitoring environment change data and building a real-time environmental map, the system can instantly update the global path and replan the local path. This ensures that the AGV can always move along the optimal path in a dynamic environment, improving the real-time and accuracy of the inventory task. In a dynamic environment, the use of fusion algorithms to avoid dynamic obstacles and unknown static obstacles can ensure that the AGV meets the requirements of global optimal path and dynamic obstacle avoidance in complex maps. This further enhances the intelligence and flexibility of the system, enabling it to cope with various complex scenarios and challenges.

[0016] Optionally, before the step of generating and executing the disk inventory instruction, the method further includes:

[0017] According to the inventory path map, a "virtual lane" is divided in the physical space to guide the AGV to travel along a fixed path to reduce the possibility of conflict at intersections;

[0018] According to the inventory route map, a traffic indicator device is installed at the AGV intersection to control the right of way in different directions and avoid AGV collision;

[0019] Use scheduling algorithms to optimize the task allocation and driving routes of each AGV through a central control system and priority setting;

[0020] Use historical data analysis and machine learning models to predict peak hours and traffic jams, and take measures to disperse traffic in advance; use modeling and simulation tools to simulate AGV operation in different scenarios, and discover and solve potential problems in advance;

[0021] By analyzing obstacle types, extracting key path points, eliminating redundant path points, reducing the total path angle, and shortening the global path length;

[0022] Use modeling software to create a digital twin of your warehouse interior, test different path planning strategies, and evaluate their effectiveness.

[0023] Optionally, the step of generating and executing a disk inventory instruction specifically includes:

[0024] Obtain actual warehouse item identification in real time;

[0025] Querying a preset warehouse database for a warehouse item type corresponding to the actual warehouse item identifier;

[0026] According to the actual warehouse item identifier, cumulatively generate the warehouse item quantity corresponding to the warehouse item type;

[0027] Push the warehouse item type and the warehouse item quantity corresponding to the warehouse item type to the user's smart terminal.

[0028] By adopting the above technical solution, after receiving the inventory request sent by the user, the inventory counting system generates an inventory counting instruction based on the warehouse aisle data pre-stored in the database, so that the AGV can travel along the aisle path in the warehouse. During the driving process of the AGV, the inventory counting system obtains the actual warehouse item identification in real time, and identifies and classifies the obtained item identification. The inventory counting system will push the identified warehouse item type and the number of warehouse items corresponding to the warehouse item type to the user's smart terminal, thereby enabling the AGV to check and count the items in the warehouse during movement, without the need for frequent transportation operations of the items, thereby improving the inventory counting efficiency of the AGV.

[0029] Optionally, before the step of obtaining the actual warehouse item identification, the method further includes:

[0030] Get the AGV's travel position in real time;

[0031] According to the AGV travel position, determine the actual shelf position with the shortest distance from the AGV travel position;

[0032] Determine the actual shelf spacing according to the AGV travel position and the actual shelf position;

[0033] Querying a preset shelf spacing corresponding to the actual shelf spacing from a preset storage database;

[0034] If the actual shelf spacing is less than the preset shelf spacing, the step of obtaining the actual warehouse item identification is performed.

[0035] By adopting the above technical solution, when the AGV is moving, the inventory system detects whether the AGV is moving close to the shelf that needs to be counted. When the AGV moves to the shelf that needs to be counted, the inventory system starts to obtain the actual warehouse item identification; when the AGV has not moved close to the shelf that needs to be counted, the inventory system does not obtain the actual warehouse item identification, so that the AGV will not obtain the identification of all the shelf items it passes through during the movement, thereby improving the item inventory function of the inventory system and reducing data redundancy.

[0036] Optionally, after the step of obtaining the actual warehouse item identification, the method further includes:

[0037] According to the actual warehouse item identifier, obtaining the actual warehouse item position corresponding to the actual warehouse item identifier;

[0038] Generate an actual object spacing according to the actual warehouse object position and the AGV travel position;

[0039] If the actual item spacing is greater than the preset shelf spacing, an identification deletion instruction is generated and executed, and the identification deletion instruction is used to delete the actual warehouse item identification.

[0040] By adopting the above technical solution, when the inventory counting system follows the movement of the AGV and performs identification acquisition operations on the items on the current shelf, the inventory counting system is prone to misidentify items on other shelves with closer spacing. At this time, the inventory counting system determines whether the item is located on the shelf to be scanned by judging the actual distance between the AGV and the item. When the actual item distance is greater than the preset shelf distance, it means that the item is not on the scanning shelf. At this time, the inventory counting system generates an identification deletion instruction to delete the actual warehouse item identification corresponding to the current item, so that the inventory counting system can identify and check the items on each shelf in an orderly manner during the inventory counting process.

[0041] Optionally, after the step of determining the actual shelf position with the smallest distance from the AGV traveling position, the method further includes:

[0042] Querying a preset warehouse database for a pre-stored shelf item identifier corresponding to the actual shelf location;

[0043] If the actual warehouse item identification is inconsistent with the pre-stocked shelf item identification, determining an inconsistent item identification;

[0044] Generate an inventory work order according to the inconsistent item identifiers;

[0045] Push the inventory work order to the user's smart terminal.

[0046] By adopting the above technical solution, when the inventory counting system performs inventory counting operations on the goods on a shelf, the inventory counting system compares the actual warehouse item identification on the shelf with the pre-stored shelf item identification in the database one by one to determine whether the storage situation of the items on the current shelf is accurate. When there is a discrepancy between the actual warehouse item identification and the pre-stored shelf item identification, it means that there is an error in the placement of the items on the current shelf. At this time, the inventory counting system determines the inconsistent item identification, generates and outputs a warehouse counting work order, so that the user can know the specific item information of the incorrectly placed items in the warehouse.

[0047] Optionally, after the step of determining the inconsistent item identification, the method further includes:

[0048] Querying a preset warehouse database for a correct shelf identification corresponding to the inconsistent item identification;

[0049] If the corresponding correct shelf identification exists, calling the wrong shelf identification corresponding to the inconsistent item identification;

[0050] If the corresponding wrong shelf identification exists, an item misplacement instruction is generated and executed, and the item misplacement instruction is used to update and record the correct shelf identification and the wrong shelf identification corresponding to the inconsistent item identification in the inventory work order;

[0051] If the corresponding incorrect shelf identification does not exist, an item placement instruction is generated and executed, and the item placement instruction is used to update the correct shelf identification corresponding to the inconsistent item identification into the inventory work order.

[0052] By adopting the above technical solution, when the inventory counting system finds that an item is placed incorrectly, the inventory counting system identifies and determines the type of error of the current item. If the current item should not be placed on the current shelf, but should be placed on other shelves in the warehouse, then the current item has a wrong placement. The inventory counting system generates an item misplacement instruction, and integrates the correct shelf identification and the wrong shelf identification corresponding to the current inconsistent item identification into the inventory counting work order; if the inconsistent item identification only has the correct shelf identification but not the wrong shelf identification, it means that the corresponding item that needs to be placed on the correct shelf identification does not exist in the warehouse, which means that the warehouse lacks the item corresponding to the current item identification. At this time, the inventory counting system generates an item under-placement instruction, and adds the correct shelf identification corresponding to the current inconsistent item identification to the inventory counting work order, so that the user can know the specific error type of the incorrectly placed item by browsing the inventory counting work order.

[0053] Optionally, after the step of searching a preset warehouse database for a correct shelf identifier corresponding to the inconsistent item identifier, the method further includes:

[0054] If the corresponding correct shelf identification does not exist, executing the step of calling the wrong shelf identification corresponding to the inconsistent item identification;

[0055] Based on the inconsistent item identification and the erroneous shelf identification corresponding to the inconsistent item identification, an item multiple placement instruction is generated and executed, and the item multiple placement instruction is used to update the record of the erroneous shelf identification corresponding to the inconsistent item identification in the inventory work order.

[0056] By adopting the above technical solution, when the inventory counting system can only obtain the wrong shelf identification corresponding to the current item but cannot obtain the correct shelf identification corresponding to the current item, it means that there is an item stored on a shelf in the current warehouse that should not be stored in this warehouse, and the item is redundant for this warehouse. At this time, the inventory counting system generates an item extra placement instruction and adds the wrong shelf identification corresponding to the inconsistent item identification to the inventory counting work order, so that the user can take the product out of the warehouse later.

[0057] Optionally, before the step of generating and executing the disk library instruction, the method further includes:

[0058] Querying warehouse partition information corresponding to the warehouse aisle data from a preset warehouse database, wherein the warehouse partition information includes warehouse partition areas and warehouse area locations corresponding to the warehouse partition areas;

[0059] According to the warehouse partition information, a plurality of warehouse partition areas are generated, each of which includes a plurality of warehouse partition areas;

[0060] According to the disk library divided area, generating a divided area serial number corresponding to the disk library divided area;

[0061] Generate and execute an AGV activation instruction according to the number of areas divided into the disk library, wherein the AGV activation instruction is used to activate a corresponding number of AGVs according to the number of areas divided into the disk library;

[0062] Query the enabled AGV serial number from the preset warehouse database;

[0063] Generate and execute a section allocation instruction according to the divided area serial number and the enabled AGV serial number, wherein the section allocation instruction is used to correspond to the divided area serial number and the enabled AGV serial number;

[0064] Generate a warehouse travel path corresponding to the enabled AGV serial number according to the warehouse division area and the warehouse aisle data;

[0065] According to the disk library travel path, executing the step of generating and executing the disk library instruction;

[0066] According to the activated AGV serial number, the inventory instructions are pushed to the corresponding AGVs respectively.

[0067] By adopting the above technical solution, the inventory counting system divides the entire warehouse into multiple different inventory counting areas according to the warehouse partition information, and plans the inventory counting path within each inventory counting area. The inventory counting system simultaneously enables the number of AGVs corresponding to the number of inventory counting areas, and makes each AGV correspond to one inventory counting area. The inventory counting system pushes the inventory counting path to the corresponding AGVs respectively, so that multiple AGVs can move simultaneously to count items in the warehouse, thereby improving the inventory counting efficiency of AGVs.

[0068] In a second aspect, the present invention provides a dispatching control system for a warehouse AGV, which adopts the following technical solution:

[0069] A dispatching control system for a warehouse AGV, comprising:

[0070] An inventory request receiving module is used to receive an inventory request sent by a user, wherein the inventory request carries inventory information for controlling the AGV to perform inventory on items in the warehouse;

[0071] Lane data query module, used to query warehouse lane data from a preset warehouse database and call A algorithm;

[0072] A path planning module, used to optimize the A algorithm according to the warehouse lane data, and use the optimized A algorithm to perform global path planning;

[0073] A disk-and-stock path diagram generation module is used to use a dynamic window method to perform local path adjustment and obstacle avoidance on the global path planning to generate a disk-and-stock path diagram;

[0074] A library-disk instruction generation module, used to generate and execute a library-disk instruction according to the library-disk path diagram;

[0075] The local path planning module is used to obtain data on changes in the monitored environment, build a real-time environmental map, instantly update the global path, and replan the local path;

[0076] The obstacle avoidance module is used to avoid dynamic obstacles and unknown static obstacles in a dynamic environment using a fusion algorithm, and to meet the requirements of global optimal path and dynamic obstacle avoidance in complex maps.

[0077] In summary, compared with the prior art, the above technical solution has the following beneficial effects:

[0078] (1) After receiving the inventory request sent by the user, the inventory counting system generates inventory counting instructions based on the warehouse aisle data pre-stored in the database, so that the AGV can travel along the aisle path in the warehouse. During the driving process of the AGV, the inventory counting system obtains the actual warehouse item identification in real time, and identifies and classifies the obtained item identification. The inventory counting system will push the identified warehouse item type and the warehouse item quantity corresponding to the warehouse item type to the user's smart terminal, so that the AGV can check and count the items in the warehouse during the movement, without the need for frequent transportation operations of the items, thereby improving the inventory counting efficiency of the AGV.

[0079] (2) When the AGV is moving, the inventory system detects whether the AGV is moving close to the shelf that needs to be counted. When the AGV moves to the shelf that needs to be counted, the inventory system starts to obtain the actual warehouse item identification. When the AGV has not moved close to the shelf that needs to be counted, the inventory system does not obtain the actual warehouse item identification, so that the AGV will not obtain the identification of all the items on the shelves it passes through during the movement, thereby improving the item inventory function of the inventory system and reducing data redundancy.

[0080] (3) When the inventory counting system follows the movement of the AGV and obtains the identification of the items on the current shelf, the inventory counting system is prone to misidentify items on other shelves that are closer in distance. At this time, the inventory counting system determines whether the item is on the shelf that needs to be scanned by judging the actual distance between the AGV and the item. When the actual distance between the items is greater than the preset shelf distance, it means that the item is not on the scanning shelf. At this time, the inventory counting system generates an identification deletion instruction to delete the actual warehouse item identification corresponding to the current item, so that the inventory counting system can identify and count the items on each shelf in an orderly manner during the inventory counting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is a flow chart of a scheduling control method for a warehouse AGV according to an embodiment of the present invention.

[0082] Figure 2 It is a flowchart of generating and executing an item misplacement instruction in an embodiment of the present invention. DETAILED DESCRIPTION

[0083] The present invention is further described in detail below in conjunction with all the accompanying drawings.

[0084] The embodiment of the present invention discloses a scheduling control method and system for a storage AGV, referring to Figure 1 , a scheduling control method for a warehouse AGV, comprising:

[0085] S101: receiving a request for inventory from a user.

[0086] The inventory request carries inventory information used to control the AGV to count the items in the warehouse. When a user wants to count the items in the warehouse, the user sends an inventory request through the smart terminal, so that the inventory system knows the user's needs and then starts the subsequent inventory operation.

[0087] S102: Query warehouse lane data from a preset warehouse database and retrieve algorithm A.

[0088] Specifically, the system queries the aisle data of the relevant warehouse (such as shelf location, aisle width, etc.) from the warehouse database based on the inventory information, and calls the preset A algorithm (such as Dijkstra algorithm, A* algorithm, etc.) for path planning, providing necessary data support for subsequent path planning.

[0089] S103: Optimize the A algorithm, and use the optimized A algorithm to perform global path planning.

[0090] Specifically, the system optimizes the A algorithm by optimizing the heuristic function, reducing the number of path points, smoothing the path, etc. according to the actual situation of the warehouse aisle data, and uses the optimized A algorithm for global path planning. The path planning algorithm is optimized so that the generated path is more in line with the actual situation of the warehouse and the inventory efficiency is improved.

[0091] S104: Use a dynamic window method to perform local path adjustment and obstacle avoidance on the global path planning to generate a disk library path map.

[0092] Specifically, the system uses a dynamic window method to adjust the local path and avoid obstacles on the global path planning to generate a path map; based on the global path planning, the system uses a dynamic window method (such as speed, acceleration and other constraints) to adjust the path locally and avoid obstacles to generate a path map. This ensures that the AGV can flexibly respond to changes in the local environment during driving, such as avoiding obstacles and adjusting driving speed.

[0093] S105: Generate and execute a disk inventory instruction.

[0094] Specifically, the system generates specific inventory counting instructions based on the inventory counting path diagram and sends them to the AGV for execution, thus realizing the automated inventory counting operation of the AGV and improving the efficiency and accuracy of the inventory counting.

[0095] S106: Build a real-time environment map.

[0096] Specifically, the system obtains environmental change data (such as changes in obstacle positions, new obstacles, etc.) through sensors and other monitoring devices, and builds a real-time environmental map. Based on the real-time environmental map, the system instantly updates the global path and replans the local path. This ensures that the AGV can continue to maintain the optimal path in a dynamic environment, improving inventory efficiency and safety.

[0097] S107: Use a fusion algorithm to avoid dynamic obstacles and unknown static obstacles.

[0098] Specifically, the system uses fusion algorithms to avoid dynamic obstacles and unknown static obstacles in dynamic environments, and meets the requirements of global optimal paths and dynamic obstacle avoidance in complex maps. The system uses fusion algorithms (such as multi-sensor fusion, deep learning, etc.) to identify and avoid dynamic obstacles (such as walking people, moving forklifts, etc.) and unknown static obstacles (such as temporarily stacked goods, etc.). It improves the adaptability of AGV in complex maps and ensures the smooth progress of inventory tasks. At the same time, through the combination of global optimal paths and dynamic obstacle avoidance, efficient inventory in dynamic environments is achieved.

[0099] In another embodiment, S105 specifically includes the following sub-steps:

[0100] S105.1: Obtain the actual warehouse item identification in real time.

[0101] Specifically, when the AGV is driving, the inventory counting system uses the camera installed on the AGV to take real-time photos of the appearance of items in the warehouse, and then obtains the actual warehouse item identification in real time.

[0102] S105.2: Query the warehouse item type corresponding to the actual warehouse item identifier from the preset warehouse database.

[0103] Specifically, the inventory counting system identifies and classifies the acquired item identifications, and determines the item type of the current item by querying the warehouse item type corresponding to the actual warehouse item identification from a preset warehouse database.

[0104] S105.3: Generate cumulatively the number of warehouse items corresponding to the warehouse item type.

[0105] Specifically, the inventory counting system accumulates and generates the quantity of warehouse items corresponding to the warehouse item types based on the actual warehouse item identifications. The inventory counting system counts the items through the counter installed on the AGV. The inventory counting system divides different item identifications according to the item types, and accumulates and generates the quantity of warehouse items corresponding to the warehouse item types respectively.

[0106] S105.4: Push the warehouse item type and the quantity of warehouse items corresponding to the warehouse item type to the user's smart terminal.

[0107] Specifically, the inventory counting system will identify and obtain the warehouse item types and the number of warehouse items corresponding to the warehouse item types and push them to the user's smart terminal, so that the AGV can check and count the items in the warehouse during the movement, thereby improving the AGV's inventory efficiency.

[0108] Further, before S105, as another implementation manner, the embodiment of the present invention may further include the following steps:

[0109] S201: Divide a “virtual lane” in the physical space to guide the AGV to travel along a fixed path.

[0110] Specifically, based on the inventory path map, the system uses physical signs (such as landmarks, lights, etc.) or virtual technology (such as AR / VR) in the warehouse to divide "virtual lanes" in the physical space. These lanes clearly indicate the driving direction and path of the AGV, ensuring that the AGV can travel along a fixed path and reduce conflicts at intersections. By dividing the virtual lanes, the driving behavior of the AGV is effectively standardized, the risk of collision between AGVs is reduced, the traffic efficiency in the warehouse is improved, and the smooth progress of the inventory task is ensured.

[0111] S202: Install a traffic indicator device at the AGV intersection to control the right of way in different directions.

[0112] Specifically, the system installs a traffic indicator device at the intersection of AGVs according to the inventory path map to control the right of way in different directions and avoid AGV collisions; a traffic indicator device, such as a traffic light or an electronic display screen, is installed at the intersection of AGV driving paths. These devices can control the right of way in different directions according to the instructions of the central control system to avoid collisions between AGVs. The traffic indicator device provides clear driving instructions for AGVs, ensuring the safe passage of AGVs at intersections. This improves the level of traffic management in the warehouse and reduces traffic congestion caused by AGV intersections.

[0113] S203: Optimize the task allocation and driving route of each AGV through the central control system and priority setting.

[0114] Specifically, the system uses a scheduling algorithm to optimize the task allocation and driving route of each AGV through a central control system and priority setting; through the central control system, advanced scheduling algorithms (such as genetic algorithms, particle swarm algorithms, etc.) are used to allocate tasks to each AGV. The optimal driving route is planned for each AGV based on factors such as the current position of the AGV, task priority, and path length. The scheduling algorithm ensures the reasonable allocation and efficient execution of AGV tasks, improves the overall inventory efficiency of the warehouse, and reduces the driving time and energy consumption of AGVs by optimizing the driving route, thereby reducing operating costs.

[0115] S204: Predict peak hours and traffic jams, and take measures in advance to disperse traffic.

[0116] Specifically, the system uses historical data analysis and machine learning models to predict peak hours and traffic jams, and take measures to disperse traffic in advance. It also uses modeling and simulation tools to simulate AGV operation in different scenarios, and discover and solve potential problems in advance.

[0117] Collect and analyze historical inventory data, including AGV's driving trajectory, task completion time, etc., and use machine learning models (such as neural networks, decision trees, etc.) to predict peak hours and traffic jams. Through historical data analysis and machine learning models, the traffic conditions in the warehouse can be accurately predicted, providing a basis for taking measures to disperse traffic in advance and reducing the risk of reduced inventory efficiency due to traffic congestion.

[0118] Use modeling and simulation tools (such as MATLAB, Simulink, etc.) to simulate the operation of AGVs in the warehouse. By setting different parameters and scenarios, observe the AGV's driving trajectory, speed, collision situation and other indicators. Modeling and simulation tools provide warehouse managers with intuitive visual feedback, which helps to discover and solve potential problems in advance. By simulating the operation of AGVs in different scenarios, path planning strategies can be optimized to improve warehouse inventory efficiency.

[0119] S205: extract key path points, remove redundant path points, reduce the total path angle, and shorten the global path length.

[0120] Specifically, the system analyzes obstacle types, extracts key path points, removes redundant path points, reduces the total path angle, and shortens the global path length; it conducts a detailed analysis of the types of obstacles in the warehouse, including fixed obstacles (such as shelves, walls, etc.) and dynamic obstacles (such as personnel, forklifts, etc.), and extracts key path points that have an important impact on AGV driving according to the location and type of obstacles, and removes those redundant path points that have no actual impact or little impact on AGV driving. By analyzing obstacle types and extracting key path points, the path planning process is simplified, the calculation complexity is reduced, redundant path points are removed, the total path angle and global path length are reduced, and the driving efficiency of AGV is improved.

[0121] S206: Use modeling software to create a digital twin of the warehouse interior, test different path planning strategies, and evaluate their effectiveness.

[0122] Specifically, the system uses modeling software to create a digital twin of the warehouse, test different path planning strategies, and evaluate their effectiveness. Use modeling software (such as AutoCAD, SolidWorks, etc.) to create a digital twin of the warehouse. The digital twin should be able to accurately reflect the physical layout, obstacle locations, AGV driving paths and other information in the warehouse. Test different path planning strategies on the digital twin and evaluate their effectiveness. The digital twin provides a virtual testing platform for warehouse managers to test different path planning strategies without interfering with the actual warehouse operation. By testing and evaluating on the digital twin, the path planning strategy can be optimized and the warehouse inventory efficiency can be improved. At the same time, the actual operation risk caused by improper strategies is reduced.

[0123] In a warehouse logistics system with multiple AGVs, the shortest path may not necessarily result in the shortest transportation time due to restrictions such as congestion or deadlock. Some studies have used mathematical modeling to introduce conflict-free or deadlock-free strategies to find the shortest path and solve problems such as combined scheduling and the number of vehicles. The time Petri net is used to model the warehouse scheduling process of multiple AGVs in a large-scale two-way lane environment, and the AGVs are analyzed separately after decomposition, which reduces the time complexity of the algorithm. The traditional external point penalty function method is introduced to construct an objective function with AGV scheduling time as an indicator. By iterating and updating the AGV running path information in sequence, the collision problem in the scheduling process is solved, and the collision type analysis is added on this basis. The path is locally planned based on the principle of optimal objective function, and the optimal scheduling scheme is achieved.

[0124] Furthermore, before S105.1, the actual warehouse item identification is obtained according to the actual shelf spacing, which specifically includes the following steps:

[0125] S301: Obtain the AGV travel position in real time.

[0126] Specifically, when the AGV is moving, the inventory counting system uses the locator set in the AGV to perform real-time positioning operations on the AGV and determine the specific position of the AGV in the warehouse in real time.

[0127] S302: Determine the actual shelf position with the shortest distance from the AGV travel position.

[0128] Specifically, the inventory counting system determines the actual shelf position with the smallest distance from the AGV's position based on the AGV's position. When the AGV moves in the warehouse, there are multiple shelves in the warehouse, and the distances between the shelves and the AGV are different. At this time, the inventory counting system determines the shelf closest to the AGV through the camera, and determines the actual shelf position of the current shelf from the database.

[0129] S303: Determine the actual shelf spacing.

[0130] Specifically, the inventory counting system determines the actual shelf spacing according to the AGV travel position and the actual shelf position, wherein the actual shelf spacing is used to reflect the distance between the AGV and the nearest shelf.

[0131] S304: Querying a preset shelf spacing corresponding to the actual shelf spacing from a preset warehouse database.

[0132] Specifically, the inventory counting system queries a preset shelf spacing corresponding to the actual shelf spacing from a preset warehouse database, wherein the preset shelf spacing is generated in advance by the user and is used to represent the maximum distance value between the shelf and the AGV when the AGV performs inventory operations on the shelf.

[0133] S305: If the actual shelf spacing is less than the preset shelf spacing, the step of obtaining the actual warehouse item identification is executed.

[0134] Specifically, the inventory counting system detects in real time whether the AGV moves close to the shelf that needs to be counted. When the AGV moves to the shelf that needs to be counted, the inventory counting system starts to obtain the actual warehouse item identification; when the AGV has not moved close to the shelf that needs to be counted, the inventory counting system does not obtain the actual warehouse item identification, so that the AGV will not obtain the identification of all the shelf items it passes through during the movement, thereby reducing the data redundancy of the inventory counting system.

[0135] Further, after S305, as an implementation mode, the embodiment of the present invention may further include:

[0136] S306: Acquire the actual warehouse item location corresponding to the actual warehouse item identifier.

[0137] Specifically, the inventory counting system obtains the actual warehouse item position corresponding to the actual warehouse item identification according to the actual warehouse item identification. After the inventory counting system obtains the actual warehouse item identification on the shelf, the inventory counting system obtains the actual warehouse item position corresponding to the actual warehouse item identification through a camera and a position transmitter set on the shelf load plate, wherein the position transmitter is located directly below the item.

[0138] S307: Generate actual object spacing.

[0139] Specifically, the inventory counting system generates an actual object spacing according to the actual warehouse object location and the AGV travel location, wherein the actual object spacing is used to reflect the actual distance between the AGV and the actual object corresponding to the current identification.

[0140] S308: If the actual distance between items is greater than the preset shelf distance, a label deletion instruction is generated and executed.

[0141] Among them, the identification deletion instruction is used to delete the identification of the actual warehouse item. When the inventory counting system follows the movement of the AGV and performs identification acquisition operations on the items on the current shelf, the inventory counting system is prone to misidentify items on other shelves with closer spacing. At this time, the inventory counting system determines whether the item is located on the shelf to be scanned by judging the actual distance between the AGV and the item. When the actual item distance is greater than the preset shelf distance, it means that the item is not on the scanning shelf at this time. At this time, the inventory counting system generates an identification deletion instruction to delete the actual warehouse item identification corresponding to the current item, so that the inventory counting system can identify and check the items on each shelf in an orderly manner during the inventory counting process.

[0142] Furthermore, after S302, a stock check work order is generated according to the pre-stored shelf item identifier, which specifically includes the following steps:

[0143] S401: Query the pre-stored shelf item identification corresponding to the actual shelf location from the preset warehouse database.

[0144] Specifically, when the inventory system performs corresponding inventory operations on the shelves, the inventory system queries the pre-stored shelf item identification corresponding to the actual shelf position from the preset warehouse database, and obtains the pre-stored shelf item identification corresponding to the current shelf in the database, wherein the pre-stored shelf item identification is the theoretical identification of the items that should be stored on the current shelf.

[0145] S402: If the actual warehouse item identification is inconsistent with the pre-stocked shelf item identification, then the inconsistent item identification is determined.

[0146] Specifically, when the inventory system performs inventory operations on the goods on a shelf, the inventory system compares the actual warehouse item identification on the shelf with the pre-stored shelf item identification in the database one by one to determine whether the storage situation of the items on the current shelf is accurate. When the actual warehouse item identification is inconsistent with the pre-stored shelf item identification, it means that there is an error in the placement of the items on the current shelf. At this time, the inventory system determines the inconsistent item identification.

[0147] S403: Generate an inventory work order.

[0148] Specifically, the inventory counting system generates an inventory counting work order based on the inconsistent item ID. When the inventory counting system finds that there are inconsistent item IDs on the current shelf, the inventory counting system reflects the detected inconsistent item IDs through the inventory counting work order. For example, when the inventory counting system finds that there is an item with an inconsistent item ID of 001 on the current shelf, the inventory counting system displays through the inventory counting work order: 1 item 001.

[0149] S404: Push the inventory work order to the user's smart terminal.

[0150] Specifically, the inventory counting system generates and outputs an inventory counting work order, and pushes the inventory counting work order to the user's smart terminal, so that the user can know the specific error situation of the items that are incorrectly placed in the warehouse.

[0151] Reference Figure 2 Before S402, the inventory work order will be supplemented according to the shelf identification, which specifically includes the following steps:

[0152] S501: Query the preset warehouse database for the correct shelf ID corresponding to the inconsistent item ID.

[0153] Among them, the correct shelf identification is preset by the user, and the correct shelf identification is used to indicate the correct shelf where the current inconsistent item identification needs to be placed, thereby facilitating the inventory system to determine the subsequent processing plan for the current item.

[0154] S502: Determine whether the correct shelf identification exists.

[0155] If the judgment is yes, execute S503 to S506;

[0156] If the judgment is no, then execute S507 to S508.

[0157] S503: Call the wrong shelf identifier corresponding to the inconsistent item identifier.

[0158] Specifically, if the corresponding correct shelf identifier exists, the wrong shelf identifier corresponding to the inconsistent item identifier is called, and the wrong shelf identifier is the actual shelf identifier where the current inconsistent item identifier is located.

[0159] S504: Determine whether the error shelf identification exists.

[0160] If the judgment is yes, jump to S505;

[0161] If the judgment is no, jump to S506.

[0162] S505: Generate and execute an item misplacement instruction.

[0163] Specifically, if the corresponding wrong shelf identification exists, an item misplacement instruction is generated and executed, wherein the item misplacement instruction is used to update the correct shelf identification and the wrong shelf identification corresponding to the inconsistent item identification to the inventory work order. When the inventory system finds that an item is placed incorrectly, the inventory system identifies and determines the type of error of the current item. If the current item should not be placed on the current shelf, but should be placed on other shelves in the warehouse, then the current item has a wrong placement. The inventory system generates an item misplacement instruction and integrates the correct shelf identification and the wrong shelf identification corresponding to the current inconsistent item identification into the inventory work order.

[0164] S506: Generate and execute an instruction to place fewer items.

[0165] Specifically, if the corresponding wrong shelf identification does not exist, an item placement instruction is generated and executed, wherein the item placement instruction is used to update the correct shelf identification corresponding to the inconsistent item identification to the inventory work order. If the inconsistent item identification only has a corresponding correct shelf identification but no corresponding wrong shelf identification, it means that the corresponding item that needs to be placed on the current correct shelf identification does not exist in the warehouse, which means that the warehouse lacks the item corresponding to the current item identification. At this time, the inventory system generates an item placement instruction and adds the correct shelf identification corresponding to the current inconsistent item identification to the inventory work order, so that the user can know the specific error type of the incorrectly placed item by browsing the inventory work order.

[0166] S507: Execute the step of calling the wrong shelf identification corresponding to the inconsistent item identification.

[0167] Specifically, if the corresponding correct shelf identification does not exist, the step of calling the wrong shelf identification corresponding to the inconsistent item identification is executed. When the inventory system cannot detect the correct shelf identification corresponding to the current inconsistent item identification, it means that the current item does not belong to this warehouse. Since the item identification is not in the correct placement state at this time, the wrong shelf identification must exist. The inventory system directly calls the wrong shelf identification corresponding to the inconsistent item identification.

[0168] S508: Generate and execute an instruction to place more items.

[0169] Specifically, the inventory system generates and executes an item over-placement instruction based on the inconsistent item identifier and the wrong shelf identifier corresponding to the inconsistent item identifier. The item over-placement instruction is used to update and record the wrong shelf identifier corresponding to the inconsistent item identifier in the inventory work order. When the inventory system can only obtain the wrong shelf identifier corresponding to the current item, but cannot obtain the correct shelf identifier corresponding to the current item, it means that there is an item stored on a shelf in the current warehouse that should not be stored in this warehouse, and the item is redundant for this warehouse. At this time, the inventory system generates an item over-placement instruction and adds the wrong shelf identifier corresponding to the inconsistent item identifier to the inventory work order, so that the user can take the product out of the warehouse later.

[0170] Furthermore, before S105, an AGV activation instruction is generated according to the warehouse partition information, which specifically includes the following steps:

[0171] S601: Query warehouse partition information corresponding to warehouse lane data from a preset warehouse database.

[0172] The warehouse partition information includes the warehouse partition area and the warehouse area location corresponding to the warehouse partition area. The inventory counting system queries and obtains the relevant information of each storage area in the warehouse.

[0173] S602: Generate multiple disk library division areas.

[0174] Specifically, the inventory counting system generates multiple inventory division areas according to the warehouse partition information, and each inventory division area includes multiple warehouse division areas. The inventory counting system divides the entire warehouse into multiple different inventory division areas according to the warehouse partition information.

[0175] S603: Generate a partition area serial number corresponding to the disk library partition area.

[0176] Specifically, the inventory counting system generates a zone number corresponding to the inventory counting zone according to the inventory counting zone. After the inventory counting system divides the entire warehouse into a plurality of different inventory counting zones, it sorts and numbers each inventory counting zone.

[0177] S604: Generate and execute an AGV activation instruction.

[0178] Specifically, the inventory counting system generates and executes AGV activation instructions according to the number of areas where the inventory is divided, wherein the AGV activation instructions are used to start a corresponding number of AGVs according to the number of areas where the inventory is divided, and the inventory counting system simultaneously activates AGVs corresponding to the number of areas where the inventory is divided.

[0179] S605: Query the enabled AGV serial number from the preset warehouse database.

[0180] Specifically, each AGV has a corresponding number and is stored in a database. The inventory system queries the enabled AGV serial number from a preset warehouse database.

[0181] S606: Generate and execute interval allocation instructions.

[0182] Specifically, the inventory counting system generates and executes interval allocation instructions according to the divided area serial number and the enabled AGV serial number, wherein the interval allocation instruction is used to correspond to the divided area serial number and the enabled AGV serial number. The inventory counting system generates the interval allocation instruction according to the arrangement order of the divided area serial number and the enabled AGV serial number, so that each AGV corresponds to a divided area of ​​the inventory.

[0183] S607: Generate a travel path for the disk library corresponding to the enabled AGV serial number.

[0184] Specifically, the inventory counting system generates an inventory counting path corresponding to the enabled AGV serial number according to the inventory counting area and warehouse aisle data. The inventory counting system plans the inventory counting path in each inventory counting area and plans a specific inventory counting path for each AGV.

[0185] S608: Execute the step of generating and executing a disk library instruction.

[0186] Specifically, the inventory counting system generates and executes inventory counting instructions according to the inventory counting path, so that each inventory counting instruction corresponds to the inventory counting path of different inventory counting areas.

[0187] S609: Push the disk storage instructions to the corresponding AGVs respectively.

[0188] Specifically, the inventory counting system pushes inventory counting instructions to the corresponding AGVs according to the enabled AGV serial numbers. The inventory counting system pushes the inventory counting paths to the corresponding AGVs according to the correspondence between the divided area serial numbers and the enabled AGV serial numbers, so that multiple AGVs can move simultaneously to count items in the warehouse, improving the inventory counting efficiency of AGVs.

[0189] The implementation principle of a scheduling and control method for a warehouse AGV in an embodiment of the present invention is as follows: when the AGV is traveling, the inventory system obtains the actual warehouse item identification in real time, and identifies and classifies the obtained item identifications. The inventory system pushes the identified warehouse item type and the number of warehouse items corresponding to the warehouse item type to the user's smart terminal. At the same time, according to the error situation of the item placement, the inventory work order is generated and pushed to the user's smart terminal, so that the AGV can check and count the items in the warehouse during the movement, thereby improving the inventory efficiency of the AGV.

[0190] Based on the above method, an embodiment of the present invention further discloses a dispatching control system for a warehouse AGV. A dispatching control system for a warehouse AGV comprises:

[0191] An inventory request receiving module is used to receive an inventory request sent by a user, wherein the inventory request carries inventory information for controlling the AGV to perform inventory on items in the warehouse;

[0192] Lane data query module, used to query warehouse lane data from a preset warehouse database and call A algorithm;

[0193] A path planning module, used to optimize the A algorithm according to the warehouse lane data, and use the optimized A algorithm to perform global path planning;

[0194] A disk-and-stock path diagram generation module is used to use a dynamic window method to perform local path adjustment and obstacle avoidance on the global path planning to generate a disk-and-stock path diagram;

[0195] A library-disk instruction generation module, used to generate and execute a library-disk instruction according to the library-disk path diagram;

[0196] The local path planning module is used to obtain data on changes in the monitored environment, build a real-time environmental map, instantly update the global path, and replan the local path;

[0197] The obstacle avoidance module is used to avoid dynamic obstacles and unknown static obstacles in a dynamic environment using a fusion algorithm, and to meet the requirements of global optimal path and dynamic obstacle avoidance in complex maps.

[0198] An embodiment of the present invention further discloses an intelligent terminal, which includes a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor for the above-mentioned scheduling control method for warehousing AGV.

[0199] The embodiment of the present invention also discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program that can be loaded by a processor and executes the above-mentioned scheduling control method for a storage AGV. The computer-readable storage medium includes, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0200] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A dispatching control method for warehousing AGV, characterized in that: The following steps are involved: Receive an inventory request sent by a user, where the inventory request carries inventory information for controlling the AGV to perform inventory on items in the warehouse; Query warehouse lane data from the preset warehouse database and call algorithm A; According to the warehouse lane data, the A algorithm is optimized, and the optimized A algorithm is used for global path planning; Use a dynamic window method to perform local path adjustment and obstacle avoidance on the global path planning to generate a disk library path diagram; Generate and execute a library disk instruction according to the library disk path diagram; Obtain monitoring environment change data, build real-time environment maps, instantly update global paths and replan local paths; In a dynamic environment, a fusion algorithm is used to avoid dynamic obstacles and unknown static obstacles, meeting the requirements of global optimal path and dynamic obstacle avoidance in complex maps.

2. A dispatching control method for warehousing AGV according to claim 1, characterized in that: Before the step of generating and executing the disk library instruction, the method further includes: According to the inventory path map, a "virtual lane" is divided in the physical space to guide the AGV to travel along a fixed path and reduce the possibility of conflict at intersections; According to the inventory route map, a traffic indicator device is installed at the AGV intersection to control the right of way in different directions and avoid AGV collision; Use scheduling algorithms to optimize the task allocation and driving routes of each AGV through a central control system and priority setting; Use historical data analysis and machine learning models to predict peak hours and traffic jams, and take measures to disperse traffic in advance; use modeling and simulation tools to simulate AGV operation in different scenarios, and discover and solve potential problems in advance; By analyzing obstacle types, extracting key path points, eliminating redundant path points, reducing the total path angle, and shortening the global path length; Use modeling software to create a digital twin of your warehouse interior, test different path planning strategies, and evaluate their effectiveness.

3. A dispatching control method for warehousing AGV according to claim 1, characterized in that: The steps of generating and executing the disk library instruction specifically include: Obtain actual warehouse item identification in real time; Querying a preset warehouse database for a warehouse item type corresponding to the actual warehouse item identifier; According to the actual warehouse item identifier, cumulatively generate the warehouse item quantity corresponding to the warehouse item type; Push the warehouse item type and the warehouse item quantity corresponding to the warehouse item type to the user's smart terminal.

4. A dispatching control method for a storage AGV according to claim 3, characterized in that: Before the step of obtaining the actual warehouse item identification, the method further includes: Get the AGV's travel position in real time; According to the AGV travel position, determine the actual shelf position with the shortest distance from the AGV travel position; Determine the actual shelf spacing according to the AGV travel position and the actual shelf position; Querying a preset shelf spacing corresponding to the actual shelf spacing from a preset storage database; If the actual shelf spacing is less than the preset shelf spacing, the step of obtaining the actual warehouse item identification is performed.

5. A dispatching control method for storage AGV according to claim 4, characterized in that: After the step of obtaining the actual warehouse item identification, the method further includes: According to the actual warehouse item identifier, obtaining the actual warehouse item position corresponding to the actual warehouse item identifier; Generate an actual object spacing according to the actual warehouse object position and the AGV travel position; If the actual item spacing is greater than the preset shelf spacing, an identification deletion instruction is generated and executed, and the identification deletion instruction is used to delete the actual warehouse item identification.

6. A dispatching control method for warehousing AGV according to claim 4, characterized in that: After the step of determining the actual shelf position with the smallest distance from the AGV travel position, the method further includes: Querying a preset warehouse database for a pre-stored shelf item identifier corresponding to the actual shelf location; If the actual warehouse item identification is inconsistent with the pre-stocked shelf item identification, determining an inconsistent item identification; Generate an inventory work order according to the inconsistent item identifiers; Push the inventory work order to the user's smart terminal.

7. A dispatching control method for storage AGV according to claim 6, characterized in that: After the step of determining the inconsistent item identification, the method further includes: Querying a preset warehouse database for a correct shelf identification corresponding to the inconsistent item identification; If the corresponding correct shelf identification exists, calling the wrong shelf identification corresponding to the inconsistent item identification; If the corresponding wrong shelf identification exists, an item misplacement instruction is generated and executed, and the item misplacement instruction is used to update and record the correct shelf identification and the wrong shelf identification corresponding to the inconsistent item identification in the inventory work order; If the corresponding incorrect shelf identification does not exist, an item placement instruction is generated and executed, and the item placement instruction is used to update the correct shelf identification corresponding to the inconsistent item identification into the inventory work order.

8. A dispatching control method for a storage AGV according to claim 7, characterized in that: After the step of searching the preset warehouse database for the correct shelf identification corresponding to the inconsistent item identification, the method further includes: If the corresponding correct shelf identification does not exist, executing the step of calling the wrong shelf identification corresponding to the inconsistent item identification; Based on the inconsistent item identification and the erroneous shelf identification corresponding to the inconsistent item identification, an item multiple placement instruction is generated and executed, and the item multiple placement instruction is used to update the record of the erroneous shelf identification corresponding to the inconsistent item identification in the inventory work order.

9. The dispatching control method for warehousing AGV according to claim 1, characterized in that: Before the step of generating and executing the disk library instruction, the method further includes: Querying warehouse partition information corresponding to the warehouse aisle data from a preset warehouse database, wherein the warehouse partition information includes warehouse partition areas and warehouse area locations corresponding to the warehouse partition areas; According to the warehouse partition information, a plurality of warehouse partition areas are generated, each of which includes a plurality of warehouse partition areas; According to the disk library divided area, generating a divided area serial number corresponding to the disk library divided area; Generate and execute an AGV activation instruction according to the number of areas divided into the disk library, wherein the AGV activation instruction is used to activate a corresponding number of AGVs according to the number of areas divided into the disk library; Query the enabled AGV serial number from the preset warehouse database; Generate and execute a section allocation instruction according to the divided area serial number and the enabled AGV serial number, wherein the section allocation instruction is used to correspond to the divided area serial number and the enabled AGV serial number; Generate a warehouse travel path corresponding to the enabled AGV serial number according to the warehouse division area and the warehouse aisle data; According to the disk library travel path, executing the step of generating and executing the disk library instruction; According to the activated AGV serial number, the inventory instructions are pushed to the corresponding AGVs respectively.

10. A dispatching control system for warehousing AGV, characterized in that: include: An inventory request receiving module is used to receive an inventory request sent by a user, wherein the inventory request carries inventory information for controlling the AGV to perform inventory on items in the warehouse; Lane data query module, used to query warehouse lane data from a preset warehouse database and call A algorithm; A path planning module, used to optimize the A algorithm according to the warehouse lane data, and use the optimized A algorithm to perform global path planning; A disk-and-stock path diagram generation module is used to use a dynamic window method to perform local path adjustment and obstacle avoidance on the global path planning to generate a disk-and-stock path diagram; A library-disk instruction generation module, used to generate and execute a library-disk instruction according to the library-disk path diagram; The local path planning module is used to obtain data on changes in the monitored environment, build a real-time environmental map, instantly update the global path, and replan the local path; The obstacle avoidance module is used to avoid dynamic obstacles and unknown static obstacles in a dynamic environment using a fusion algorithm, and to meet the requirements of global optimal path and dynamic obstacle avoidance in complex maps.

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