Method, device and equipment for adjusting production mode of finished tobacco shred warehouse and medium

Abstract

The invention provides a finished tobacco shred warehouse production mode adjustment method, device and equipment and a medium, and belongs to the technical field of tobacco logistics storage and turnover, and the method comprises the steps: responding to a first mode adjustment instruction, closing a target storage roadway in a finished tobacco shred warehouse, and running a transport vehicle based on a predetermined first transport vehicle path planning scheme; and in response to the second mode adjustment instruction, opening the target storage roadway, and running the transport vehicle based on a predetermined second transport vehicle path planning scheme. Only by inputting an instruction, the corresponding target storage roadway can be closed and the transport vehicle can be controlled to continue to run according to the first transport vehicle path planning scheme when people visit, and the target storage roadway can be restarted and the transport vehicle can be controlled to run according to the second transport vehicle path planning scheme after visit is stopped, so that efficient and continuous running of the finished tobacco shred warehouse is ensured; the production efficiency is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco logistics storage and turnover, and particularly to a method, device, equipment and medium for adjusting the production mode of a finished cut tobacco warehouse. Background Art

[0002] With the digital application of tobacco production lines, an Automated Guided Vehicle (AGV) transport vehicle is used to transport finished cut tobacco in the finished cut tobacco warehouse of the silk-making workshop. The stability of the AGV transport vehicle plays a key guarantee role in the production of finished cigarettes. Moreover, as one of the advanced intelligent devices, the AGV transport vehicle is a must-see item for external visitors. Therefore, it is particularly important to ensure the safe visit of on-site personnel without affecting production.

[0003] Currently, when external visitors visit the finished cut tobacco warehouse, the staff need to manually turn off various intelligent devices in the finished cut tobacco warehouse for production and set the operation plan of the intelligent devices, which is very likely to cause the situation of material shortage during the production process of the finished cut tobacco warehouse and result in low production efficiency. Summary of the Invention

[0004] The present invention provides a method, device, equipment and medium for adjusting the production mode of a finished cut tobacco warehouse, so as to solve the defect that when external visitors visit the finished cut tobacco warehouse, the staff need to manually turn off various intelligent devices in the finished cut tobacco warehouse for production and set the operation plan of the intelligent devices, which is very likely to cause the situation of material shortage during the production process of the finished cut tobacco warehouse and result in low production efficiency.

[0005] In a first aspect, the present invention provides a method for adjusting the production mode of a finished cut tobacco warehouse, including: In response to a first mode adjustment instruction, close a target storage roadway in the finished cut tobacco warehouse and operate the transport vehicle based on a pre-determined first transport vehicle path planning scheme; In response to a second mode adjustment instruction, open the target storage roadway and operate the transport vehicle based on a pre-determined second transport vehicle path planning scheme; Wherein, the path involved in the first transport vehicle path planning scheme does not include the target storage roadway, and the path involved in the second transport vehicle path planning scheme includes the target storage roadway.

[0006] According to the method for adjusting the production mode of a finished cut tobacco warehouse provided by the present invention, the determination step of the first transport vehicle path planning scheme includes: Close the target storage roadway in the finished cut tobacco warehouse and operate the transport vehicle, and at least one laser sensor is provided on the transport vehicle; Based on the laser sensor, construct a first grid map of the finished cut tobacco warehouse; Perform path planning on the first grid map based on a preset path planning algorithm to obtain the path planning scheme for the first transport vehicle.

[0007] According to a method for adjusting the production mode of a finished cut tobacco warehouse provided by the present invention, the steps for determining the path planning scheme of the second transport vehicle include: Operate the transport vehicle in the finished cut tobacco warehouse, and at least one laser sensor is provided on the transport vehicle; Based on the laser sensor, construct the second grid map of the finished cut tobacco warehouse; Perform path planning on the second grid map based on a preset path planning algorithm to obtain the path planning scheme for the second transport vehicle.

[0008] According to a method for adjusting the production mode of a finished cut tobacco warehouse provided by the present invention, the steps for determining the path planning scheme of the first transport vehicle include: Set the grids corresponding to the target storage roadway in the second grid map as occupied to obtain the adjusted second grid map; Perform path planning on the adjusted second grid map based on a preset path planning algorithm to obtain the path planning scheme for the first transport vehicle.

[0009] According to a method for adjusting the production mode of a finished cut tobacco warehouse provided by the present invention, the preset path planning algorithm includes a heuristic search algorithm.

[0010] According to a method for adjusting the production mode of a finished cut tobacco warehouse provided by the present invention, the path planning schemes of the first transport vehicle and the second transport vehicle are also used to control the transport vehicle to operate based on local path planning in a preset complex environment.

[0011] According to a method for adjusting the production mode of a finished cut tobacco warehouse provided by the present invention, the local path planning is determined by a dynamic window.

[0012] In a second aspect, the present invention also provides a device for adjusting the production mode of a finished cut tobacco warehouse, including: A first adjustment module, configured to respond to a first mode adjustment instruction, close the target storage roadway in the finished cut tobacco warehouse, and operate the transport vehicle based on a preset path planning scheme for the first transport vehicle and a first scheduling priority planning scheme; A second adjustment module, configured to respond to a second mode adjustment instruction, open the target storage roadway, and operate the transport vehicle based on a preset path planning scheme for the second transport vehicle and a second scheduling priority planning scheme; Wherein, the path involved in the path planning scheme of the first transport vehicle does not include the target storage roadway, and the path involved in the path planning scheme of the second transport vehicle includes the target storage roadway.

[0013] In a third aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method for adjusting the production mode of the finished cut tobacco warehouse as described in any one of the above are implemented.

[0014] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for adjusting the production mode of the finished cut tobacco warehouse as described in any one of the above are implemented.

[0015] The method, device, equipment, and medium for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention, in response to a first mode adjustment instruction, close the target storage roadway in the finished cut tobacco warehouse and operate the transport vehicle based on a pre-determined first transport vehicle path planning scheme; in response to a second mode adjustment instruction, open the target storage roadway and operate the transport vehicle based on a pre-determined second transport vehicle path planning scheme; wherein, the path involved in the first transport vehicle path planning scheme does not include the target storage roadway, and the path involved in the second transport vehicle path planning scheme includes the target storage roadway. The present invention only needs to input an instruction to close the corresponding target storage roadway during personnel visits, control the transport vehicle to continue running according to the first transport vehicle path planning scheme, restart the target storage roadway after the visit stops, and control the transport vehicle to run according to the second transport vehicle path planning scheme, ensuring the efficient continuous operation of the finished cut tobacco warehouse and ensuring production efficiency. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic flowchart of the method for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention; Figure 2 is a schematic diagram of the laser SLAM mapping provided by the present invention; Figure 3 is a schematic diagram of the dynamic window method provided by the present invention; Figure 4 is a schematic structural diagram of the device for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention; Figure 5 is a schematic structural diagram of the electronic device provided by the present invention. Detailed Embodiments

[0018] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0019] It should be noted that in the description of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present invention. Unless otherwise clearly specified and defined, the terms "mount", "connect" and "couple" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The terms "first", "second", etc. in the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same category, and the number of objects is not limited. For example, the first object may be one or multiple. In addition, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0021] The following will be combined with Figures 1-5 Describe the method, device, equipment and medium for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention.

[0022] Figure 1 is a schematic flowchart of the method for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention, as shown in Figure 1As shown in the figure, the present invention provides a method for adjusting the production mode of a finished cut tobacco warehouse, including but not limited to the following steps: Step S100, in response to a first mode adjustment instruction, close the target storage lane in the finished cut tobacco warehouse, and operate the transport vehicle based on a pre-determined first transport vehicle path planning scheme; The finished cut tobacco warehouse refers to a warehouse or storage for storing finished cut tobacco. The AGV transport vehicle moves autonomously in the warehouse according to a preset route and program, transporting the finished cut tobacco from one location to another, such as from the production line to the storage area, or from the storage area to the packaging area.

[0023] The turnover process of the cut tobacco boxes in the finished cut tobacco warehouse usually goes through processes such as receiving, warehousing, storage, picking, packaging, and outbound. Receiving means that after the finished cut tobacco is produced on the production line, it is boxed and marked, and then transported to the finished cut tobacco warehouse. Warehousing means that after the cut tobacco boxes arrive at the finished cut tobacco warehouse, they will be registered and scanned for warehousing to ensure accurate inventory information. Storage means that the cut tobacco boxes will be placed in the designated storage area, usually classified and stored according to different specifications, brands, or orders. Picking means picking the corresponding cut tobacco boxes according to the order requirements and system prompts. Packaging means that the picked cut tobacco boxes will be sent to the packaging area for packaging and marking. Outbound means that the packaged cut tobacco boxes will be sent to the shipping area, ready to be shipped to customers or distributors.

[0024] In one embodiment, the present invention pre-sets the cut tobacco box storage lane allocation mechanism, the cut tobacco box inbound and outbound priority setting, and the preset state of the storage lane in the turnover process of the cut tobacco boxes in the finished cut tobacco warehouse. The cut tobacco box storage lane allocation mechanism specifically refers to allocating the finished cut tobacco boxes to different storage lanes according to the attributes, specifications, brands, and other characteristics of the finished cut tobacco. The cut tobacco box inbound and outbound priority setting specifically refers to setting different inbound and outbound priorities according to factors such as order urgency, goods attributes, and customer needs. The preset state of the storage lane specifically refers to setting the preset state of the storage lane, including states such as idle, full, and reserved. According to the storage requirements and inventory situation of the finished cut tobacco, the preset state of the storage lane is set to quickly identify and manage the lane state.

[0025] The target storage lane is a cut tobacco box storage lane that can be visited by external personnel as pre-determined. A unique identifier can be set for each storage lane in the finished cut tobacco warehouse, and all target storage lanes can be batch closed through the unique identifier.

[0026] Step S200, in response to a second mode adjustment instruction, open the target storage lane, and operate the transport vehicle based on a pre-determined second transport vehicle path planning scheme; Among them, the path involved in the first transport vehicle path planning scheme does not include the target storage roadway, and the path involved in the second transport vehicle path planning scheme includes the target storage roadway.

[0027] The production mode of the finished tobacco shred warehouse can include a normal production mode and a visiting production mode. The first mode adjustment instruction can be a visiting production mode start instruction, the second mode adjustment instruction can be a visiting production mode stop instruction, and the first mode adjustment instruction and the second mode adjustment instruction can also be mode adjustment instructions to switch between the production modes of the finished tobacco shred warehouse. It can be seen that the first mode adjustment instruction and the second mode adjustment instruction can be the same instruction or different instructions, which can be set according to requirements.

[0028] The first transport vehicle path planning scheme specifically refers to the path planning scheme of the AGV transport vehicle when the target storage roadway is impassable. The second transport vehicle path planning scheme specifically refers to the path planning scheme of the AGV transport vehicle when all storage roadways in the finished tobacco shred warehouse are passable.

[0029] It can be understood that in the solution of the present invention, only by inputting an instruction, the corresponding target storage roadway can be closed during personnel visits, the transport vehicle can be controlled to continue running according to the first transport vehicle path planning scheme, the target storage roadway can be restarted after the visit stops, and the transport vehicle can be controlled to run according to the second transport vehicle path planning scheme to ensure the efficient continuous operation of the finished tobacco shred warehouse and ensure production efficiency.

[0030] Based on the above embodiments, as an optional embodiment, the steps for determining the first transport vehicle path planning scheme include: Step S11, close the target storage roadway in the finished tobacco shred warehouse, and run the transport vehicle. At least one laser sensor is provided on the transport vehicle; the laser sensor can perform a 360° non-blind area scan of the surrounding environment, and an Inertial Measurement Unit (IMU) is also provided inside the transport vehicle, and the IMU is used to measure and track the movement and posture of the transport vehicle.

[0031] In one embodiment, obstacles can be set at the entrances and exits of the target storage roadway to prevent the AGV transport vehicle from passing through the target storage roadway, and the transport vehicle can be controlled to perform two-dimensional mapping using the Simultaneous Localization and Mapping (SLAM) method in the channels of the finished tobacco shred warehouse.

[0032] In another embodiment, an initial map of the finished cut tobacco warehouse can be input into the transport vehicle. In the initial map, the target storage roadway is marked as impassable. The initial map marks each passage of the finished cut tobacco warehouse. The transport vehicle is controlled to perform 2D laser SLAM mapping in the passages of the finished cut tobacco warehouse according to the initial map, plan the running route according to the initial map, and use the initial map as one of the error adjustment factors during the process of constructing the map.

[0033] In another embodiment, the number of transport vehicles can be multiple, and the multiple transport vehicles run together to improve the mapping efficiency.

[0034] Step S12: Based on the laser sensor, construct the first grid map of the finished cut tobacco warehouse; specifically, construct the map through the SLAM algorithm based on graph optimization. The SLAM algorithm framework based on graph optimization includes a front-end part and a back-end part. The front-end part includes a scan matching module and a loop detection module. The laser data obtained by the laser sensor is input into the front-end part. After scan distribution by the front-end part, sub-maps are generated, and the sub-maps and loop detection results are output to the back-end part. The back-end part includes a pose graph optimization module, which feeds back the optimization information to the loop detection module and optimizes the sub-maps, eliminates errors, and then outputs the environment and positioning information. Finally, the boundaries of multiple sub-maps are matched to construct the first grid map of the finished cut tobacco warehouse.

[0035] The scan distribution module is used to preprocess the laser data according to the IMU data and the initial map, estimate the pose of the transport vehicle based on the preprocessed laser data, select key-frame laser data from the preprocessed laser data, and map the key-frame laser data to the grid map coordinate system to obtain a sub-map of the first grid map. Preprocessing the laser data according to the IMU data and the initial map specifically means correcting the IMU data according to the initial map, and then correcting the laser data according to the corrected IMU data.

[0036] The pose graph optimization module can refer to the initial map when matching the boundaries of multiple sub-maps, and can also eliminate the sub-map errors according to the initial map to improve the accuracy of the first grid map.

[0037] By marking the waiting area, loading area, and unloading area in the map, the loading area and the unloading area can be used as the starting position and the target position respectively for path planning of the transport vehicle between the two areas.

[0038] The first grid map includes multiple grids, each grid is independent of each other, and the state is represented by a binary occupancy variable. If the binary occupancy variable is 1, it means that the grid is occupied; if the binary occupancy variable is 0, it means that the grid is free.

[0039] Step S13, perform path planning on the first grid map based on a preset path planning algorithm to obtain the path planning scheme for the first transport vehicle. The preset path planning algorithm includes a heuristic search algorithm.

[0040] Specifically, the present invention uses an improved A* algorithm to plan the global static paths of all transport vehicles on the first grid map, converts the global static paths into speed sequences, drives the transport vehicles to move according to the speed control information in the speed sequences, performs local trajectory planning when encountering dynamic obstacles to obtain local dynamic paths, converts the local dynamic paths into speed sequences, controls the transport vehicles to move, and continues to move along the global static paths after bypassing the dynamic obstacles.

[0041] Among them, the A* algorithm is a search method that adds a heuristic function to the Dijkstra algorithm to give the target search directionality to reduce the search volume.

[0042] Using the improved A* algorithm to plan the global static paths of all transport vehicles on the first grid map specifically means that based on the first A* algorithm, search for the global static path of the first transport vehicle, and count the grid search number, search time, and memory occupancy rate. Based on the second A* algorithm, search for the global static path of the second transport vehicle, and count the grid search number, search time, and memory occupancy rate. According to the weights of the grid search number, search time, and memory occupancy rate respectively, calculate the path search score according to the following formula: ; Among them, , , are the weights of the grid search number , search time and memory occupancy rate respectively, is the path search score.

[0043] Select the algorithm with a low path search score to search for the global static paths of the remaining transport vehicles.

[0044] The first A* algorithm means starting the search from the starting position, and the second A* algorithm means starting the search from both the starting position and the target position at the same time. Stop all searches after obtaining a path. The heuristic functions corresponding to the starting position and the target position are different.

[0045] Specifically, the parameter regulator can be started through the following command: rosrun rqt_reconfigure rqt_reconfigure, and adjust the path planning parameters in the Robot Operating System (ROS) to implement the improved A* algorithm.

[0046] Based on the above embodiments, as an alternative embodiment, the steps for determining the second transport vehicle path planning scheme include: Step S21, operating the transport vehicle in the finished cut tobacco warehouse, where at least one laser sensor is provided on the transport vehicle; Step S22, constructing a second grid map of the finished cut tobacco warehouse based on the laser sensor; Step S23, performing path planning on the second grid map based on a preset path planning algorithm to obtain the second transport vehicle path planning scheme. The preset path planning algorithm includes a heuristic search algorithm.

[0047] In this embodiment, the steps of the second transport vehicle path planning scheme can refer to the steps of the first transport vehicle path planning scheme.

[0048] Based on the above embodiments, as an alternative embodiment, the steps for determining the first transport vehicle path planning scheme include: Step S24, setting the grids corresponding to the target storage roadway in the second grid map as occupied to obtain an adjusted second grid map; Step S25, performing path planning on the adjusted second grid map based on a preset path planning algorithm to obtain the first transport vehicle path planning scheme. The preset path planning algorithm includes a heuristic search algorithm.

[0049] Based on the above embodiments, as an alternative embodiment, the first transport vehicle path planning scheme and the second transport vehicle path planning scheme are also used to control the transport vehicle to operate based on local path planning in a preset complex environment. Optionally, the local path planning is determined by a dynamic window.

[0050] The Dynamic Window Approach (DWA) samples multiple groups of speeds in the speed space, simulates the trajectories of the AGV transport vehicle at these speeds within a certain time, and then selects the optimal trajectory to drive the movement of the AGV.

[0051] It should be noted that the execution subject of the production mode adjustment method for the finished cut tobacco warehouse provided by the present invention can be a server, a computer device, such as a mobile phone, a tablet computer, a notebook computer, a handheld computer, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc.

[0052] The following describes the device for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention. The device for adjusting the production mode of the finished cut tobacco warehouse described below can be correspondingly referred to the method for adjusting the production mode of the finished cut tobacco warehouse described above.

[0053] Figure 4 It is a schematic structural diagram of the device for adjusting the production mode of the finished cut tobacco warehouse provided by the present invention. As Figure 4 shown, the present invention also provides a device for adjusting the production mode of the finished cut tobacco warehouse, including: A first adjustment module 410, configured to close a target storage roadway in the finished cut tobacco warehouse in response to a first mode adjustment instruction, and operate a transport vehicle based on a preset first transport vehicle path planning scheme and a first scheduling priority planning scheme; A second adjustment module 420, configured to open the target storage roadway in response to a second mode adjustment instruction, and operate the transport vehicle based on a preset second transport vehicle path planning scheme and a second scheduling priority planning scheme; Wherein, the path involved in the first transport vehicle path planning scheme does not include the target storage roadway, and the path involved in the second transport vehicle path planning scheme includes the target storage roadway.

[0054] As an embodiment, it further includes: A first determination module, configured to close the target storage roadway in the finished cut tobacco warehouse, operate the transport vehicle, and at least one laser sensor is provided on the transport vehicle; based on the laser sensor, construct a first grid map of the finished cut tobacco warehouse; perform path planning on the first grid map based on a preset path planning algorithm to obtain the first transport vehicle path planning scheme.

[0055] As an embodiment, it further includes: A second determination module, configured to operate the transport vehicle in the finished cut tobacco warehouse, and at least one laser sensor is provided on the transport vehicle; based on the laser sensor, construct a second grid map of the finished cut tobacco warehouse; perform path planning on the second grid map based on a preset path planning algorithm to obtain the second transport vehicle path planning scheme.

[0056] As an embodiment, the second determination module is further configured to: Set the grid corresponding to the target storage roadway in the second grid map as occupied to obtain an adjusted second grid map; Perform path planning on the adjusted second grid map based on a preset path planning algorithm to obtain the first transport vehicle path planning scheme.

[0057] As an embodiment, the preset path planning algorithm includes a heuristic search algorithm.

[0058] As an embodiment, the first transport vehicle path planning scheme and the second transport vehicle path planning scheme are also used to control the transport vehicle to operate based on local path planning in a preset complex environment.

[0059] As an embodiment, the local path planning is determined by a dynamic window.

[0060] It should be noted that the finished cut tobacco warehouse production mode adjustment device provided by the present invention, during specific operation, can execute the finished cut tobacco warehouse production mode adjustment method described in any of the above embodiments, and has technical effects corresponding to the method, which will not be elaborated in this embodiment.

[0061] Figure 5 is a schematic structural diagram of an electronic device provided by the present invention, as Figure 5 shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logical instructions in the memory 530 to execute the finished cut tobacco warehouse production mode adjustment method, and the method includes: In response to a first mode adjustment instruction, close the target storage roadway in the finished cut tobacco warehouse, and operate the transport vehicle based on a pre-determined first transport vehicle path planning scheme; In response to a second mode adjustment instruction, open the target storage roadway, and operate the transport vehicle based on a pre-determined second transport vehicle path planning scheme; wherein, the path involved in the first transport vehicle path planning scheme does not include the target storage roadway, and the path involved in the second transport vehicle path planning scheme includes the target storage roadway.

[0062] In addition, when the logical instructions in the above-mentioned memory 530 can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this 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 for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0063] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method for adjusting the production mode of the finished cut tobacco warehouse provided in the above-mentioned various embodiments. The method includes: In response to a first mode adjustment instruction, close the target storage lane in the finished cut tobacco warehouse and operate the transport vehicle based on a pre-determined first transport vehicle path planning scheme; In response to a second mode adjustment instruction, open the target storage lane and operate the transport vehicle based on a pre-determined second transport vehicle path planning scheme; Wherein, the path involved in the first transport vehicle path planning scheme does not include the target storage lane, and the path involved in the second transport vehicle path planning scheme includes the target storage lane.

[0064] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the method for adjusting the production mode of the finished cut tobacco warehouse provided in the above-mentioned various embodiments. The method includes: In response to a first mode adjustment instruction, close the target storage lane in the finished cut tobacco warehouse and operate the transport vehicle based on a pre-determined first transport vehicle path planning scheme; In response to a second mode adjustment instruction, open the target storage lane and operate the transport vehicle based on a pre-determined second transport vehicle path planning scheme; Wherein, the path involved in the first transport vehicle path planning scheme does not include the target storage lane, and the path involved in the second transport vehicle path planning scheme includes the target storage lane.

[0065] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0066] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the production mode of a finished tobacco warehouse, characterized in that: include: In response to the first mode adjustment instruction, the target storage lane in the finished tobacco warehouse is closed, and the transport vehicle is operated based on a predetermined first transport vehicle path planning scheme; In response to the second mode adjustment instruction, the target storage lane is opened, and the transport vehicle is operated based on a predetermined second transport vehicle path planning scheme; Among them, the path involved in the first transport vehicle path planning scheme does not include the target storage lane, and the path involved in the second transport vehicle path planning scheme includes the target storage lane.

2. The method for adjusting the production mode of the finished tobacco warehouse according to claim 1, characterized in that: The step of determining the first transport vehicle path planning solution includes: Closing the target storage lane in the finished tobacco warehouse, and operating the transport vehicle, wherein the transport vehicle is provided with at least one laser sensor; Based on the laser sensor, construct a first grid map of the finished tobacco warehouse; Path planning is performed on the first grid map based on a preset path planning algorithm to obtain a path planning solution for the first transport vehicle.

3. The method for adjusting the production mode of the finished tobacco warehouse according to claim 1, characterized in that: The step of determining the second transport vehicle path planning solution includes: The transport vehicle is operated in the finished tobacco warehouse, and at least one laser sensor is provided on the transport vehicle; Based on the laser sensor, construct a second grid map of the finished tobacco warehouse; Path planning is performed on the second grid map based on a preset path planning algorithm to obtain a path planning solution for the second transport vehicle.

4. The method for adjusting the production mode of the finished tobacco warehouse according to claim 3, characterized in that: The step of determining the first transport vehicle path planning solution includes: Setting the grid corresponding to the target storage lane in the second grid map to be occupied to obtain an adjusted second grid map; Path planning is performed on the adjusted second grid map based on a preset path planning algorithm to obtain a path planning solution for the first transport vehicle.

5. The method for adjusting the production mode of a finished tobacco warehouse according to any one of claims 2 to 4, characterized in that: The preset path planning algorithm includes a heuristic search algorithm.

6. The method for adjusting the production mode of the finished tobacco warehouse according to claim 1, characterized in that: The first transport vehicle path planning scheme and the second transport vehicle path planning scheme are also used to control the transport vehicles to operate based on local path planning in a preset complex environment.

7. The method for adjusting the production mode of the finished tobacco warehouse according to claim 6, characterized in that: The local path planning is determined by a dynamic window.

8. A finished tobacco warehouse production mode adjustment device, characterized in that: include: A first adjustment module, for responding to a first mode adjustment instruction, closing a target storage lane in a finished tobacco warehouse, and operating a transport vehicle based on a preset first transport vehicle path planning scheme and a first scheduling priority planning scheme; A second adjustment module is used to respond to the second mode adjustment instruction, open the target storage lane, and operate the transport vehicle based on the preset second transport vehicle path planning scheme and the second scheduling priority planning scheme; Among them, the path involved in the first transport vehicle path planning scheme does not include the target storage lane, and the path involved in the second transport vehicle path planning scheme includes the target storage lane.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method for adjusting the production mode of the finished tobacco warehouse as claimed in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for adjusting the production mode of a finished tobacco warehouse as claimed in any one of claims 1 to 7 are implemented.

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