Warehouse-in and warehouse-out control method of service warehouse, terminal equipment and storage medium

Abstract

The invention is suitable for the field of artificial intelligence, and discloses a warehouse-in and warehouse-out control method for service warehouse, terminal equipment and a storage medium. The warehouse-in and warehouse-out control method for the service warehouse comprises the steps that when a cargo image of a to-be-processed cargo is detected, cargo attributes are obtained through analysis according to the cargo image, and the real-time state of a warehouse robot cluster is obtained; according to the cargo attributes and the real-time state information, a control instruction is generated, and the control instruction is used for controlling a target storage robot determined in a storage robot cluster; and according to the control instruction, the target storage robot is controlled to execute warehouse-out operation or warehouse-in operation on the to-be-processed goods. The operation state of the storage robot cluster is obtained in real time, the attribute of the goods to be processed is combined, and the control instruction is dynamically generated to select the optimal target storage robot. The problems that robot task distribution is rigid, and sudden demands or path conflicts cannot be flexibly handled are solved, the cooperation efficiency of the storage robot cluster is improved, and then the warehouse-in and warehouse-out efficiency of service storage is improved.

Description

Technical Field

[0001] The present invention belongs to the field of artificial intelligence, and particularly relates to a method for controlling inbound and outbound operations of a service warehouse, a terminal device, and a storage medium. Background Art

[0002] A service warehouse is an intelligent warehouse management system for emergency service scenarios. A warehouse system designed specifically for emergency material management not only provides the function of storing materials, but also emphasizes the service attribute.

[0003] Although traditional warehouse software systems can achieve basic task allocation, they do not dynamically adjust control instructions by combining real-time status information. The task allocation of robots is rigid and difficult to adapt to sudden inbound and outbound requirements or path conflicts. As a result, the inbound and outbound efficiency is low. A new technical means is needed to solve the above technical problems. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method for controlling inbound and outbound operations of a service warehouse, a terminal device, and a storage medium, which can solve the problem of low inbound and outbound efficiency of traditional warehouse software systems in related technologies.

[0005] The first aspect of the present invention provides a method for controlling inbound and outbound operations of a service warehouse, including:

[0006] When a cargo image of a to-be-processed cargo is detected, analyze the cargo attributes based on the cargo image, and obtain the real-time status of the warehouse robot cluster;

[0007] Generate a control instruction according to the cargo attributes and the real-time status information, where the control instruction is used to control a target warehouse robot determined in the warehouse robot cluster;

[0008] Control the target warehouse robot to perform an outbound operation or an inbound operation on the to-be-processed cargo according to the control instruction.

[0009] Optionally, in the first implementation manner of the first aspect of the present invention, after the step of controlling the target warehouse robot to perform an outbound operation or an inbound operation on the to-be-processed cargo according to the control instruction, the method further includes:

[0010] Perform predictive analysis of required materials according to historical demand data and real-time demand information to obtain target cargo;

[0011] Judge whether the target cargo is in a preset emergency position;

[0012] If not, output a prompt message for adjusting the warehouse inventory.

[0013] Optionally, in the second implementation manner of the first aspect of the present invention, after the step of outputting a prompt message for adjusting the warehouse inventory if not, the method further includes:

[0014] Determine whether the target goods exist in the service warehouse;

[0015] If it exists, control the warehouse robot cluster to transfer the target goods to the emergency location.

[0016] Optionally, in the third implementation manner of the first aspect of the present invention, after the step of determining whether the target goods exist in the service warehouse, the method further includes:

[0017] If it does not exist, output a prompt message for purchasing the target goods, and detect whether the target goods appear at the warehousing location;

[0018] If it appears, control the warehouse robot cluster to store the target goods at the emergency location.

[0019] Optionally, in the fourth implementation manner of the first aspect of the present invention, when detecting the goods image of the goods to be processed, the step of analyzing the goods attributes according to the goods image and obtaining the real-time status of the warehouse robot cluster includes:

[0020] When detecting a voice interaction request corresponding to the goods image, determine whether there is cached broadcast content corresponding to the goods image;

[0021] If so, perform voice broadcast according to the cached broadcast content to respond to the voice interaction request;

[0022] If not, analyze the goods attributes according to the goods image and obtain the real-time status of the warehouse robot cluster.

[0023] Optionally, in the fifth implementation manner of the first aspect of the present invention, after the step of generating a control instruction according to the goods attributes and the real-time status information, the method further includes:

[0024] Generate voice broadcast content according to the cached control instruction;

[0025] Perform voice broadcast according to the voice broadcast content to respond to the voice interaction request.

[0026] Optionally, in the sixth implementation manner of the first aspect of the present invention, the method further includes:

[0027] When detecting that the warning function of a preset event is triggered, obtain the material allocation information corresponding to the preset event and obtain the real-time goods information of the service warehouse;

[0028] Generate an emergency control instruction based on the real-time goods information and the material allocation information;

[0029] Control the warehousing robot cluster according to the emergency control instruction to perform the outbound operation of emergency supplies.

[0030] Optionally, in the seventh implementation manner of the first aspect of the present invention, the step of generating a control instruction according to the goods attribute and the real-time status information includes:

[0031] Determine at least one of the target warehousing robots in the warehousing robot cluster according to the goods attribute and the real-time status information;

[0032] Call a reinforcement learning algorithm to assign tasks and plan an optimal driving path for the target warehousing robot to generate the control instruction.

[0033] In a second aspect, an embodiment of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned inbound and outbound control method for service warehousing are implemented.

[0034] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned inbound and outbound control method for service warehousing are implemented.

[0035] In a fourth aspect, an embodiment of the present invention provides a computer program product. When the computer program product runs on a terminal device, the terminal device is enabled to execute the above-mentioned inbound and outbound control method for service warehousing.

[0036] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: When a goods image of a to-be-processed good is detected, the goods attribute is analyzed based on the goods image, and the real-time status of the warehousing robot cluster is obtained; according to the goods attribute and the real-time status information, a control instruction is generated, and the control instruction is used to control the target warehousing robot determined in the warehousing robot cluster; according to the control instruction, the target warehousing robot is controlled to perform an outbound operation or an inbound operation on the to-be-processed good. By obtaining the operation status of the warehousing robot cluster in real time and combining the attributes of the to-be-processed goods, a control instruction is dynamically generated to select the optimal target warehousing robot. Without relying on the limitations of fixed rules or static task allocation, the problem of rigid robot task allocation and inability to flexibly respond to sudden demands or path conflicts is solved, the cooperation efficiency of the warehousing robot cluster is improved, and thus the inbound and outbound efficiency of service warehousing is improved. Description of the Drawings

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for use in the embodiments or the description of the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 It is a schematic diagram of an embodiment of the inbound and outbound control method for a service warehouse in an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of a specific embodiment after step S103 of the inbound and outbound control method for a service warehouse in an embodiment of the present invention;

[0040] Figure 3 It is a schematic diagram of a specific embodiment of step S101 of the inbound and outbound control method for a service warehouse in an embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of a specific embodiment of step S102 of the inbound and outbound control method for a service warehouse in an embodiment of the present invention;

[0042] Figure 5 It is a schematic diagram of an embodiment of a terminal device in an embodiment of the present invention. Detailed implementation manners

[0043] In order to make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0044] It should be noted that the terms "including", "comprising" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, terminal, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. In the terms in the claims, specification and specification drawings of the present invention, relational terms such as "first" and "second" are only used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0045] References to "embodiments" in this specification mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0046] The service warehouse is an intelligent warehouse management system for emergency service scenarios. A warehouse system designed specifically for emergency material management not only provides the function of storing materials but also emphasizes service attributes.

[0047] Although traditional warehouse software systems can achieve basic task allocation, they do not dynamically adjust control instructions in combination with real-time status information. The robot task allocation is rigid and difficult to adapt to sudden inbound and outbound requirements or path conflicts. As a result, the inbound and outbound efficiency is low. A new technical means is needed to solve the above technical problems.

[0048] In view of this, the embodiments of the present invention provide an inbound and outbound control method, a terminal device, and a storage medium for a service warehouse. By obtaining the operation status of the warehouse robot cluster in real time and combining the attributes of the goods to be processed, control instructions are dynamically generated to select the optimal target warehouse robot. Without relying on the limitations of fixed rules or static task allocation, it solves the problem of rigid robot task allocation and the inability to flexibly respond to sudden demands or path conflicts, improves the cooperation efficiency of the warehouse robot cluster, and thus improves the inbound and outbound efficiency of the service warehouse.

[0049] To illustrate the technical solutions of the present invention, specific embodiments will be used for illustration below.

[0050] Figure 1 The figure shows a schematic flowchart of an inbound and outbound control method for a service warehouse provided by an embodiment of the present invention. This method can be applied to a terminal device. The terminal device can be a mobile phone, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, etc.

[0051] Specifically, the above-mentioned inbound and outbound control method for a service warehouse may include the following steps S101 to S103.

[0052] In step S101, when the goods image of the goods to be processed is detected, the goods attributes are analyzed based on the goods image, and the real-time status of the warehouse robot cluster is obtained.

[0053] In an embodiment of the present invention, when the terminal device (such as the inbound and outbound control device of the service warehouse) detects the input of the image of the goods to be processed through an image acquisition device (such as a camera), the inbound and outbound control process is triggered.

[0054] Perform real-time analysis on the captured cargo images, identify the attribute information of the cargo such as the type, specification, size, etc. through a deep learning model (such as CNN), and extract key features.

[0055] Obtain the dynamic state data of each robot in the warehousing robot cluster in real time, including the current position, task load, battery power, path occupancy, and current operation status (idle / busy).

[0056] Step S102, generate a control instruction according to the cargo attributes and real-time status information, and the control instruction is used to control the target warehousing robot determined in the warehousing robot cluster.

[0057] In an embodiment of the present invention, based on the cargo attributes (such as material type, urgency) and the real-time status of the robot cluster, calculate the optimal task allocation strategy through an algorithm, and generate a control instruction including information such as the target robot identifier, task type (outbound or inbound), and target shelf position.

[0058] Step S103, according to the control instruction, control the target warehousing robot to perform an outbound operation or an inbound operation on the cargo to be processed.

[0059] In an embodiment of the present invention, according to the control instruction, select a qualified target robot (such as the robot with the shortest distance, load matching, and minimum path conflict) from the warehousing robot cluster, and send a task instruction to it.

[0060] After receiving the instruction, the target warehousing robot automatically plans the driving path and performs the cargo handling operation (such as transporting the cargo to the designated shelf to complete the inbound, or taking out the cargo from the designated position to complete the outbound), and at the same time, feeds back the operation status to the system in real time.

[0061] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: when detecting the cargo image of the cargo to be processed, analyze the cargo attributes according to the cargo image, and obtain the real-time status of the warehousing robot cluster; generate a control instruction according to the cargo attributes and real-time status information, and the control instruction is used to control the target warehousing robot determined in the warehousing robot cluster; according to the control instruction, control the target warehousing robot to perform an outbound operation or an inbound operation on the cargo to be processed. By obtaining the operation status of the warehousing robot cluster in real time and combining the attributes of the cargo to be processed, dynamically generate a control instruction to select the optimal target warehousing robot. Without relying on the limitations of fixed rules or static task allocation, it solves the problems of rigid robot task allocation, inability to flexibly respond to sudden demands or path conflicts, improves the cooperation efficiency of the warehousing robot cluster, and further improves the inbound and outbound efficiency of the service warehouse.

[0062] Traditional warehousing systems do not dynamically adjust inventory layouts in combination with demand forecasting. The storage locations of emergency supplies rely on manual experience, and it is easy to have unreasonable storage locations for critical supplies. Based on this, an alternative embodiment of the present invention is proposed.

[0063] Refer to Figure 2 , Figure 2 is a schematic diagram of a specific embodiment after step S103 of the inbound and outbound control method for service warehousing in an embodiment of the present invention. After step S103, the following specific implementation manners are further included.

[0064] Step S201: Perform predictive analysis of required supplies based on historical demand data and real-time demand information to obtain target goods.

[0065] In an embodiment of the present invention, based on historical demand data (such as past supply consumption records, types and frequencies of emergency events) and real-time demand information (such as current emergency event warnings, inventory change signals collected by sensors), a material demand prediction model is started.

[0066] Analyze the data through machine learning algorithms (such as time series prediction, classification models) to predict the types and quantities of emergency supplies that need to be prioritized for guarantee in a specific future time period, and output a list of target goods.

[0067] Step S202: Determine whether the target goods are in a preset emergency location.

[0068] In an embodiment of the present invention, retrieve the warehousing database to determine whether the predicted target goods have been stored in a preset emergency dedicated storage area (such as high-priority shelves, storage locations near fast inbound and outbound channels).

[0069] Step S203: If not, output a prompt message for adjusting the warehousing inventory.

[0070] In an embodiment of the present invention, if the target goods are not stored in the emergency location, a prompt message is automatically generated, including a list of goods to be adjusted, a recommended transfer path, and a priority identifier, and the management personnel are notified through a visual interface or message push.

[0071] In an embodiment of the present invention, through the joint analysis of historical and real-time data, the demand for emergency supplies is predicted in advance, and it is forcibly verified whether critical supplies are in a quick response location. It solves the technical defect that traditional warehousing systems passively rely on manual experience to adjust inventory and cannot predict emergencies, resulting in a lag in material allocation, and significantly improves the preparation efficiency of emergency supplies.

[0072] In traditional warehousing technologies, warehouse management personnel cannot achieve rational storage of all inbound emergency supplies, resulting in a mismatch between the storage locations of supplies and emergency demands. Based on this, an alternative embodiment of the present invention is proposed.

[0073] After step S201, the following specific implementation manners are further included.

[0074] Step S204: Determine whether the target goods exist in the service warehouse.

[0075] In an embodiment of the present invention, after outputting a prompt message for adjusting the warehouse inventory, the inventory verification process is automatically triggered, and the real-time inventory record in the warehouse database is read.

[0076] According to the list of target goods (such as material types, numbers) obtained by predictive analysis, retrieve the warehouse database to determine whether the target goods exist in any storage location in the warehouse (including regular shelves, temporary storage areas, etc.).

[0077] Step S205: If they exist, control the warehouse robot cluster to transfer the target goods to the emergency location.

[0078] In an embodiment of the present invention, if the material transfer decision is to be executed, a transfer instruction is generated, specifying the current location of the target goods and the target emergency location (such as the quick response area, dedicated shelf), and the warehouse robot cluster is called to execute the handling task.

[0079] According to the physical attributes of the target goods (such as weight, volume) and the warehouse map information, allocate handling tasks to the robots, plan the optimal path, and transfer the target goods from the original location to the preset emergency location.

[0080] In an embodiment of the present invention, by automatically verifying the inventory and triggering the robot transfer operation, the key materials can always be in the emergency location where they can be quickly called. The problem of storage misalignment caused by manual management due to unfamiliarity with the material usage rules is solved, and the delay caused by unreasonable material positions during emergency response is avoided.

[0081] In traditional warehousing technologies, it is difficult to track the inventory status in real time manually, and it is easy to affect the emergency response speed due to material shortages. Warehouse managers are not familiar with the material usage rules, resulting in unreasonable storage positions for newly purchased materials. Based on this, an optional embodiment of the present invention is proposed.

[0082] After step S204, the following specific implementation manners are further included.

[0083] Step S206: If they do not exist, output a prompt message for purchasing the target goods, and detect whether the target goods appear at the inbound location.

[0084] In an embodiment of the present invention, after determining that the target goods do not exist in the service warehouse, a purchase prompt message (including material name, specifications, recommended suppliers, etc.) is generated and pushed to the procurement management module through message notification or interface.

[0085] Continuously monitor the warehouse's incoming areas (such as unloading areas and temporary storage areas) and use image recognition or RFID scanning technology to detect in real time whether the new incoming goods contain the target goods.

[0086] Step S207: if it occurs, control the storage robot cluster to store the target goods in an emergency location.

[0087] If the target goods are detected entering the warehouse, the goods will be marked and the dispatch instructions of the warehouse robot cluster will be triggered.

[0088] If the target goods are not detected, monitoring will continue until the preset timeout threshold, and repeated reminders of procurement progress will be given.

[0089] When the target goods appear in the warehousing area, a storage instruction is generated to specify the emergency storage location of the target goods (such as a special quick response shelf), and the storage robot is controlled to move it directly from the warehousing area to the emergency location, skipping the regular warehousing process.

[0090] In the embodiment of the present invention, by automatically triggering procurement reminders and warehousing monitoring, a management chain of "out-of-stock warning, procurement tracking, and warehousing return" is formed. This further solves the problem of material shortages caused by information lag or negligence in manual management in the background technology. After the target goods arrive, the conventional storage process is skipped and they are directly allocated to the emergency special area. Compared with the traditional warehousing system that treats all incoming goods equally, this solution realizes the priority processing of emergency materials and shortens the cycle from procurement to preparation.

[0091] In traditional warehousing technology, resources are seriously wasted when processing repeated requests (such as identifying the same goods multiple times). Based on this, the present invention proposes an optional embodiment.

[0092] Reference Figure 3 , Figure 3 This is a schematic diagram of a specific embodiment of step S101 of the service warehouse in-and-out warehouse control method in an embodiment of the present invention. Step S101 also includes the following specific implementation methods.

[0093] Step S1011, when a voice interaction request corresponding to a goods image is detected, it is determined whether there is cached announcement content corresponding to the goods image.

[0094] In an embodiment of the present invention, when a user initiates a voice interaction request related to a cargo image (eg, asking about cargo attributes, warehouse entry and exit status) through a voice input device (eg, a microphone), the voice request and the associated cargo image are captured synchronously.

[0095] The voice broadcast cache pool is searched according to the characteristic value of the cargo image (such as hash value, image code) to determine whether there is pre-stored voice broadcast content corresponding to the image (such as material description, operation instructions).

[0096] Step S1012. If so, perform voice broadcast according to the cached broadcast content to respond to the voice interaction request.

[0097] In an embodiment of the present invention, if there is cached content, directly call the cached voice data and play the pre-stored content through a voice output device (such as a speaker) to immediately respond to the user's request.

[0098] Step S1013. If not, analyze the goods attributes based on the goods image and obtain the real-time status of the warehousing robot cluster.

[0099] In an embodiment of the present invention, if there is no cached content, transfer to the goods attribute analysis process, perform the operation of "analyzing the goods attributes based on the goods image", and synchronously obtain the real-time status of the warehousing robot cluster.

[0100] Optionally, after the step of generating a control instruction according to the goods attributes and real-time status information, generate voice broadcast content according to the cached control instruction; perform voice broadcast according to the voice broadcast content to respond to the voice interaction request. Specifically, after generating the control instruction, convert the key information of the instruction (such as the target shelf position, operation type) into voice broadcast content, store it in the cache pool and broadcast it in real time to complete the voice interaction closed loop.

[0101] In the embodiment of the present invention, the caching mechanism avoids repetitive image analysis and voice synthesis calculations, reduces the frequent invocation of AI models (such as CNN image recognition, voice synthesis), reduces the consumption of computing resources and the pressure on device performance, and extends the service life of the hardware.

[0102] In traditional warehousing technologies, the warehousing system is not linked with the early warning of emergencies, and the invocation of emergency supplies depends on manual operations afterwards, which is difficult to meet the time efficiency requirements of the golden rescue period. Based on this, an optional embodiment of the present invention is proposed.

[0103] The present invention also includes the following specific embodiments.

[0104] Step S301. When it is detected that the early warning function of a preset event is triggered, obtain the material allocation information corresponding to the preset event and obtain the real-time goods information of the service warehouse.

[0105] Step S302. Generate an emergency control instruction according to the real-time goods information and the material allocation information.

[0106] Step S303. Control the warehousing robot cluster according to the emergency control instruction to perform the outbound operation of emergency supplies.

[0107] In an embodiment of the present invention, when an external warning signal (such as interface data of a disaster warning system) is received or the emergency mode is manually triggered, the emergency response process is automatically activated.

[0108] Match the pre-stored material allocation rule library according to the preset event types (such as earthquake, fire), and obtain the list of necessary materials, quantity requirements, and priority identification corresponding to the event.

[0109] Scan the warehousing database to obtain the real-time location, available quantity, and storage status (such as whether it is within the validity period) of the target emergency materials in the current inventory.

[0110] For the generation of emergency control instructions, match and calculate the material allocation requirements with the real-time inventory data.

[0111] If the inventory is sufficient, generate an outbound instruction according to the priority, specifying the outbound order, target assembly point, and transportation path of each material.

[0112] If the inventory is insufficient, mark the shortage materials and start the procurement prompt process, while optimizing the allocation strategy of the available materials.

[0113] According to the emergency control instructions, preferentially interrupt non-urgent tasks and release the robot resources. Assign the handling tasks of high-priority materials to the robots, and plan the shortest outbound path (such as bypassing the conventional shelves and directly entering the fast lane). Real-time monitor the outbound progress and dynamically adjust the task allocation to cope with sudden path blockages.

[0114] In the embodiment of the present invention, through the automatic linkage of event warning and material allocation, the traditional manual-dominated emergency response process can be compressed. This mechanism solves the problem of rescue delay caused by slow manual decision-making and meets the time requirement of the golden rescue period.

[0115] In traditional warehousing technology, the task allocation of robots is rigid and cannot dynamically adapt to path conflicts. Based on this, an alternative embodiment of the present invention is proposed.

[0116] Refer to Figure 4 , Figure 4 is a schematic diagram of a specific embodiment of step S102 of the inbound and outbound control method for service warehousing in the embodiment of the present invention. Step S102 further includes the following specific embodiments.

[0117] Step S1021, determine at least one target warehousing robot in the warehousing robot cluster according to the goods attributes and real-time status information.

[0118] Step S1022, call the reinforcement learning algorithm to assign tasks and plan the optimal driving path for the target warehousing robot to generate control instructions.

[0119] In an embodiment of the present invention, based on the attributes of goods (such as weight, volume, urgency) and the real-time status of the robot cluster (such as position, battery level, task queue), a set of candidate robots is preliminarily selected through multi-dimensional weight calculation (such as distance priority, load matching, task urgency). Reinforcement Learning is a machine learning method that learns optimal decisions by interacting with the environment. Its application value in the warehousing scenario includes dynamic path planning and task assignment optimization, and it can achieve real-time obstacle avoidance, multi-robot collaborative scheduling, and energy consumption optimal path calculation through algorithms such as Q-learning and Deep Q-Network. It can be combined with Multi-Agent RL to achieve load balancing distribution, emergency task priority processing, and collaboration strategies between robots.

[0120] Furthermore, a reinforcement learning model environment containing preset elements is constructed. For example:

[0121] State space: warehouse map, robot position, goods distribution, path occupancy.

[0122] Action space: robot moving direction, task acceptance / rejection decision, path selection.

[0123] Reward function: weighted calculation of parameters such as path length, task completion time, energy consumption, and collision avoidance.

[0124] Call the pre-trained reinforcement learning model, input the current environmental state and candidate robot information, and output the optimal task assignment plan and path planning result through the policy network, which may include assigning specific tasks (such as carrying, avoiding) to each target robot. Generate a global conflict-free path (such as robot A walks along the east passage, and robot B walks along the west circular route). Dynamically reserve a path buffer to prevent sudden interference (such as temporary obstacles).

[0125] Encode the decision result output by reinforcement learning into a machine-readable control instruction set, including the target coordinate sequence, speed parameter, and task priority identifier, and send it to the target warehousing robot through the communication module.

[0126] In the embodiment of the present invention, through the self-learning ability of reinforcement learning, it can adapt to changes in the warehouse environment in real time (such as new obstacles, path changes of other robots), and automatically generate a globally optimal path. It solves the problems of robot congestion and low efficiency caused by fixed path planning.

[0127] Such as Figure 5As shown in the figure, it is a schematic diagram of a terminal device provided by an embodiment of the present invention. The terminal device 5 may include: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501, such as an inbound and outbound control program for a service warehouse. When the processor 501 executes the computer program 503, the steps in the above-mentioned inbound and outbound control embodiments of each service warehouse are implemented.

[0128] The computer program may be divided into one or more modules / units, and one or more modules / units are stored in the memory 502 and executed by the processor 501 to complete the present invention. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the terminal device.

[0129] The terminal device may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art can understand that Figure 5 merely examples of the terminal device, which do not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0130] The so-called processor 501 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0131] The memory 502 can be an internal storage unit of the terminal device, such as the hard disk or memory of the terminal device. The memory 502 can also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the terminal device, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 502 can also include both the internal storage unit and the external storage device of the terminal device. The memory 502 is used to store computer programs and other programs and data required by the terminal device. The memory 502 can also be used to temporarily store data that has been output or will be output.

[0132] It should be noted that for the convenience and brevity of description, the structure of the above terminal device can also refer to the specific description of the structure in the method embodiment, which will not be elaborated here.

[0133] The embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned inbound and outbound control method of the service warehouse can be implemented.

[0134] The embodiment of the present invention provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can execute the steps in the above-mentioned inbound and outbound control method of the service warehouse.

[0135] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0137] In the embodiments provided by the present invention, it should be understood that the disclosed terminal device and method can be implemented in other ways. For example, the above-described terminal device embodiments are merely illustrative. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0138] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, each functional unit in various embodiments of the present invention may be integrated in a processing unit, may exist separately physically for each unit, or two or more units may be integrated in one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0140] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0141] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for controlling the inbound and outbound of a service warehouse, characterized in that, Including: When a cargo image of the cargo to be processed is detected, analyze the cargo attributes based on the cargo image, and obtain the real-time status of the warehousing robot cluster; Generate a control instruction according to the cargo attributes and the real-time status information, where the control instruction is used to control the target warehousing robot determined in the warehousing robot cluster; Control the target warehousing robot to perform an outbound operation or an inbound operation on the cargo to be processed according to the control instruction.

2. The method for controlling inbound and outbound of a service warehouse according to claim 1, wherein, After the step of controlling the target warehousing robot to perform an outbound operation or an inbound operation on the cargo to be processed according to the control instruction, the method further includes: Perform predictive analysis of the required materials according to historical demand data and real-time demand information to obtain the target cargo; Judge whether the target cargo is in a preset emergency position; If not, output a prompt message for adjusting the warehousing inventory.

3. The method for controlling inbound and outbound of a service warehouse according to claim 2, wherein, After the step of, if not, outputting a prompt message for adjusting the warehousing inventory, the method further includes: Judge whether the target cargo exists in the service warehouse; If it exists, control the warehousing robot cluster to transfer the target cargo to the emergency position.

4. The method for controlling the inbound and outbound of a service warehouse according to claim 3, wherein After the step of judging whether the target cargo exists in the service warehouse, the method further includes: If it does not exist, output a prompt message for purchasing the target cargo, and detect whether the target cargo appears at the inbound position; If it appears, control the warehousing robot cluster to store the target cargo at the emergency position.

5. The method for controlling the inbound and outbound of a service warehouse according to claim 1, characterized in that, The step of, when a cargo image of the cargo to be processed is detected, analyzing the cargo attributes based on the cargo image and obtaining the real-time status of the warehousing robot cluster includes: When a voice interaction request corresponding to the cargo image is detected, judge whether there is cached broadcast content corresponding to the cargo image; If so, perform voice broadcast according to the cached broadcast content to respond to the voice interaction request; If not, analyze the cargo attributes based on the cargo image and obtain the real-time status of the warehousing robot cluster.

6. The inbound and outbound control method of the service warehouse according to claim 5, characterized in that, After the step of generating a control instruction according to the cargo attributes and the real-time status information, the method further includes: Generate voice broadcast content according to the cached control instruction; Perform voice broadcast according to the voice broadcast content to respond to the voice interaction request.

7. The method for controlling the inbound and outbound of a service warehouse according to claim 1, wherein, The method further includes: When it is detected that the warning function of a preset event is triggered, obtain the material allocation information corresponding to the preset event, and obtain the real-time cargo information of the service warehouse; Generate an emergency control instruction according to the real-time cargo information and the material allocation information; Control the warehousing robot cluster according to the emergency control instruction to perform an outbound operation of emergency materials.

8. The method for controlling the inbound and outbound of a service warehouse according to claim 1, characterized in that, The step of generating a control instruction according to the cargo attributes and the real-time status information includes: Determine at least one of the target warehousing robots in the warehousing robot cluster according to the cargo attributes and the real-time status information; Call a reinforcement learning algorithm to assign tasks and plan the optimal driving path for the target warehousing robot to generate the control instruction.

9. A terminal 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 inbound and outbound control method of the service warehouse as described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the inbound and outbound control method of the service warehouse as described in any one of claims 1 to 8 are implemented.

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