Intelligent warehouse inventory management system

Abstract

The invention provides an intelligent warehouse inventory management system, and relates to the technical field of inventory management. According to the method, the distance factor, the signal intensity index and the environment interference index are comprehensively considered, and the reachability score between each storage position and the warehousing equipment is accurately calculated, so that the optimal storage position is selected. The innovative method ensures that the goods are placed at the position most favorable for automatic scanning and storing and taking, so that the warehousing equipment can directly and successfully scan and complete warehousing operation within the fastest time, and manual intervention is not needed. The goods are accurately placed at the optimal storage position, so that repeated operation caused by signal interference or scanning failure is avoided, the possibility of manual participation is greatly reduced, and the warehousing efficiency and accuracy are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of inventory management, and in particular to an intelligent warehouse inventory management system. Background Art

[0002] In traditional warehouse management systems, inventory management mainly relies on manual operations and simple information technology support. This model has technical problems such as low efficiency, low space utilization, slow response, and information islands. The introduction of equipment such as automatic storage and retrieval systems (AS / RS), autonomous mobile robots (AMRs), and sorting robots has greatly improved the efficiency and accuracy of warehousing operations. Barcode and RFID (radio frequency identification) technology is an indispensable part of smart warehousing. By assigning a unique identifier to each product or pallet, the system can accurately track and manage the goods. Compared with traditional barcodes, RFID tags have higher reading speeds and larger information capacity, can work stably in complex environments, and are suitable for large-scale warehousing scenarios.

[0003] RFID readers and barcode scanners are integrated into one device and fixed at multiple locations on warehouse shelves. When goods are put into storage, the RFID readers and barcode scanners can identify the basic information of the goods and put them into storage. The reading of barcodes depends on optical scanning devices, which usually identify the information on the barcode by reflecting light. Due to the design principle of barcodes, their reading distance is very limited, and they usually need to be scanned within a range of several centimeters to tens of centimeters. This close distance requirement is particularly inconvenient in large-scale warehousing scenarios. For example, in a large warehouse, staff need to frequently move to each cargo location for scanning, which increases the operation time and labor intensity. In addition, the reading angle of the barcode is also relatively strict. It is necessary to ensure that the scanner is aligned with the barcode, otherwise it is easy to fail to read. Therefore, the application of barcode technology in large-scale warehousing is greatly limited. Compared with barcodes, RFID tags do have a longer reading distance, especially high-frequency (HF) and ultra-high-frequency (UHF) RFID tags, whose reading distance can reach several meters or even more than ten meters. However, RFID tags may be significantly interfered in complex environments, affecting the reading effect. Summary of the invention

[0004] The purpose of this application is to provide an intelligent warehouse inventory management system.

[0005] On the one hand, according to an embodiment of the present application, an intelligent warehouse inventory management system is proposed, including the following modules:

[0006] Optimal storage location generation module: used to generate the optimal storage location for the goods to be stored;

[0007] The storage path generation and storage module is connected to the optimal storage location generation module, and is used to generate a storage path for the goods to be stored according to the optimal storage location and the warehouse entrance, and store the goods to be stored in the optimal storage location through the storage and access device;

[0008] Warehouse entry module: connected with the warehouse entry path generation and storage module, used to scan the goods to be warehoused at the optimal storage location through the warehouse entry equipment around the optimal storage location to generate scanning results;

[0009] Inventory management module: connected with the warehousing module, used to update the inventory records according to the scanning results and manage the inventory records.

[0010] According to one aspect of an embodiment of the present application, an optimal storage location generation module includes the following submodules:

[0011] Warehouse layout information acquisition submodule: used to obtain warehouse layout information through warehouse three-dimensional map data; warehouse layout information includes shelf location, storage location, warehousing equipment location, and obstacle information;

[0012] Distance factor acquisition submodule: used to obtain the distance factor between each storage location and the storage device location;

[0013] Signal strength index acquisition submodule: used to obtain the signal strength index between each storage location and the storage device location;

[0014] Environmental interference index acquisition submodule: used to obtain the environmental interference index between each storage location and the storage device location;

[0015] Accessibility score calculation submodule: used to calculate the accessibility score between each storage location and the storage device location based on the distance factor, signal strength index, and environmental interference index;

[0016] Optimal storage location acquisition submodule: used to define the storage location with the maximum reachability score as the optimal storage location.

[0017] According to one aspect of the embodiment of the present application, the distance factor acquisition submodule includes the following units:

[0018] A first shortest distance acquisition unit: used to acquire a first distance between each storage location and all storage device locations, and determine the shortest distance according to the first distance;

[0019] The maximum effective coverage range acquisition unit of the incoming equipment is used to acquire the effective coverage range of all incoming equipment, and obtain the maximum effective coverage range of the incoming equipment according to the effective coverage range of all incoming equipment;

[0020] The first distance factor calculation unit is used to calculate the distance factor between each storage location and each storage device location according to the shortest distance and the maximum effective coverage range of the storage device.

[0021] According to one aspect of an embodiment of the present application, the signal strength index acquisition submodule includes the following units:

[0022] A storage device signal strength acquisition unit: used to acquire the signal strength of each storage device at each storage location;

[0023] Maximum signal strength acquisition unit: used to calculate the maximum signal strength of the storage device according to the signal strength of each storage device at each storage location;

[0024] A signal strength average value acquisition unit: used to calculate the average signal strength of each storage device according to the signal strength of each storage device at each storage location;

[0025] Signal strength index calculation unit: used to calculate the signal strength index of each storage location and each incoming device according to the signal strength of each incoming device at each storage location, the maximum signal strength of the incoming device, and the average signal strength of the incoming device.

[0026] According to one aspect of an embodiment of the present application, the environmental interference index acquisition submodule includes the following units:

[0027] Metal reflection coefficient acquisition unit: used to acquire the surface area of ​​the metal object at each storage position and the total area of ​​each storage position, and obtain the metal reflection coefficient according to the surface area of ​​the metal object at each storage position and the total area of ​​each storage position;

[0028] Obstacle density acquisition unit: used to acquire the signal propagation path between each storage location and each storage device, acquire the volume of all obstacles in all signal propagation paths to obtain the total volume of obstacles, acquire the volume of obstacles on each signal propagation path, and acquire the obstacle density according to the total volume of obstacles and the volume of obstacles on each signal propagation path;

[0029] The environmental interference index calculation unit is used to calculate the environmental interference index according to the metal reflection coefficient and the obstacle density.

[0030] According to one aspect of the embodiment of the present application, the calculation formula of the reachability score is:

[0031]

[0032] In the formula, A ij represents the accessibility score between the i-th storage location and the j-th storage device, D ijRepresents the distance factor between the i-th storage location and the j-th storage device, I ij represents the signal strength index between the i-th storage location and the j-th storage device, E ij represents the environmental interference index between the i-th storage location and the j-th storage device, ω 1 ,ω 2 Represent the weight coefficients respectively.

[0033] According to one aspect of an embodiment of the present application, at least two segmentation points are preset: a first segmentation point and a second segmentation point. When the current environmental interference index is less than or equal to the first segmentation point, the current environmental interference index is assigned 0; when the current environmental interference index is greater than the second segmentation point, the current environmental interference index is assigned 1; when the current environmental interference index is greater than the first segmentation point and less than or equal to the second segmentation point, a new environmental interference index is calculated using the current environmental interference index and the first segmentation point.

[0034] According to one aspect of the embodiment of the present application, the calculation formula of the environmental interference index is:

[0035]

[0036] In the formula, E 0 Represents the first segment point, E 1 Represents the second segmentation point.

[0037] According to one aspect of an embodiment of the present application, several entry paths are generated for the goods to be stored according to the optimal storage position and the warehouse entrance, and the channel width score of each entry path is obtained according to the actual width of the channel in the warehouse, the minimum width of the storage and access device, and the maximum width of the channel in the warehouse; each coordinate point of the entry path is obtained, and the distance between the coordinate point and the entry device is calculated, and whether the coordinate point is within the coverage range of the entry device is determined according to the distance; if the coordinate is within the coverage range of the entry device, the coverage score of the coordinate point is assigned: 1; if the coordinate is not within the coverage range of the entry device, the coverage score of the coordinate point is assigned: 0; the coverage score of the entry path is obtained according to the coverage score of the coordinate point, and the comprehensive score of the entry path is obtained according to the coverage score of the entry path and the channel width score of the entry path, and the entry path with the highest comprehensive score is taken as the optimal entry path.

[0038] In summary, the beneficial technical effects of this application are:

[0039] The present invention significantly improves the automation level and efficiency of warehousing operations by introducing accessibility scores to screen the optimal storage location. Specifically, the present invention comprehensively considers the distance factor, signal strength index and environmental interference index, accurately calculates the accessibility score between each storage location and the warehousing device, and thus selects an optimal storage location. This innovative method ensures that the goods are placed in the position that is most conducive to automatic scanning and access, so that the warehousing device can directly scan successfully and complete the warehousing operation in the fastest time without manual intervention. By accurately placing the goods in the optimal storage location, not only the repeated operations caused by signal interference or scanning failure are avoided, but also the possibility of manual participation is greatly reduced, which greatly improves the efficiency and accuracy of warehousing. In addition, based on the optimal storage location, the coverage score and channel width score of the warehousing path are further combined to plan the optimal warehousing path, ensuring that the storage and access equipment can pass smoothly, avoiding transportation delays and collision risks caused by complex paths or narrow channels. Finally, this intelligent path planning and storage location selection scheme not only improves the automation level of warehousing management, but also significantly shortens the time for goods to enter the warehouse, reduces operating costs, and enhances the competitiveness and operating efficiency of enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural diagram of an intelligent warehouse inventory management system of the present application. DETAILED DESCRIPTION

[0041] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, 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 includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0043] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0044] The term "plurality" used in the present application refers to two or more (including two).

[0045] On the one hand, the following combination Figure 1 An intelligent warehouse inventory management system according to an embodiment of the present application is described in detail.

[0046] See attached Figure 1 , an intelligent warehouse inventory management system, including the following modules:

[0047] Optimal storage location generation module: used to generate the optimal storage location for goods to be stored.

[0048] When goods to be stored need to be stored, it is necessary to scan the barcode on the goods and identify the label to generate a new inventory record. At this time, in order to speed up the storage efficiency and realize automatic processing, this embodiment generates the optimal storage location for the goods to be stored. Specifically: the optimal storage location generation module includes the following submodules:

[0049] Warehouse layout information acquisition submodule: used to obtain warehouse layout information through warehouse three-dimensional map data; warehouse layout information includes shelf location, storage location, warehousing equipment location, obstacle information, and channel information.

[0050] Distance factor acquisition submodule: used to obtain the distance factor between each storage location and the storage device location.

[0051] The storage device includes a barcode scanner and an RFID reader. Since the barcode scanner has strict requirements on the relative distance, this embodiment designs a distance factor between each storage location and the storage device location.

[0052] The distance factor acquisition submodule includes the following units:

[0053] The first shortest distance acquisition unit is used to acquire the first distance between each storage location and all storage device locations, and determine the shortest distance based on the first distance.

[0054] The maximum effective coverage range acquisition unit of the incoming equipment is used to acquire the effective coverage ranges of all the incoming equipment, and obtain the maximum effective coverage range of the incoming equipment according to the effective coverage ranges of all the incoming equipment.

[0055] The first distance factor calculation unit is used to calculate the distance factor between each storage location and each storage device location according to the shortest distance and the maximum effective coverage range of the storage device.

[0056]

[0057] D ij Represents the distance factor between the i-th storage location and the j-th storage device, represents the shortest distance between the i-th storage location and the j-th storage device, represents the maximum effective coverage between the i-th storage location and the j-th storage device, γ represents the adjustment factor, γ>1.

[0058] Directly reflects the physical distance between the storage location and the storage equipment, and the maximum effective coverage It represents the maximum distance at which the storage device can work effectively. By dividing the shortest distance by the maximum effective coverage range, the distances of different devices and different storage locations can be normalized, making the comparison between different devices and locations comparable. The smaller the ratio, the shorter the distance between the storage location and the storage device, and within the effective coverage range of the device, the device can more easily reach the location and complete the scanning and access operations. Conversely, the larger the ratio, the farther the storage location is or closer to the edge of the device's maximum coverage range, and the device may require more energy and time to complete the task, and may even cause scanning failure or signal interference. Therefore, through this ratio, the accessibility of each storage location can be accurately evaluated to ensure that the selected storage location is both safe and efficient.

[0059] Signal strength index acquisition submodule: used to obtain the signal strength index between each storage location and the storage device location.

[0060] The warehousing equipment needs to ensure high signal quality when reading cargo labels and scanning barcodes.

[0061] The signal strength index acquisition submodule includes the following units:

[0062] Inbound device signal strength acquisition unit: used to acquire the signal strength of each inbound device at each storage location.

[0063] Maximum signal strength acquisition unit: used to calculate the maximum signal strength of the incoming device according to the signal strength of each incoming device at each storage location.

[0064] The signal strength average value acquisition unit is used to calculate the average value of the signal strength of the incoming equipment according to the signal strength of each incoming equipment at each storage location.

[0065] Signal strength index calculation unit: used to calculate the signal strength index of each storage location and each incoming device according to the signal strength of each incoming device at each storage location, the maximum signal strength of the incoming device, and the average signal strength of the incoming device.

[0066]

[0067] I ij represents the signal strength index of the jth storage device at the i-th storage location, p ij represents the signal strength of the jth incoming device at the i-th storage location, represents the maximum signal strength of the jth storage device at the i-th storage location, p avg represents the average signal strength of the j-th incoming device at the i-th storage position, α represents the signal strength adjustment coefficient, and β represents the attenuation coefficient.

[0068] first, Normalize it, Partly by introducing screening coefficients and signal strength averages, storage locations that deviate from the average signal strength are penalized. If the signal strength of a storage location is much lower or much higher than the average, its signal strength index is reduced accordingly, thereby avoiding the selection of locations with unstable signals.

[0069] Environmental interference index acquisition submodule: used to obtain the environmental interference index between each storage location and the storage device location.

[0070] The environmental interference index acquisition submodule includes the following units:

[0071] Metal reflection coefficient acquisition unit: used to acquire the surface area of ​​the metal object at each storage position and the total area of ​​each storage position, and obtain the metal reflection coefficient according to the surface area of ​​the metal object at each storage position and the total area of ​​each storage position.

[0072] The metal reflection coefficient of each storage location is obtained by dividing the surface area of ​​the metal object at each storage location by the total area of ​​each storage location.

[0073] Obstacle density acquisition unit: used to obtain the signal propagation path between each storage location and each warehousing device, obtain the volume of all obstacles in all signal propagation paths to obtain the total obstacle volume, obtain the volume of obstacles on each signal propagation path, and obtain the obstacle density based on the total obstacle volume and the obstacle volume on each signal propagation path.

[0074] The obstacle density is obtained by dividing the obstacle volume on each signal propagation path by the total obstacle volume.

[0075] The environmental interference index calculation unit is used to calculate the environmental interference index according to the metal reflection coefficient and the obstacle density.

[0076] At least two segmentation points are preset: a first segmentation point and a second segmentation point. When the current environmental interference index is less than or equal to the first segmentation point, the current environmental interference index is assigned 0. When the current environmental interference index is greater than the second segmentation point, the current environmental interference index is assigned 1. When the current environmental interference index is greater than the first segmentation point and less than or equal to the second segmentation point, a new environmental interference index is calculated using the current environmental interference index and the first segmentation point.

[0077]

[0078] In the formula, E 0 Represents the first segment point, E 1 Represents the second segmentation point.

[0079] Accessibility score calculation submodule: used to calculate the accessibility score between each storage location and the storage device location based on the distance factor, signal strength index, and environmental interference index;

[0080]

[0081] In the formula, A ij represents the accessibility score between the i-th storage location and the j-th storage device, D ij Represents the distance factor between the i-th storage location and the j-th storage device, I ij represents the signal strength index between the i-th storage location and the j-th storage device, E ijrepresents the environmental interference index between the i-th storage location and the j-th storage device, ω 1 ,ω 2 Represent the weight coefficients respectively.

[0082] Optimal storage location acquisition submodule: used to define the storage location with the maximum reachability score as the optimal storage location.

[0083] Warehouse entry path generation and storage module: connected to the optimal storage location generation module, used to generate a warehouse entry path for the goods to be warehoused according to the optimal storage location and warehouse entrance, and store the goods to be warehoused in the optimal storage location through the storage and access device.

[0084] According to the optimal storage position and the warehouse entrance, several entry paths are generated for the goods to be stored. According to the actual width of the channel in the warehouse, the minimum width of the storage and access equipment, and the maximum width of the channel in the warehouse, the channel width score of each entry path is obtained; each coordinate point of the entry path is obtained, and the distance between the coordinate point and the entry device is calculated. According to the distance, it is determined whether the coordinate point is within the coverage range of the entry device. If the coordinate is within the coverage range of the entry device, the coverage score of the coordinate point is assigned: 1; if the coordinate is not within the coverage range of the entry device, the coverage score of the coordinate point is assigned: 0; the coverage score of the entry path is obtained according to the coverage score of the coordinate point, and the comprehensive score of the entry path is obtained according to the coverage score of the entry path and the channel width score of the entry path. The entry path with the highest comprehensive score is taken as the optimal entry path.

[0085] W m Represents the channel width score of the mth channel. The channel width score of each entry path is obtained by adding up all the channel width scores on the entry path.

[0086] Warehouse entry module: connected with the warehouse entry path generation and storage module, used to scan the goods to be entered in the optimal storage location through the warehouse entry equipment around the optimal storage location to generate scanning results.

[0087] Inventory management module: connected with the warehousing module, used to update the inventory records according to the scanning results and manage the inventory records.

[0088] When the entry module completes the scan, the system automatically generates an entry record and sends it to the inventory management module. After receiving the entry record, the inventory management module will search for the corresponding inventory record based on the product number, batch number and other information, and update the inventory quantity. If the product is entering the warehouse for the first time, a new record will be created in the inventory table.

[0089] The above description is only a preferred specific implementation manner of the present application, and is not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent warehouse inventory management system, characterized in that: Includes the following modules: Optimal storage location generation module: used to generate the optimal storage location for the goods to be stored; The storage path generation and storage module is connected to the optimal storage location generation module, and is used to generate a storage path for the goods to be stored according to the optimal storage location and the warehouse entrance, and store the goods to be stored in the optimal storage location through the storage and access device; Warehouse entry module: connected with the warehouse entry path generation and storage module, used to scan the goods to be warehoused at the optimal storage location through the warehouse entry equipment around the optimal storage location to generate scanning results; Inventory management module: connected with the warehousing module, used to update the inventory records according to the scanning results and manage the inventory records.

2. The intelligent warehouse inventory management system according to claim 1, characterized in that: The optimal storage location generation module includes the following submodules: Warehouse layout information acquisition submodule: used to obtain warehouse layout information through warehouse three-dimensional map data; warehouse layout information includes shelf location, storage location, warehousing equipment location, and obstacle information; Distance factor acquisition submodule: used to obtain the distance factor between each storage location and the storage device location; Signal strength index acquisition submodule: used to obtain the signal strength index between each storage location and the storage device location; Environmental interference index acquisition submodule: used to obtain the environmental interference index between each storage location and the storage device location; Accessibility score calculation submodule: used to calculate the accessibility score between each storage location and the storage device location based on the distance factor, signal strength index, and environmental interference index; Optimal storage location acquisition submodule: used to define the storage location with the maximum reachability score as the optimal storage location.

3. The intelligent warehouse inventory management system according to claim 2, characterized in that: The distance factor acquisition submodule includes the following units: A first shortest distance acquisition unit: used to acquire a first distance between each storage location and all storage device locations, and determine the shortest distance according to the first distance; The maximum effective coverage range acquisition unit of the incoming equipment is used to acquire the effective coverage range of all incoming equipment, and obtain the maximum effective coverage range of the incoming equipment according to the effective coverage range of all incoming equipment; The first distance factor calculation unit is used to calculate the distance factor between each storage location and each storage device location according to the shortest distance and the maximum effective coverage range of the storage device.

4. The intelligent warehouse inventory management system according to claim 3, characterized in that: The signal strength index acquisition submodule includes the following units: A storage device signal strength acquisition unit: used to acquire the signal strength of each storage device at each storage location; Maximum signal strength acquisition unit: used to calculate the maximum signal strength of the storage device according to the signal strength of each storage device at each storage location; A signal strength average value acquisition unit: used to calculate the average signal strength of each storage device according to the signal strength of each storage device at each storage location; Signal strength index calculation unit: used to calculate the signal strength index of each storage location and each incoming device according to the signal strength of each incoming device at each storage location, the maximum signal strength of the incoming device, and the average signal strength of the incoming device.

5. The intelligent warehouse inventory management system according to claim 4, characterized in that: The environmental interference index acquisition submodule includes the following units: Metal reflection coefficient acquisition unit: used to acquire the surface area of ​​the metal object at each storage position and the total area of ​​each storage position, and obtain the metal reflection coefficient according to the surface area of ​​the metal object at each storage position and the total area of ​​each storage position; Obstacle density acquisition unit: used to acquire the signal propagation path between each storage location and each storage device, acquire the volume of all obstacles in all signal propagation paths to obtain the total volume of obstacles, acquire the volume of obstacles on each signal propagation path, and acquire the obstacle density according to the total volume of obstacles and the volume of obstacles on each signal propagation path; The environmental interference index calculation unit is used to calculate the environmental interference index according to the metal reflection coefficient and the obstacle density.

6. The intelligent warehouse inventory management system according to claim 1, characterized in that: The calculation formula for the accessibility score is: In the formula, A ij represents the accessibility score between the i-th storage location and the j-th storage device, D ij Represents the distance factor between the i-th storage location and the j-th storage device, I ij represents the signal strength index between the i-th storage location and the j-th storage device, E ij represents the environmental interference index between the i-th storage location and the j-th storage device, and ω1 and ω2 represent weight coefficients respectively.

7. An intelligent warehouse inventory management system according to claim 6, characterized in that: At least two segmentation points are preset: a first segmentation point and a second segmentation point. When the current environmental interference index is less than or equal to the first segmentation point, the current environmental interference index is assigned 0. When the current environmental interference index is greater than the second segmentation point, the current environmental interference index is assigned 1. When the current environmental interference index is greater than the first segmentation point and less than or equal to the second segmentation point, a new environmental interference index is calculated using the current environmental interference index and the first segmentation point.

8. The intelligent warehouse inventory management system according to claim 6, characterized in that: The calculation formula of environmental interference index is: Wherein, E0 represents the first segmentation point, and E1 represents the second segmentation point.

9. The intelligent warehouse inventory management system according to claim 1, characterized in that: According to the optimal storage position and the warehouse entrance, several entry paths are generated for the goods to be stored. According to the actual width of the channel in the warehouse, the minimum width of the storage and access equipment, and the maximum width of the channel in the warehouse, the channel width score of each entry path is obtained; each coordinate point of the entry path is obtained, and the distance between the coordinate point and the entry device is calculated. According to the distance, it is determined whether the coordinate point is within the coverage range of the entry device. If the coordinate is within the coverage range of the entry device, the coverage score of the coordinate point is assigned: 1; if the coordinate is not within the coverage range of the entry device, the coverage score of the coordinate point is assigned: 0; the coverage score of the entry path is obtained according to the coverage score of the coordinate point, and the comprehensive score of the entry path is obtained according to the coverage score of the entry path and the channel width score of the entry path. The entry path with the highest comprehensive score is taken as the optimal entry path.

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