Warehouse coordinated scheduling method and system, intelligent terminal and storage medium

Abstract

The invention relates to a warehouse coordinated scheduling method and system, an intelligent terminal and a storage medium, and relates to the technical field of logistics management, and the method comprises the steps: obtaining the initial loading weight and the real-time loading weight of a preset AGV; judging whether the real-time loading weight is smaller than the initial loading weight or not; if not, continuing to obtain the real-time loading weight for cyclic judgment; if yes, the loading weight reduction position of the AGV is obtained; and according to the loading weight reduction position, the AGV trolley is controlled to continue to dispatch the goods. The method has the effect of improving the cargo scheduling efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of logistics management, and in particular to a warehouse coordination and scheduling method, system, intelligent terminal and storage medium. Background Art

[0002] Warehouse coordination and scheduling refers to the real-time analysis of AGV (automated guided vehicle) status and environmental information, dynamic adjustment of task allocation, and ensuring an efficient and stable automated cargo delivery process.

[0003] In related technologies, when dispatching goods between warehouses, AGV carts are usually used to dispatch the goods. First, the shipped goods are loaded onto the AGV cart, and then the AGV cart is controlled to transport the goods to the target warehouse according to the preset dispatching path. The goods are checked at the target warehouse. If any goods are found to have fallen, the AGV cart is controlled to return for replenishment.

[0004] Regarding the above-mentioned related technologies, when dispatching goods through AGV carts, since the AGV carts cannot monitor the falling of goods during transportation in real time, once the goods fall, the system is difficult to detect and handle it in time. The problem can only be discovered after the AGV cart arrives at the target warehouse, which in turn triggers subsequent complex search and redistribution processes, greatly affecting the scheduling efficiency and leaving room for improvement. Summary of the Invention

[0005] In order to improve the dispatch efficiency of warehouse goods, the present application provides a warehouse coordination and dispatch method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present application provides a warehouse coordination and scheduling method, which adopts the following technical solutions: A warehouse coordination scheduling method, comprising: Get the preset initial loading weight and real-time loading weight of the AGV; Determine whether the real-time loading weight is less than the initial loading weight; If it is not less than, continue to obtain the real-time loading weight for cyclic judgment; If it is less than, obtain the position where the AGV's loading weight is reduced; The AGV is controlled to continue dispatching the goods according to the reduced position of the loaded weight.

[0007] By adopting the above technical solution, it is determined whether the real-time loading weight of the AGV trolley is less than the initial loading weight. If the real-time loading weight is not less than the initial loading weight, it indicates that the goods have not fallen. Therefore, the real-time loading weight is continued to be obtained and a cyclic judgment is performed to monitor the falling of the goods. If the real-time loading weight is less than the initial loading weight, it indicates that the goods have fallen. Therefore, the loading weight reduction position is obtained, and the AGV trolley is controlled to continue to dispatch the goods according to the loading weight reduction position, thereby monitoring the falling of goods during transportation in real time, thereby improving the efficiency of cargo dispatch.

[0008] Optionally, the steps of controlling the AGV to continue dispatching the cargo by reducing the position according to the load weight include: Obtain the real-time dispatching positions of all AGVs and their cargo dispatching tasks; Determine the status and information of dropped cargo based on the real-time dispatch position and the position of reduced loading weight; Analyze the status of dropped cargo, dropped cargo information, and cargo scheduling tasks to determine available AGVs and available scheduling tasks; Determine the nearest available AGV based on available AGVs, dropped cargo information, and available scheduling tasks; Control the nearest available AGV to pick up the dropped cargo and continue to dispatch the dropped cargo.

[0009] By adopting the above technical solution, when it is determined that the real-time loading weight is less than the initial loading weight, that is, when the cargo has fallen, the status of the fallen cargo and the information of the fallen cargo are determined in combination with the real-time scheduling position of the AGV and the position where the loading weight is reduced. Then, after analyzing the status of the fallen cargo, the information of the fallen cargo and the cargo scheduling tasks, the available AGVs and the available scheduling tasks are determined. According to the dropped cargo information and the available scheduling tasks, the nearest available AGV is determined among the available AGVs, thereby realizing a rapid response and scheduling to the dropped cargo, and controlling the nearest available AGV to pick up the dropped cargo and continue to schedule the dropped cargo.

[0010] Optionally, the step of determining the dropped cargo status and dropped cargo information based on the real-time dispatch position and the loaded weight reduction position includes: Analyze the real-time dispatch position and the load weight reduction position to determine the nearest AGV; Control the nearest AGV to collect images of the fallen goods and generate images of the fallen goods; The dropped cargo image is analyzed to determine the dropped cargo status and dropped cargo information.

[0011] By adopting the above technical solution, the nearest AGV closest to the load weight reduction position is determined according to the real-time scheduling position of the AGV and the load weight reduction position. The image of the dropped cargo is collected by the nearest AGV and analyzed to determine the status and information of the dropped cargo, thereby quickly obtaining relevant information about the dropped cargo and improving the efficiency of cargo scheduling.

[0012] Optionally, the steps of analyzing the dropped cargo status, dropped cargo information, and cargo scheduling tasks to determine available AGVs and available scheduling tasks include: Analyze cargo dispatch tasks to determine the direction of cargo loading dispatch; Analyze the dropped cargo information to determine the dropped cargo dispatch direction; Determine whether the dispatching direction of loaded cargo is consistent with the dispatching direction of dropped cargo; If they are consistent, the AGV is defined as a same-direction AGV. If they are inconsistent, the AGV is defined as a reverse AGV. Determine whether the status of the dropped goods meets the preset requirements for the damage result of the dropped goods; If it meets the requirements, the available AGVs and available scheduling tasks are determined based on the reverse AGVs and cargo scheduling tasks; If not, the available AGVs and available scheduling tasks are determined based on the same-direction AGVs and cargo scheduling tasks.

[0013] By adopting the above technical solution, when the loading cargo scheduling direction is consistent with the dropped cargo scheduling direction, the AGV trolley is defined as a same-direction AGV trolley; when the loading cargo scheduling direction is inconsistent with the dropped cargo scheduling direction, the AGV trolley is defined as a reverse AGV trolley, thereby selecting different AGV trolleys for scheduling dropped cargo according to different loading cargo scheduling directions. When the dropped cargo status meets the requirements of the dropped cargo damage result, it indicates that the cargo is damaged and needs to be transferred to the shipping location. Therefore, the available AGV trolleys and available scheduling tasks are determined according to the reverse AGV trolley and the cargo scheduling tasks of the reverse AGV trolley. When the dropped cargo status does not meet the requirements of the dropped cargo damage result, it indicates that the cargo is intact and needs to be transferred to the original shipping location. Therefore, the available AGV trolleys and available scheduling tasks are determined according to the same-direction AGV trolley and the cargo scheduling tasks of the same-direction AGV trolley, thereby clarifying the selection logic of available AGV trolleys under different dropped cargo statuses, thereby improving the scheduling efficiency of cargo.

[0014] Optionally, the step of determining the nearest available AGV according to the available AGVs, the dropped cargo information, and the available scheduling tasks includes: Analyze the dropped cargo information to determine the volume of the dropped cargo; Analyze available dispatch tasks to determine remaining loading space; Determine whether the remaining loading space corresponding to the available AGV meets the requirements for the volume of dropped cargo; If it does not meet the requirements, the available AGV will be removed; If it meets the requirements, the real-time operating position of the available AGV is obtained; The real-time operating position and the position of the load weight reduction are analyzed to determine the nearest available AGV.

[0015] By adopting the above technical solution, the dropped cargo information is analyzed to determine the volume of the dropped cargo, and the available scheduling tasks corresponding to the available AGV trolleys are analyzed to determine the remaining loading space of the available AGV trolleys. If the remaining loading space does not meet the requirements of the dropped cargo volume, it indicates that the available AGV trolley cannot load the dropped cargo, so the available AGV trolley is eliminated, thereby ensuring that the remaining loading space of the available AGV trolley can load the dropped cargo. If the remaining loading space meets the requirements of the dropped cargo volume, it indicates that the available AGV trolley can load the dropped cargo, so the real-time operating position of the available AGV trolley and the load weight reduction position are analyzed, and then the nearest available AGV trolley closest to the load weight reduction position is determined, thereby improving the scheduling efficiency of cargo.

[0016] Optionally, the steps of controlling the nearest available AGV to pick up the dropped cargo and continue to dispatch the dropped cargo include: Get the latest available scheduling tasks and cargo distribution map of the nearest available AGV; Analyze the cargo distribution map of the cargo platform to determine the cargo loading status of the nearest available AGV; Analyze the dropped cargo information to determine the size of the dropped cargo and the target cargo location; Analyze the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling tasks to determine the loading location of the dropped cargo; Control the nearest available AGV to pick up the dropped cargo and load it to the dropped cargo loading position and continue to dispatch the dropped cargo.

[0017] By adopting the above technical solution, the cargo distribution map of the cargo platform of the nearest available AGV cart is analyzed to determine the cargo loading situation of the nearest available AGV cart, the dropped cargo information is analyzed to determine the size of the dropped cargo and the target cargo location of the dropped cargo, and the cargo loading situation, dropped cargo size, dropped cargo target cargo location and the nearest scheduling task are analyzed to determine the loading position of the dropped cargo, so as to plan an appropriate loading position for the dropped cargo, ensure that the loading is reasonable and does not affect the original scheduling task, thereby reducing the unloading time of the nearest available AGV cart.

[0018] Optionally, the step of analyzing the cargo loading condition, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling task to determine the loading location of the dropped cargo includes: Analyze cargo loading conditions and dropped cargo dimensions to determine available loading locations; Analyze the latest available scheduling tasks to determine the target cargo location for loading cargo; Analyze the target cargo location for dropped cargo and the target cargo location for loaded cargo to determine the latest unloading location and the latest unloading direction; Analyze the latest unloading position, latest unloading direction, available loading position and cargo loading status to determine the loading position of dropped cargo.

[0019] By adopting the above technical solution, the available loading position is first determined by analyzing the cargo loading situation and the size of the dropped cargo, and the target loading position of the nearest available AGV is obtained by analyzing the nearest available scheduling task. Then, the unloading order of the nearest available AGV is determined by jointly analyzing the target cargo position of the dropped cargo and the target cargo position of the loaded cargo, thereby determining the latest unloading position and the latest unloading direction, and combining the latest unloading position, the latest unloading direction and the cargo loading situation to determine the loading position of the dropped cargo in the available loading position, thereby determining the loading position of the dropped cargo according to the unloading demand, thereby avoiding frequent adjustments to the position of the dropped cargo when the AGV unloads, thereby improving the scheduling efficiency of the cargo.

[0020] In a second aspect, the present application provides a warehouse coordination and scheduling system, which adopts the following technical solutions: A warehouse coordination and scheduling system, comprising: An acquisition module is used to obtain the initial loading weight and the real-time loading weight; A memory for storing a program of a warehouse coordination and scheduling method as described in any one of the above items; The processor and the program in the memory can be loaded and executed by the processor to implement a warehouse coordination and scheduling method as described in any one of the above items.

[0021] By adopting the above technical solution, the processor loads and executes a program of a warehouse coordination and scheduling method stored in the memory, and the control acquisition module obtains a series of data related to a warehouse coordination and scheduling method, thereby ensuring that the AGV car monitors the falling of goods in real time, responds quickly when the goods fall, and continues to schedule the fallen goods after picking up the fallen goods, avoiding the need to search and redistribute the goods after the AGV car arrives at the target warehouse, thereby improving the scheduling efficiency of the goods.

[0022] In a third aspect, the present application provides a smart terminal that adopts the following technical solution: An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes any one of the warehouse coordination and scheduling methods described above.

[0023] By adopting the above technical solution, the processor is made to load and execute a program of a warehouse coordination and scheduling method stored in the memory through the intelligent operation terminal, so that when the real-time loading weight of the AGV trolley is not less than the initial loading weight, that is, the goods have not fallen, the initial loading weight of the AGV trolley is continuously obtained for cyclic judgment to ensure real-time monitoring of the falling of the goods. When the real-time loading weight of the AGV trolley is less than the initial loading weight, that is, the goods have fallen, the loading weight reduction position of the AGV trolley is obtained to determine the position where the goods fell, and then the AGV trolley is controlled to continue scheduling the goods according to the loading weight reduction position, thereby improving the scheduling efficiency of the goods.

[0024] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for improving the efficiency of warehouse cargo scheduling and adopts the following technical solutions: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any one of the above-mentioned warehouse coordination and scheduling methods.

[0025] By adopting the above technical solution, a computer program of a warehouse coordination and scheduling method is stored in a computer-readable storage medium, so that the processor loads and executes the program of a warehouse coordination and scheduling method stored in the memory, and the control acquisition module obtains a series of data related to a warehouse coordination and scheduling method, thereby ensuring that the AGV car monitors the falling of goods in real time, responds quickly when the goods fall, and continues to schedule the fallen goods after picking up the fallen goods, avoiding the need to search and redistribute the goods after the AGV car arrives at the target warehouse, thereby reducing the time for cargo scheduling.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By adopting the above technical solution, the nearest AGV to the load weight reduction location is determined based on the real-time dispatch position of the AGV and the load weight reduction location. The nearest AGV collects and analyzes the image of the dropped cargo to determine the status and information of the dropped cargo, thereby quickly obtaining relevant information about the dropped cargo and improving the efficiency of cargo dispatch. 2. By adopting the above technical solution, the cargo distribution map of the nearest available AGV is analyzed to determine the cargo loading status of the nearest available AGV. The dropped cargo information is analyzed to determine the dropped cargo size and target cargo location. The cargo loading status, dropped cargo size, dropped cargo target cargo location, and the nearest scheduling task are analyzed to determine the loading location of the dropped cargo. This allows the appropriate loading location to be planned for the dropped cargo, ensuring that the loading is reasonable and does not affect the original scheduling task, thereby reducing the unloading time of the nearest available AGV. 3. By adopting the above technical solution, the available loading position is first determined by analyzing the cargo loading situation and the size of the dropped cargo, and the target loading position of the nearest available AGV is obtained by analyzing the nearest available scheduling task. Then, by jointly analyzing the target cargo position of the dropped cargo and the target cargo position of the loaded cargo, the unloading order of the nearest available AGV is determined, thereby determining the latest unloading position and the latest unloading direction, and combining the latest unloading position, the latest unloading direction and the cargo loading situation to determine the loading position of the dropped cargo in the available loading position, thereby determining the loading position of the dropped cargo according to the unloading demand, and avoiding frequent adjustments to the position of the dropped cargo when the AGV unloads, thereby improving the scheduling efficiency of the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flowchart of a warehouse coordination and scheduling method in an embodiment of the present application.

[0028] Figure 2 This is a flow chart of an embodiment of the present application in which the position of the AGV is reduced according to the load weight to continue dispatching the goods.

[0029] Figure 3 This is a flowchart of determining the dropped cargo status and dropped cargo information based on the real-time scheduling position and the loading weight reduction position in an embodiment of the present application.

[0030] Figure 4 This is a flowchart of an embodiment of the present application that analyzes the dropped cargo status, dropped cargo information, and cargo scheduling tasks to determine available AGV carts and available scheduling tasks.

[0031] Figure 5 This is a flowchart of determining the nearest available AGV based on available AGVs, dropped cargo information, and available scheduling tasks in an embodiment of the present application.

[0032] Figure 6 This is a flowchart of controlling the nearest available AGV to pick up fallen goods and continue to dispatch the fallen goods in an embodiment of the present application.

[0033] Figure 7This is a flowchart of an embodiment of the present application that analyzes the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling task to determine the loading location of the dropped cargo. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1 to 7 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0035] An embodiment of the present application discloses a warehouse coordination and scheduling method, specifically disclosing a processing terminal and an AGV trolley. The processing terminal is communicatively connected to the AGV trolley to realize data interaction and control. After obtaining the initial loading weight and the real-time loading weight of the AGV trolley through the processing terminal, it is determined whether the real-time loading weight is less than the initial loading weight. If the processing terminal determines that the real-time loading weight is not less than the initial loading weight, it indicates that the goods have not fallen. Therefore, the real-time loading weight and the initial loading weight are continuously obtained for cyclic judgment, thereby ensuring real-time monitoring of the falling of the goods. If the processing terminal determines that the real-time loading weight is less than the initial loading weight, it indicates that the goods have fallen. Therefore, the loading weight reduction position is obtained through the processing terminal, and the AGV trolley is controlled to continue to schedule the goods according to the loading weight reduction position, thereby improving the scheduling efficiency of the goods.

[0036] Reference Figure 1 , the embodiment of the present application discloses a warehouse coordination scheduling method, comprising the following steps: Step S100: Obtain the preset initial loading weight and real-time loading weight of the AGV.

[0037] Among them, the AGV cart refers to an automated handling equipment equipped with a robotic arm that can grab goods. It has autonomous navigation capabilities and can complete pick-up, placement and transfer operations according to instructions.

[0038] The initial load weight refers to the total weight of the cargo loaded on the AGV when it is ready to depart for a dispatch mission. This is measured by the processing terminal using the onboard weighing device after the AGV has completed loading. The real-time load weight refers to the total weight of the cargo actually loaded on the AGV while it is executing a dispatch mission. This is measured by the processing terminal using the onboard weighing device during the AGV's operation.

[0039] Step S101: Determine whether the real-time loading weight is less than the initial loading weight.

[0040] Among them, the processing terminal determines whether the real-time loading weight is less than the initial loading weight, thereby determining whether the goods on the AGV car have fallen. When the real-time loading quantity is less than the initial loading weight, it indicates that the goods have fallen. When the real-time loading weight is not less than the initial loading weight, it indicates that the goods have not fallen. Then, when the goods fall, the AGV car is controlled to pick up the goods and continue to deliver the goods.

[0041] Step S1011: If it is not less than, continue to obtain the real-time loading weight and perform cyclic judgment.

[0042] Among them, if the processing terminal determines that the real-time loading weight is not less than the initial loading weight, it indicates that the cargo has not fallen. Therefore, the real-time loading weight is continuously obtained and the real-time loading weight and the initial loading weight are cyclically judged through the processing terminal to monitor the cargo falling situation in real time.

[0043] Step S1012: If it is less than, obtain the loading weight reduction position of the AGV.

[0044] Among them, if the processing terminal determines that the real-time loading weight is less than the initial loading weight, it indicates that the goods have fallen. Therefore, the processing terminal obtains the position where the loading weight of the AGV car is reduced, thereby determining the location of the fallen goods.

[0045] The loading weight reduction position refers to the specific position of the AGV when the weight of the loaded cargo is reduced during the scheduling process. When the processing terminal determines that the real-time loading weight is less than the initial loading weight, it immediately triggers the position recording mechanism to obtain the data of the AGV on-board positioning device when the loading weight of the AGV is reduced.

[0046] Step S102: The AGV is controlled to continue dispatching the goods according to the reduced position of the loaded weight.

[0047] Among them, after the processing terminal obtains the load weight reduction position, that is, the position where the goods fall, the processing terminal controls the AGV car to go to the load weight reduction position to continue dispatching the fallen goods. The specific method is referred to Figure 2 steps.

[0048] Reference Figure 2 The steps of controlling the AGV to continue dispatching the goods according to the load weight and reducing the position include: Step S200: Obtain the real-time dispatching positions of all AGVs and the cargo dispatching tasks of the AGVs.

[0049] The real-time dispatch position refers to the location of all AGVs during cargo dispatch tasks. This is obtained by retrieving real-time data from the onboard positioning devices of all AGVs through the processing terminal. A cargo dispatch task refers to the task performed by an AGV each time it dispatches cargo, including the type, quantity, shipping location, and target location of the dispatched cargo. This task is assigned to each AGV by the processing terminal after receiving the total dispatch demand between the two warehouses.

[0050] Step S201: Determine the dropped cargo status and dropped cargo information based on the real-time dispatch position and the loading weight reduction position.

[0051] The dropped cargo status refers to the physical condition and integrity of the cargo after it is dropped, including whether the dropped cargo is deformed and whether the packaging is damaged. The processing terminal controls the nearest AGV to drive to the position where the load weight is reduced, collects a clear image of the dropped cargo, and then performs feature analysis on the image. For specific acquisition methods, refer to Figure 3 In another embodiment, the processing terminal controls the camera arranged near the position where the load weight is reduced to change the shooting direction, and shoots at multiple angles at the position where the load weight is reduced to collect clear images of the dropped goods. The dropped goods information refers to the key data that can identify the attributes of the dropped goods, including the size of the goods, the shipping location and the target location, etc. The dropped goods information is obtained by controlling the AGV car to scan the dropped goods at the weight reduction location through the processing terminal. For the specific acquisition method, refer to Figure 3 steps.

[0052] Step S202: Analyze the dropped cargo status, dropped cargo information, and cargo scheduling tasks to determine available AGVs and available scheduling tasks.

[0053] Among them, the available AGV refers to the AGV whose driving direction of the current cargo dispatching task is consistent with the direction in which the dropped cargo needs to be transferred after it falls. The processing terminal analyzes the dropped cargo status, dropped cargo information and cargo dispatching tasks. The specific analysis method is referred to Figure 4 Available scheduling tasks refer to the cargo scheduling tasks corresponding to the available AGVs, which are obtained by the processing terminal after determining the available AGVs and retrieving the cargo scheduling tasks of the available AGVs.

[0054] Step S203: Determine the nearest available AGV based on the available AGVs, the dropped cargo information, and the available scheduling tasks.

[0055] Among them, the nearest available AGV refers to the AGV that can carry the dropped cargo and is closest to the position where the load weight is reduced. The processing terminal further screens the available AGVs based on the dropped cargo information and available scheduling tasks, and then obtains the result based on the position of the available AGVs. For specific determination steps, refer to Figure 5 steps.

[0056] Step S204: Control the nearest available AGV to pick up the dropped cargo and continue to dispatch the dropped cargo.

[0057] Among them, after the processing terminal determines the nearest available AGV car, it controls the nearest available AGV car to pick up the dropped goods and continue to dispatch the dropped goods. The specific dispatch steps refer to Figure 6 steps.

[0058] Reference Figure 3 The steps of determining the dropped cargo status and dropped cargo information according to the real-time dispatch position and the loaded weight reduction position include: Step S300: Analyze the real-time dispatch position and the load weight reduction position to determine the nearest AGV.

[0059] Among them, the nearest AGV refers to the AGV whose real-time scheduling position is closest to the position where the load weight is reduced. After the processing terminal obtains the running distance between the real-time scheduling position and the weight reduction position of the AGV through the path planning algorithm, the AGV corresponding to the real-time scheduling position with the shortest running distance is selected.

[0060] Step S301: Control the nearest AGV to capture images of the fallen goods and generate an image of the fallen goods.

[0061] The dropped cargo image refers to an image taken of the dropped cargo after the cargo has fallen, and is obtained by controlling the nearest AGV to be photographed at close range by using an onboard high-definition camera mounted on the vehicle by the processing terminal.

[0062] Step S302: Analyze the dropped cargo image to determine the dropped cargo status and dropped cargo information.

[0063] Among them, the processing terminal analyzes the dropped cargo image through the target detection algorithm, identifies the appearance characteristics of the cargo, determines whether the cargo packaging shown in the image is deformed and whether the packaging is damaged, etc., thereby determining the status of the dropped cargo, and then extracts the dropped cargo information by identifying the barcode or QR code on the surface of the cargo in the image, or directly scanning the RFID of the cargo, providing data support for the subsequent control of the AGV car to pick up the cargo and control the AGV car to continue to dispatch the cargo.

[0064] Reference Figure 4 ,The steps of analyzing the dropped cargo status, dropped cargo information and cargo scheduling tasks to determine the available AGV vehicles and available scheduling tasks include: Step S400: Analyze the cargo scheduling task to determine the loading cargo scheduling direction.

[0065] Among them, the loading cargo scheduling direction refers to the scheduled scheduling direction of the cargo currently loaded on the AGV cart. It is obtained by the processing terminal identifying the scheduling task of each AGV cart in the cargo scheduling task. For example, if cart A needs to transport goods from warehouse 1 to warehouse 2, the loading cargo scheduling direction is from 1 to 2. The loading cargo scheduling direction provides data support for the subsequent determination of available AGV carts and available scheduling tasks.

[0066] Step S401: Analyze the dropped cargo information to determine the dropped cargo dispatch direction.

[0067] Among them, the scheduling direction of dropped goods refers to the scheduling direction predetermined before the dropped goods fall. After the processing terminal extracts the shipping warehouse and the receiving warehouse of the dropped goods from the dropped goods information, it analyzes the receiving warehouse and the shipping warehouse of the dropped goods. For example, if the scheduling direction of the dropped goods is from warehouse A to warehouse B, it provides data support for the subsequent determination of available AGV carts and available scheduling tasks.

[0068] Step S402: Determine whether the loading cargo scheduling direction is consistent with the dropped cargo scheduling direction.

[0069] Among them, the processing terminal determines whether the cargo dispatch direction is consistent with the dropped cargo dispatch direction, providing data support for the subsequent determination of available AGV vehicles.

[0070] Step S4021: If they are consistent, the AGV is defined as a same-direction AGV.

[0071] Among them, if the processing terminal determines that the loading cargo scheduling direction of the AGV is consistent with the dropped cargo scheduling direction, it means that the running direction of the AGV is consistent with the dropped cargo scheduling direction, so the AGV is defined as a same-direction AGV.

[0072] A same-direction AGV refers to an AGV whose running direction is the same as the dropped cargo dispatching direction. The processing terminal compares the dispatching starting point and the dispatching end point of the AGV's loaded cargo dispatching direction with the dropped cargo dispatching direction. If the dispatching starting point and the dispatching end point are the same, it is a same-direction AGV.

[0073] Step S4022: If they are inconsistent, the AGV is defined as a reverse AGV.

[0074] Among them, if the processing terminal determines that the loading cargo scheduling direction of the AGV car is inconsistent with the dropped cargo scheduling direction, it means that the running direction of the AGV car is opposite to the dropped cargo scheduling direction, so the AGV car is defined as a reverse AGV car.

[0075] A reverse AGV refers to an AGV whose running direction is opposite to the dispatching direction of dropped cargo. The processing terminal compares the dispatching starting point and the dispatching end point of the AGV's loaded cargo dispatching direction with the dispatching direction of dropped cargo. If the dispatching starting point and the dispatching end point are opposite, it is a reverse AGV.

[0076] Step S403: Determine whether the state of the dropped goods meets the preset requirements for the damage result of the dropped goods.

[0077] Among them, the damage result of dropped goods means that the dropped goods are in a damaged state, and the requirement for the damage result of dropped goods means that it is consistent with the damage result of dropped goods.

[0078] The processing terminal determines whether the status of the dropped goods is consistent with the damage result of the dropped goods, thereby determining whether the dropped goods are damaged, and then determining the direction in which the dropped goods need to be transferred and the available AGV vehicles.

[0079] Step S4031: If it meets the requirements, the available AGVs and available scheduling tasks are determined based on the reverse AGVs and cargo scheduling tasks.

[0080] Among them, if the processing terminal determines that the status of the dropped goods is consistent with the requirements of the damage result of the dropped goods, it means that the dropped goods are damaged and the dropped goods need to be sent back to the dropped goods shipping location for damage processing, so that the reverse AGV car is determined as an available AGV car, and the cargo scheduling tasks of all AGV cars are retrieved through the processing terminal, and the cargo scheduling task of the reverse AGV car is selected as the available scheduling task in the cargo scheduling task.

[0081] Step S4032: If not, determine the available AGVs and available scheduling tasks based on the same-direction AGVs and cargo scheduling tasks.

[0082] Among them, if the processing terminal determines that the status of the dropped goods is inconsistent with the requirements of the damage result of the dropped goods, it means that the dropped goods are intact, and the dropped goods need to continue to be scheduled according to the original scheduling direction of the dropped goods, so that the same-direction AGV car is determined as the available AGV car, and the cargo scheduling tasks of all AGV cars are retrieved through the processing terminal, and the cargo scheduling tasks of the same-direction AGV cars are selected as the available scheduling tasks in the cargo scheduling tasks.

[0083] Reference Figure 5The steps of determining the nearest available AGV based on available AGVs, dropped cargo information, and available scheduling tasks include: Step S500: Analyze the dropped cargo information to determine the volume of the dropped cargo.

[0084] The volume of dropped cargo refers to the size of the space occupied by the dropped cargo. It is calculated by the processing terminal after extracting the length, width, and height parameters of the dropped cargo from the dropped cargo information, providing data support for the subsequent determination of the nearest available AGV.

[0085] Step S501: Analyze available scheduling tasks to determine remaining loading space.

[0086] Among them, the remaining loading space refers to the size of the space that can be used to load additional goods after deducting the space occupied by the loaded goods in the currently available scheduling tasks. The processing terminal analyzes the available scheduling tasks and obtains the total volume of the goods loaded on the available AGV trolleys. It is combined with the rated loading volume of the AGV trolley to provide data support for the subsequent determination of the nearest available AGV trolley.

[0087] Step S502: Determine whether the remaining loading space corresponding to the available AGV meets the volume requirement of the dropped cargo.

[0088] Among them, the requirement for the volume of dropped cargo means that it is larger than the volume of dropped cargo.

[0089] The processing terminal determines whether the remaining loading space corresponding to the available AGV is greater than the volume of the dropped cargo, thereby determining whether the available AGV can load the dropped cargo, and then determining the nearest available AGV.

[0090] Step S5021: If it does not meet the requirements, the available AGV will be removed.

[0091] Among them, if the processing terminal determines that the remaining loading space of the available AGV is not greater than the volume of the dropped cargo, it means that the AGV cannot load the dropped cargo, so the AGV is removed from the available AGVs.

[0092] Step S5022: If it meets the requirements, the real-time operating position of the available AGV is obtained.

[0093] Among them, if the processing terminal determines that the remaining loading space of the available AGV is greater than the volume of the dropped cargo, it means that the AGV can load the dropped cargo. Therefore, the real-time operating position of the AGV is obtained to provide data support for determining the nearest available AGV.

[0094] The real-time operating position refers to the position of the available AGV in the process of executing the cargo dispatching task, and the specific acquisition method is the same as the real-time dispatching position acquisition method in step S200.

[0095] Step S503: Analyze the real-time operating position and the load weight reduction position to determine the nearest available AGV.

[0096] Among them, the nearest available AGV refers to the AGV with the shortest running distance between the real-time running position and the load weight reduction position among all available AGVs whose remaining loading space is greater than the volume of the dropped cargo. After the processing terminal obtains the running distance of the available AGVs to the load weight reduction position through the path planning algorithm, the available AGV with the shortest running distance is selected for determination.

[0097] Reference Figure 6 The steps of controlling the nearest available AGV to pick up the dropped cargo and continue to dispatch the dropped cargo include: Step S600: Obtain the nearest available scheduling task and cargo distribution map of the nearest available AGV.

[0098] The nearest available dispatch task refers to the currently uncompleted dispatch task being executed by the nearest available AGV. This task typically includes the AGV's pickup and delivery locations, as well as the corresponding cargo information. This task is retrieved by the processing terminal after determining the nearest available AGV and retrieving the cargo dispatch task for that AGV. The cargo distribution map, a cargo platform image of the AGV, reflects the location, quantity, and stacking status of the AGV's cargo. This map is generated by the processing terminal using images of the cargo platform transmitted in real time by the AGV's camera.

[0099] Step S601: Analyze the cargo distribution map of the cargo platform to determine the cargo loading status of the nearest available AGV.

[0100] Among them, the cargo loading status refers to the current cargo loading status on the nearest available AGV cart cargo platform, including the specific placement and stacking method of each cargo on the cargo platform, which is obtained by the processing terminal through image analysis of the cargo image on the cargo platform.

[0101] Step S602: Analyze the dropped cargo information to determine the size of the dropped cargo and the target cargo location of the dropped cargo.

[0102] The size of the dropped cargo refers to the actual size parameters of the dropped cargo, including the length, width, and height values ​​of the dropped cargo, which are calculated by the processing terminal after performing contour detection on the image of the dropped cargo.

[0103] The target cargo location for dropped cargo refers to the cargo location where the dropped cargo needs to be transferred after it is dropped. It is determined by the processing terminal after analyzing the dropped cargo information to obtain the shipping cargo location and the receiving cargo location of the dropped cargo. When the cargo is damaged, the target cargo location for the dropped cargo is the shipping cargo location of the dropped cargo. When the cargo is intact, the target cargo location for the dropped cargo is the receiving cargo location of the dropped cargo.

[0104] Step S603: Analyze the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling task to determine the loading location of the dropped cargo.

[0105] The dropped cargo loading location refers to the loading location of the dropped cargo on the nearest available AGV. The processing terminal analyzes the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling task to determine the loading location. For specific analysis steps, refer to Figure 7 steps.

[0106] Step S604: Control the nearest available AGV to pick up the dropped cargo and load it to the dropped cargo loading position and continue to dispatch the dropped cargo.

[0107] Among them, when the processing terminal determines the nearest available AGV car and the dropped cargo loading position, it controls the nearest available AGV car to pick up the dropped cargo and load it to the dropped cargo loading position, and then continues to dispatch the dropped cargo.

[0108] Reference Figure 7 ,The steps of analyzing the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling tasks to determine the loading location of the dropped cargo include: Step S700: Analyze the cargo loading situation and the size of the dropped cargo to determine a possible loading position.

[0109] Among them, the loading position refers to the specific spatial position on the nearest available AGV cart cargo platform that can accommodate the dropped cargo. After analysis, the processing terminal calls the image segmentation and spatial positioning algorithm to analyze the cargo distribution map of the cargo platform, identify the contour coordinates and occupied space of the existing cargo, and then calculate all unoccupied free areas on the cargo platform. The length, width, and height of each free area are compared with the size of the dropped cargo through the size matching algorithm to screen out the candidate positions whose space completely covers the size of the dropped cargo. Finally, the position is determined based on the offset of the center of gravity of the cargo platform and the stability requirements of the existing cargo stacking.

[0110] Step S701: Analyze the latest available scheduling tasks to determine the target cargo location for loading cargo.

[0111] Among them, the target cargo location for loading goods refers to the scheduling target cargo location of all goods loaded on the nearest available AGV cart, which is obtained by the processing terminal through data analysis of the nearest available scheduling task, providing data support for the subsequent determination of the loading location of the dropped goods.

[0112] Step S702: Analyze the target cargo location for dropped cargo and the target cargo location for loaded cargo to determine the latest unloading location and the latest unloading direction.

[0113] The latest unloading location refers to the target location for the cargo that is at the end of the transport route and needs to be unloaded last after unified routing. This is determined by the processing terminal through a combined routing plan of the target locations for dropped cargo and loaded cargo. The latest unloading direction refers to the direction of the latest unloading location. This is determined by the processing terminal after analyzing the location of the latest unloading location and the unloading position of the AGV.

[0114] Step S703: Analyze the latest unloading location, the latest unloading direction, the available loading location, and the cargo loading status to determine the loading location of the dropped cargo.

[0115] Among them, the cargo loading situation is analyzed by the processing terminal in combination with the loadable positions to obtain the cargo loading situation directly below each cargo loading position, and it is judged whether there is a loadable position directly below that is not loaded with cargo. If so, the loadable position is determined as the dropped cargo loading position. If not, it is judged whether there is a target cargo position directly below that is the loadable position for the latest unloading of cargo. If so, the loadable position is determined as the dropped cargo loading position. If not, it is judged whether there is a loadable position whose target cargo position for loading cargo directly below is the same as the latest unloading direction. If so, the loadable position is determined as the dropped cargo loading position. If not, the latest unloading position of the cargo directly below the loadable position is selected as the dropped cargo loading position, thereby reducing the unloading time of the AGV and improving the cargo scheduling efficiency.

[0116] Based on the same inventive concept, the embodiment of the present application provides a warehouse coordination and scheduling system, including: An acquisition module is used to obtain the initial loading weight, real-time loading weight, loading weight reduction position, real-time dispatch position, cargo dispatch task, the latest available dispatch task, real-time operation position and cargo distribution map of the cargo platform; A memory for storing a program for a warehouse coordination scheduling method; The program in the processor memory can be loaded and executed by the processor to implement a warehouse coordination scheduling method.

[0117] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0118] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a warehouse coordination and scheduling method.

[0119] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0120] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a warehouse coordination and scheduling method.

[0121] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0122] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A warehouse coordination and scheduling method, characterized in that: include: Get the preset initial loading weight and real-time loading weight of the AGV; Determine whether the real-time loading weight is less than the initial loading weight; If it is not less than, continue to obtain the real-time loading weight for cyclic judgment; If it is less than, obtain the position where the AGV's loading weight is reduced; The AGV is controlled to continue dispatching the goods according to the reduced position of the loaded weight.

2. A warehouse coordination and scheduling method according to claim 1, characterized in that: The steps for controlling the AGV to continue dispatching the goods by reducing the position according to the load weight include: Obtain the real-time dispatching positions of all AGVs and their cargo dispatching tasks; Determine the status and information of dropped cargo based on the real-time dispatch position and the position of reduced loading weight; Analyze the status of dropped cargo, dropped cargo information, and cargo scheduling tasks to determine available AGVs and available scheduling tasks; Determine the nearest available AGV based on available AGVs, dropped cargo information, and available scheduling tasks; Control the nearest available AGV to pick up the dropped cargo and continue to dispatch the dropped cargo.

3. A warehouse coordination and scheduling method according to claim 2, characterized in that: The steps of determining the dropped cargo status and dropped cargo information based on the real-time dispatch position and the loaded weight reduction position include: Analyze the real-time dispatch position and the load weight reduction position to determine the nearest AGV; Control the nearest AGV to collect images of the fallen goods and generate images of the fallen goods; The dropped cargo image is analyzed to determine the dropped cargo status and dropped cargo information.

4. A warehouse coordination and scheduling method according to claim 2, characterized in that: The steps of analyzing the dropped cargo status, dropped cargo information, and cargo scheduling tasks to determine available AGVs and available scheduling tasks include: Analyze cargo dispatch tasks to determine the direction of cargo loading dispatch; Analyze the dropped cargo information to determine the dropped cargo dispatch direction; Determine whether the dispatching direction of loaded cargo is consistent with the dispatching direction of dropped cargo; If they are consistent, the AGV is defined as a same-direction AGV. If they are inconsistent, the AGV is defined as a reverse AGV. Determine whether the status of the dropped goods meets the preset requirements for the damage result of the dropped goods; If it meets the requirements, the available AGVs and available scheduling tasks are determined based on the reverse AGVs and cargo scheduling tasks; If not, the available AGVs and available scheduling tasks are determined based on the same-direction AGVs and cargo scheduling tasks.

5. A warehouse coordination and scheduling method according to claim 2, characterized in that: The steps for determining the nearest available AGV based on available AGVs, dropped cargo information, and available scheduling tasks include: Analyze the dropped cargo information to determine the volume of the dropped cargo; Analyze available dispatch tasks to determine remaining loading space; Determine whether the remaining loading space corresponding to the available AGV meets the requirements for the volume of dropped cargo; If it does not meet the requirements, the available AGV will be removed; If it meets the requirements, the real-time operating position of the available AGV is obtained; The real-time operating position and the position of the load weight reduction are analyzed to determine the nearest available AGV.

6. A warehouse coordination and scheduling method according to claim 2, characterized in that: The steps for controlling the nearest available AGV to pick up the dropped cargo and continue to dispatch the dropped cargo include: Get the latest available scheduling tasks and cargo distribution map of the nearest available AGV; Analyze the cargo distribution map of the cargo platform to determine the cargo loading status of the nearest available AGV; Analyze the dropped cargo information to determine the size of the dropped cargo and the target cargo location; Analyze the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling tasks to determine the loading location of the dropped cargo; Control the nearest available AGV to pick up the dropped cargo and load it to the dropped cargo loading position and continue to dispatch the dropped cargo.

7. A warehouse coordination and scheduling method according to claim 6, characterized in that: The steps of analyzing the cargo loading situation, the size of the dropped cargo, the target cargo location of the dropped cargo, and the nearest available scheduling tasks to determine the loading location of the dropped cargo include: Analyze cargo loading conditions and dropped cargo dimensions to determine available loading locations; Analyze the latest available scheduling tasks to determine the target cargo location for loading cargo; Analyze the target cargo location for dropped cargo and the target cargo location for loaded cargo to determine the latest unloading location and the latest unloading direction; Analyze the latest unloading position, latest unloading direction, available loading position and cargo loading status to determine the loading position of dropped cargo.

8. A warehouse coordination and scheduling system, characterized in that: include: An acquisition module is used to obtain the initial loading weight, real-time loading weight and loading weight reduction position of the preset AGV vehicle; A memory for storing a program of a warehouse coordination and scheduling method according to any one of claims 1 to 7; The program in the processor memory can be loaded and executed by the processor to implement a warehouse coordination and scheduling method as described in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a warehouse coordination scheduling method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer program is stored which can be loaded by a processor and executes a warehouse coordination scheduling method according to any one of claims 1 to 7.

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