Non-standard shelf goods allocation coordinate array method and device and electronic equipment

Abstract

The invention provides a non-standard shelf goods allocation coordinate array method and device and electronic equipment, and the method comprises the steps: firstly determining a plurality of initial address intervals based on the parameter information and address information of each goods allocation of a non-standard shelf, then dividing the non-standard shelf into a plurality of regular regions based on the address information of each goods allocation and the plurality of initial address intervals, based on the target address information and the target parameter information of the goods allocation included in each regular area, preset parameters and actual interaction parameters of the stacker and the non-standard goods shelf, determining an initial array goods allocation address of the current regular area corresponding to the stacker; and finally, based on the initial array goods allocation address, the target address information corresponding to each regular area, the target parameter information and a preset goods allocation coordinate array rule, carrying out goods allocation coordinate array of the non-standard goods shelf. By adopting the method, the problems of inaccurate non-standard goods shelf goods allocation coordinate array and poor adaptability of the existing goods allocation coordinate array method can be relieved.

Description

Technical Field

[0001] This invention relates to the field of warehouse logistics automation technology, and in particular to a method, apparatus and electronic equipment for non-standard shelf location coordinate array. Background Technology

[0002] In modern warehousing and logistics systems, stacker cranes, as core handling equipment, directly determine the efficiency and safety of warehousing operations through the accuracy of their location coordinate positioning. Currently, existing location coordinate array methods are mainly designed for standard racks with regular structures and uniform area parameters. By presetting fixed parameters such as column spacing and layer height, batch calculation and arraying of location coordinates can be achieved.

[0003] However, in actual warehousing scenarios, due to site layout limitations (such as fire protection and piping) and differences in the characteristics of stored goods (such as some goods being too tall or too wide), a large number of non-standard racks have emerged. These non-standard racks often have problems such as inconsistent area parameters and irregular structures (such as changes in the width of storage compartments and the height of shelves in some areas). Existing methods for arraying storage location coordinates for standard racks cannot adapt to the structural characteristics of non-standard racks. If these methods are forcibly applied, it will lead to inaccurate calculation of storage location coordinates, which in turn will cause risks such as damage to goods due to stacker crane positioning deviations, seriously affecting the safety and efficiency of warehousing operations, and also resulting in a waste of storage space for non-standard racks. Therefore, it is urgent to solve the problems of inaccuracy and poor adaptability of existing technologies for arraying storage location coordinates for non-standard racks. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, apparatus and electronic device for non-standard shelf location coordinate arrays to alleviate the above-mentioned problems existing in the related art.

[0005] In a first aspect, embodiments of the present invention provide a method for non-standard shelving location coordinate array, comprising: determining multiple initial address intervals based on parameter information and address information of each location on the non-standard shelving; dividing the non-standard shelving into multiple regular regions based on the address information of each location and the multiple initial address intervals; wherein each regular region includes one or more corresponding locations; determining the initial array location address of the current regular region corresponding to the stacker crane based on the target address information and target parameter information of the locations included in each regular region, as well as preset parameters and actual interaction parameters between the stacker crane and the non-standard shelving; and performing location coordinate arraying of the non-standard shelving based on the initial array location address, the target address information, target parameter information, and preset location coordinate array rules corresponding to each regular region.

[0006] Secondly, embodiments of the present invention also provide a non-standard shelf location coordinate array device, comprising: a first determining module, configured to determine multiple initial address intervals based on parameter information and address information of each location on the non-standard shelf; a partitioning module, configured to divide the non-standard shelf into multiple regular regions based on the address information of each location and the multiple initial address intervals; wherein each regular region includes one or more corresponding locations; a second determining module, configured to determine the initial array location address of the current regular region corresponding to the stacker crane based on the target address information and target parameter information of the locations included in each regular region, as well as preset parameters and actual interaction parameters between the stacker crane and the non-standard shelf; and an array module, configured to perform a location coordinate array of the non-standard shelf based on the initial array location address, the target address information, target parameter information, and preset location coordinate array rules corresponding to each regular region.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the non-standard shelf location coordinate array method described in the first aspect above.

[0008] This invention provides a method, apparatus, and electronic device for non-standard shelving location coordinate array. First, based on the parameter and address information of each location on the non-standard shelving, multiple initial address intervals are determined. Then, based on the address information of each location and the multiple initial address intervals, the non-standard shelving is divided into multiple regular regions. Next, based on the target address information and target parameter information of the locations included in each regular region, as well as preset parameters and the actual interaction parameters between the stacker crane and the non-standard shelving, the initial array location address corresponding to the stacker crane in the current regular region is determined. Finally, based on the initial array location address, the target address information, target parameter information, and preset location coordinate array rules corresponding to each regular region, the location coordinate array of the non-standard shelving is performed. By employing the aforementioned technology, non-standard shelving is divided into multiple regular areas, effectively adapting to the irregular structure and inconsistent regional parameters of non-standard shelving. This breaks the limitation of existing pallet coordinate array methods, which are only applicable to standard shelving. Furthermore, the entire pallet coordinate array process for non-standard shelving is automated, requiring no manual intervention. This significantly improves the efficiency of pallet coordinate arraying, reduces manual operation costs, and enhances the accuracy of pallet coordinate calculation. It also avoids risks such as damage to goods due to stacker crane positioning deviations, thereby improving the safety and efficiency of warehousing operations. Simultaneously, it helps to improve the rationality of pallet arraying, optimize warehouse space layout, and increase the space utilization rate of non-standard shelving.

[0009] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0010] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0011] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating a non-standard shelf location coordinate array method in an embodiment of the present invention; Figure 2 This is a flowchart of the rule region splitting process in an embodiment of the present invention; Figure 3 This is an example diagram of non-standard shelf data in an embodiment of the present invention; Figure 4 This is an example diagram of some parameters in an embodiment of the present invention; Figure 5 This is an example diagram of another set of parameters in an embodiment of the present invention; Figure 6 This is a schematic diagram of a non-standard shelf location coordinate array device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Currently, existing methods for arraying warehouse location coordinates are mainly designed for standard racks with regular structures and uniform area parameters. By presetting fixed parameters such as column spacing and layer height, batch calculation and arraying of warehouse location coordinates can be achieved. However, these methods cannot adapt to the structural characteristics of non-standard racks. If applied forcibly, it will lead to inaccurate calculation of warehouse location coordinates, which in turn will cause risks such as damage to goods due to positioning deviations of stacker cranes. This seriously affects the safety and efficiency of warehousing operations and also wastes storage space on non-standard racks.

[0015] Based on this, the present invention provides a non-standard shelf location coordinate array method, apparatus and electronic device, which can alleviate the above-mentioned problems existing in related technologies.

[0016] To facilitate understanding of this embodiment, a non-standard shelf location coordinate array method disclosed in this embodiment of the invention will first be described in detail. (See [link to relevant documentation]). Figure 1 As shown, the method may include the following steps: Step S102: Based on the parameter information and address information of each location on the non-standard shelf, determine multiple initial address ranges.

[0017] Among them, parameter information can characterize the structure of the corresponding storage location, and address information can characterize the row, column, and layer of the corresponding storage location.

[0018] Step S104: Based on the address information of each storage location and multiple initial address ranges, the non-standard shelving is divided into multiple regular areas.

[0019] Each rule area can include one or more corresponding storage locations.

[0020] Step S106: Based on the target address information and target parameter information of the storage locations included in each rule area, as well as the preset parameters and the actual interaction parameters between the stacker crane and the non-standard rack, determine the initial array storage location address of the current rule area corresponding to the stacker crane.

[0021] Step S108: Based on the initial array location addresses and the target address information, target parameter information, and preset location coordinate array rules corresponding to each rule area, perform location coordinate array for non-standard shelves.

[0022] This invention provides a method for non-standard shelving location coordinate arraying. First, based on the parameter and address information of each location on the non-standard shelving, multiple initial address intervals are determined. Then, based on the address information of each location and the multiple initial address intervals, the non-standard shelving is divided into multiple regular regions. Next, based on the target address information and target parameter information of the locations included in each regular region, as well as preset parameters and the actual interaction parameters between the stacker crane and the non-standard shelving, the initial array location address corresponding to the stacker crane in the current regular region is determined. Finally, based on the initial array location address, the target address information, target parameter information, and preset location coordinate array rules corresponding to each regular region, the location coordinate array of the non-standard shelving is performed. By adopting the above operating method, non-standard shelving is divided into multiple regular areas, which effectively adapts to the irregular structure and inconsistent regional parameters of non-standard shelving. This breaks the limitation of existing pallet coordinate array methods, which are only applicable to standard shelving. Moreover, the entire pallet array process of non-standard shelving is carried out automatically without manual intervention, which greatly improves the efficiency of pallet coordinate array, reduces manual operation costs, and improves the accuracy of pallet coordinate calculation. It can avoid the risk of goods being damaged due to collision caused by stacker crane positioning deviation, improve the safety and efficiency of warehousing operations, and at the same time help to improve the rationality of pallet array, optimize the layout of warehousing space, and improve the space utilization rate of non-standard shelving.

[0023] As one possible implementation, the parameter information may include multiple parameters, such as the width of the storage compartment, the center-to-center distance between adjacent storage locations within the compartment, the center-to-center distance between adjacent storage locations across a column, the height difference between near and far storage locations, the number of storage locations contained in the storage compartment, and the floor height. Based on this, the above step S102 (i.e., determining multiple initial address ranges based on the parameter information and address information of each storage location on the non-standard shelf) may include: Step A1: Traverse all storage locations to form corresponding initial storage location groups with identical parameters, resulting in multiple initial storage location groups.

[0024] Each initial location group corresponds one-to-one with an initial address range, and all locations within the same initial location group have identical parameters.

[0025] Step A2: Record the address information and multiple parameters of all locations within each initial location group, and determine the initial address range corresponding to each initial location group based on its corresponding address information.

[0026] For example, see Figure 2 As shown, for non-standard shelving with irregular structures, the following operations can be performed: First, obtain all the location data of the non-standard shelving. This data can include two types of information associated with each location on the non-standard shelving: address information and parameter information. The address information can include… The three-dimensional address identifier (i.e., the address in the form of a three-dimensional address identifier) ​​can include parameter information such as the width of the storage compartment, the center-to-center distance between adjacent storage locations within the compartment, the center-to-center distance between adjacent storage locations across columns, the height difference between near and far storage locations, the number of storage locations contained in the compartment, and the floor height. The parameter matching rule is set as follows: when the six parameters of two storage locations are exactly the same—storage compartment width, center-to-center distance between adjacent storage locations within the compartment, center-to-center distance between adjacent storage locations across columns, height difference between near and far storage locations, number of storage locations contained in the compartment, and floor height—these six parameters are considered to be identical, and the two storage locations can be classified into the same initial storage location group. The six parameters of each of these two storage locations are then categorized into... The same parameter group; traverse all storage locations, group them according to the above parameter matching rules, to obtain at least one initial storage location group and the parameter group corresponding to each initial storage location group. Each initial storage location group contains all storage locations with 6 identical parameters. Each parameter group contains 6 parameters of all storage locations within the corresponding initial storage location group. Record the address information of all storage locations within each initial storage location group and their corresponding 6 parameters; then, for each initial storage location group, extract the 3D address identifiers of all storage locations it contains, and determine the 3D boundary of the initial address interval based on the extracted 3D address identifiers. The 3D boundary of the initial address interval includes the minimum value of the row ( ) and maximum value ( ), minimum value of column ( ) and maximum value ( ), minimum value of layer ( ) and maximum value ( ), forming the initial address range: .

[0027] As one possible implementation, the address information may include the address of the corresponding storage location; based on this, step S104 (i.e., dividing the non-standard shelving into multiple regular areas based on the address information of each storage location and multiple initial address ranges) may include: Step a1: Based on the address of each storage location, check whether there is a target address in each initial address range that does not match the corresponding initial storage location group.

[0028] Step a2: For each initial address interval, perform the following operations: If there is no target address within the initial address interval, then the initial location group corresponding to the initial address interval is treated as a rule area; if there is a target address within the initial address interval, then based on the target address within the initial address interval, the initial location group corresponding to the initial address interval is split into multiple location groups, and each location group is treated as a corresponding rule area; wherein, the addresses of all locations within the same location group are within the same address interval, and the location groups correspond one-to-one with the address intervals.

[0029] Following the previous example, see Figure 2As shown, each storage location's 3D address identifier has a sequence number, column number, and layer number. Each initial address interval can be discretized into a set of points with the 3D boundary as endpoints and intervals of a single sequence number, a single column number, and a single layer number. Each point set is traversed point by point to determine if each point in the set has a corresponding parameter set that matches it. This method checks whether there are any storage locations within each initial address interval whose 6 parameters are not included in the corresponding parameter set (i.e., traversing the initial storage location interval and checking if the 6 parameters of each storage location within the initial storage location interval are within the corresponding parameter set). For each parameter set, if there are no corresponding points in the point set corresponding to that parameter set, the parameter set is considered empty (indicating that the parameter set is missing). If all six parameters of the storage location corresponding to each point in the point set corresponding to the array are included in this parameter group, the initial storage location group corresponding to this parameter group can be directly used as a regular region. If there is a missing point in the point set corresponding to this parameter group (meaning that the six parameters of the storage location corresponding to the point in the point set corresponding to the missing point are not included in this parameter group), the parameter group can be further split into multiple new parameter groups according to the address (including sort number, column number, and layer number) corresponding to the missing point in the parameter group. Each new parameter group has a corresponding new initial address interval, which can also be represented in the form of [minRow-minCol-minLayer, maxRow-maxCol-maxLayer]. Furthermore, each new initial address interval is discretized into a three-dimensional boundary (including...). , , , , , A new set of points is formed with a single sort number, a single column number, and a single layer number as the endpoints. There are no missing points in the new set of points corresponding to each new parameter group (meaning that all 6 parameters of each point in the set of points corresponding to the new parameter group are included in the new parameter group). There are no missing addresses. All the locations corresponding to each new parameter group are then grouped into a corresponding location group, so that each location group is a regular area.

[0030] As one possible implementation, after performing step S104 (i.e., dividing the non-standard shelving into multiple regular areas based on the address information of each storage location and multiple initial address intervals), the following operations can also be performed: record the addresses of all storage locations and multiple parameters within each regular area, and determine the first start address and first end address corresponding to the non-standard shelving, as well as the second start address and second end address corresponding to each regular area, based on the addresses of each storage location; convert the address of each storage location into corresponding coordinates in a preset coordinate system based on the first start address and first end address; and based on the addresses of all storage locations within each regular area and the corresponding coordinates of each regular area... The second starting address and the second ending address generate corresponding coordinate intervals in a preset coordinate system for each rule area; check whether the coordinates corresponding to each storage location are within the corresponding coordinate interval; if the coordinates corresponding to each storage location are within the corresponding coordinate interval, then based on the coordinate intervals corresponding to each rule area and multiple parameters, generate a region data table for each rule area corresponding to the non-standard shelf and store it in the preset database; if the coordinates corresponding to a storage location are not within the corresponding coordinate interval, output the corresponding coordinates that are not within the corresponding coordinate interval, and repeat the above step S102 (i.e., determine multiple initial address intervals based on the parameter information and address information of each storage location of the non-standard shelf).

[0031] Following the previous example, see Figure 2 As shown, the system can record the location-related information for each rule area. This information can include: the array start address (i.e., the minimum three-dimensional coordinates of the corresponding address range, including the minimum sort number, minimum column number, and minimum layer number), the array end address (i.e., the maximum three-dimensional coordinates of the corresponding address range, including the maximum sort number, maximum column number, and maximum layer number), and the corresponding six parameters. Then, the continuity of the location within the rule area is determined. Finally, all rule areas that pass the location continuity determination are integrated to form the rule area splitting result data for non-standard shelving. This result data can include the address range of each rule area, parameter information (i.e., six parameters), and a unique identifier assigned to each rule area.

[0032] The process for determining the continuity of storage locations in a regular area is as follows: First, obtain the starting address (including information for the starting row, starting column, and starting layer) and ending address (including information for the ending row, ending column, and ending layer) of the entire non-standard shelving unit. Filter out non-numeric characters and separators (such as the character "-") using regular expressions to obtain a three-dimensional coordinate array. Convert the address string of the three-dimensional coordinate array into integer three-dimensional coordinates. The integer three-dimensional coordinates of the entire non-standard shelving unit include the global starting coordinates. Global termination coordinates Based on the starting and ending coordinates, the address of each storage location on the entire non-standard shelf is converted into a three-dimensional coordinate point in a certain coordinate system. ( Represents the row coordinate value. Represents column coordinate values. (Representing layer coordinate values); then extract the array addresses of all storage locations contained in each rule area, and perform the same format parsing and coordinate transformation as described above (i.e., perform the steps above to filter non-numeric characters and delimiters through regular expression processing, split to obtain a three-dimensional coordinate array, and convert the address string of the three-dimensional coordinate array into integer three-dimensional coordinates). The integer three-dimensional coordinates of a single rule area include the local starting coordinates. Local termination coordinates Using local start and end coordinates as boundaries, three-dimensional coordinate intervals for each regular region are generated; finally, a continuity check is performed on each regular region, traversing all three-dimensional coordinate points of the entire shelf. ,in , , Check whether the three-dimensional coordinates of each storage location meet the following conditions: they belong to a certain regular area's three-dimensional coordinate range (i.e., ... Within the coordinate interval of a certain regular region, Within the column coordinate interval of a certain regular region, Within a certain layer coordinate range of a rule area; if all three-dimensional coordinate points meet the above conditions, it can be determined that the locations of each rule area of ​​the entire non-standard shelf are continuous, and the result of splitting the rule area of ​​the entire non-standard shelf is output; if any three-dimensional coordinate point does not meet the above conditions (indicating that the rule area split based on the full location data of the non-standard shelf is incorrect), it can be determined that the locations of the rule area corresponding to the three-dimensional coordinate point that does not meet the above conditions are not continuous, and the coordinate information of the three-dimensional coordinate point that does not meet the above conditions (including row coordinate value, column coordinate value, layer coordinate value) is output. At the same time, it can also indicate that a certain location is missing (the missing location is the location corresponding to the three-dimensional coordinate point that does not meet the above conditions). The output of the result of splitting the rule area of ​​the entire non-standard shelf fails, the process ends, and the above steps of obtaining the full location data of the non-standard shelf and splitting the rule area need to be repeated.

[0033] After the regular areas are divided, a regional data table for each regular area of ​​the entire non-standard shelving can be generated based on the three-dimensional coordinate range and six parameters corresponding to each regular area. This data table is then written into a database for storage, thus constructing a non-standard shelving database containing non-standard shelving data in the form of regional data tables. This facilitates the retrieval of required data from the non-standard shelving database when performing location coordinate array operations. The various fields of the non-standard shelving data are as follows: Figure 3 As shown. Figure 3 In the data for non-standard shelving, the fields include: identifier, aisle number, and the starting address of the entire non-standard shelving unit. The final address of the entire non-standard shelving unit ( ), the array starting address of the rule area to which the storage location belongs ( ), the array termination address of the rule area to which the storage location belongs ( ), the width of the storage compartments, and the center-to-center distance between adjacent storage compartments within the storage compartment ( Figure 3 The middle part is the center-to-center distance between two storage locations within the storage compartment, and the center-to-center distance between adjacent storage locations across the column. Figure 3 The middle part represents the "center distance between the cargo positions across the column" and the height difference between the near and far cargo positions. Figure 3 The middle part represents the "near / far depth height difference"), and the number of storage locations contained in the storage compartment. Figure 3 The middle section indicates the "cargo compartment type" (such as single-cargo compartment / double-cargo compartment / triple-cargo compartment) and the floor height.

[0034] As one possible implementation, the preset parameters may include the center distance between the fork tips of the stacker crane, the width and thickness of the fork tips, the pallet height, and the safety clearance height between the fork and the pallet. The actual interaction parameters may include the current position of the stacker crane, the first actual distance between the fork and the upright in the storage compartment, and the second actual distance between the fork and the lower crossbeam in the storage compartment. Based on this, the above step S106 (i.e., determining the initial array storage location address of the current regular area corresponding to the stacker crane based on the target address information and target parameter information of the storage locations included in each regular area, as well as the preset parameters and the actual interaction parameters between the stacker crane and the non-standard rack) may include: Step B1: Based on the width of the storage compartment corresponding to the current rule area, the center distance between adjacent storage locations within the storage compartment, the number of storage locations contained in the storage compartment, and the center distance and width of the stacker crane's forks, determine the first theoretical positioning distance between the forks and the uprights within the storage compartment corresponding to the current rule area.

[0035] Step B2: Based on the pallet height, the stacker crane fork thickness, and the safe clearance height between the forks and the pallet, determine the second theoretical positioning distance between the forks and the lower crossbeam within the current rule area.

[0036] Step B3: Based on the current location of the stacker crane, the first actual distance and the second actual distance, and the first theoretical positioning distance and the second theoretical positioning distance corresponding to the current rule area, determine the initial array location address of the current rule area.

[0037] The aforementioned address may include the column address and layer address of the corresponding storage location, and the aforementioned initial array storage location address may include the initial array storage location layer address and initial array storage location column address corresponding to the corresponding rule area; the operation mode of the aforementioned step B3 may include: obtaining the current column position and current row position of the stacker crane corresponding to the non-standard rack; determining the initial array storage location layer address corresponding to the current rule area based on the current column position, the first actual distance, and the first theoretical positioning distance corresponding to the current rule area; determining the initial array storage location column address corresponding to the current rule area based on the current row position, the second actual distance, and the second theoretical positioning distance corresponding to each rule area.

[0038] Continuing the previous example, the non-standard racking database can be searched to retrieve the required data for the target rule area, including the rack width (L4), the center-to-center distance between adjacent rack locations within the rack (L1), the rack type (i.e., the number of rack locations N contained in the rack), the stacker crane's fork center-to-center distance (B2), and the fork width (B1). The definitions of L1, L4, B1, B2, the center-to-center distance between adjacent rack locations across columns (L2), the center-to-center distance between adjacent columns (L3), and the theoretical positioning distance between the forks and the columns within the rack (B3) are as follows: Figure 4 As shown; See Figure 4 As shown, to achieve a coordinate array of storage locations for various types of non-standard shelving units, the following operations can be performed: First, it is necessary to calculate the theoretical positioning distance (B3) between the forks and the uprights within the storage compartment. B3 is used to calculate the absolute column coordinates of the initial storage location; if Figure 4 The storage cell type shown in the current rule area is dual storage (i.e., there are two storage cells within the same cell), then we can obtain... ;like Figure 4 If the storage cell type of the current rule area is single storage cell (i.e., there is only one storage cell within the same storage cell), then we can obtain... ;like Figure 4 If the storage location type within the current rule area is three-location (i.e., there are three storage locations within the same storage location), then... Based on this, the theoretical positioning distance (B3) between the forks and the uprights within the storage compartment can be calculated using the following formula, according to the type of storage compartment in the designated area: ,in, This is the coefficient for the type of storage location. The calculation method is to subtract 1 from the number of storage locations (N) contained in a storage cell. (For example, if N is 1) If N is 2, then If N is 3, then ...and so on); Secondly, it is necessary to calculate the theoretical positioning distance between the forks and the lower crossbeam within the storage compartment. H' is used to calculate the absolute layer coordinates of the initial storage location, such as... Figure 5 As shown, by using the stacker crane's own fork thickness (FH), pallet height (PH), and safe clearance height between the forks and pallet (RH), the theoretical positioning distance between the forks and the lower crossbeam within the pallet compartment can be calculated using the following formula. ): ; The current column position of the stacker crane can be obtained. ) and layer location ( ), while through B3 and B3 and their respective calculation formulas are used to calculate B3 and Then measure the actual distance (RD) between the stacker crane forks and the uprights within the storage compartment and the actual distance (RL) between the forks and the lower crossbeam within the storage compartment; then calculate the column address of the initial array storage location according to the following formula ( ) and layer address ( ): Where d is the position direction coefficient, when designing the column coordinates of the stacker crane, if the column coordinates of the stacker crane increase in direction as the column number increases, then... If the column coordinates of the stacker crane decrease in the direction of increasing column number, then ; ,in Generally, it can be taken as 20 or other values, or used as a variable; The above calculation process can determine the reference coordinates (including) of the initial array positions within the current rule area (i.e., the target rule area). and This lays the foundation for subsequent batch arrays.

[0039] As one possible implementation, the preset storage location coordinate array rules may include preset storage location column coordinate array rules and preset storage location layer coordinate array rules corresponding to the corresponding rule areas. The storage location coordinate array may include a storage location column coordinate array and a storage location layer coordinate array. Based on this, the above step S108 (i.e., performing storage location coordinate array for non-standard shelves based on the initial array storage location address, the target address information, target parameter information, and preset storage location coordinate array rules corresponding to each rule area) may include: determining the starting position and ending position of the storage location coordinate array based on the initial array storage location address; performing storage location column coordinate array for non-standard shelves starting from the starting position and according to the preset storage location column coordinate array rules corresponding to each rule area, based on the column address and multiple parameters corresponding to each rule area, until the ending position is reached; performing storage location layer coordinate array for non-standard shelves starting from the starting position and according to the preset storage location layer coordinate array rules corresponding to each rule area, based on the layer address and multiple parameters corresponding to each rule area, until the ending position is reached; and determining the storage location coordinate array result based on the storage location column coordinate array result and the storage location layer coordinate array result.

[0040] As one possible implementation, the above-mentioned non-standard shelf location coordinate array method may further include: generating a non-standard shelf location coordinate array table based on the location coordinate array result.

[0041] Continuing from the previous example, for each individual rule region obtained from the splitting, array rules for its storage location in the X direction (column address) and Y direction (layer address) can be defined separately: (1) The array rules for the X direction (column address) are defined as follows: First, the stacker crane is divided into two array areas along its current location and direction of travel: the first array area in the forward direction and the second array area in the backward direction. Within each array region, the cargo location column address is calculated from the initial array cargo location column address. First, array the columns in ascending order, then array them in descending order. Let the current column address be The current column number is (Determined by the current position of the stacker crane), if the next column (column number is...) If the storage location is a single storage location, then the address in the next column will be... Where L4 is the width of the storage space within the rule area, and d is the location direction coefficient; if the current storage location has multiple storage locations, then it is necessary to first determine the next column (column number is...). The location of the goods and the current column (column number is) To determine whether the locations of items in the same storage cell are the same, it is necessary to first obtain the set of locations within the same storage cell. (The calculation method is as follows: starting from the starting address, traverse the storage locations to the ending address, search the non-standard shelving database to obtain the storage cell type of the current column's storage location, and if the current column's storage location is a single storage location, then the storage location column set within the same storage cell...) This column is not listed; otherwise, add it. To the set In the middle, where n is the storage location type coefficient; if the next column (column number is...) The location of the goods and the current column (column number is) If the storage locations are in the same compartment, then the next column of addresses... Where L1 is the center-to-center distance between adjacent storage locations within the storage area of ​​this rule, and if the next column (column number is...) The location of the goods and the current column (column number is) If the locations of the goods do not belong to the same storage compartment, then the next column of addresses will be used. L2 is the center distance between adjacent storage locations across the column. By analogy, all storage location column addresses can be obtained, ensuring the continuity and accuracy of storage location column addresses in multi-storage location scenarios.

[0042] (2) The array rules in the Y direction (layer address) are defined as follows: The storage location layer address starts from the first layer of each array area and is arrayed in ascending order of layer number. Then, the non-standard shelving database is searched to retrieve the layer height (H) and the height difference (FNS) between near and far storage locations in the target rule area. It is possible to specify whether the corresponding row is a far-deep location or a near-deep location (for example, by default, rows 1 and 4 are far-deep locations while rows 2 and 3 are near-deep locations). Let the current layer address be ( , (The calculated initial array storage location layer address), the next layer (layer number is) The address is Where fn is the near-deep position coefficient (used to distinguish between near-deep and far-deep positions), when the cargo position in the row is near-deep... When the location of the cargo in the row is a far-deep location .

[0043] When starting the full-area array of non-standard shelving locations, the aforementioned non-standard shelving database can be searched to retrieve the starting address of the entire non-standard shelving system. ), Termination Address ( Starting from its current position, the stacker crane applies the predefined array rules described above, first following the layer order from bottom to top (i.e., layer coordinate values ​​change from small to large from sLayer to eLayer), and then following the order from the current column (column number is...). ) to the final column (column number is The coordinates of the cargo locations in the second half of the array area (i.e., the first array area) are calculated in column order; then, in a bottom-up layer order, starting from the first column (column number ), the coordinates of the cargo locations in the second half of the array area (i.e., the first array area) are calculated. ) to the current column (column number is The column order is used to complete the calculation of the cargo location coordinate array for the first half of the array area (i.e., the second array area); The calculation process for the cargo location coordinate array is as follows: First get Row Column coordinates of column level 1 and layer coordinates as follows:

[0044] (For example, if) or Then fn=0, if or Then fn=1) So, for the same column, from... Arranged to The column coordinates of the arranged storage locations are all ,from Arranged to The layer coordinates of the cargo locations are distinguished as far-deep and near-deep according to the defined array rules described above, and the layer coordinate values ​​are... ; The coordinates of the next array location (i.e., the column coordinates of row i, layer 2 of sRow) and layer coordinates )as follows:

[0045]

[0046] Once the coordinates of all storage locations in the current column have been calculated, the coordinates of the storage locations in the next column can be calculated. During the calculation of the location coordinate array, for each location, the non-standard shelving database can be searched by the column range or layer range of the location to determine the rule area to which the location belongs and its corresponding 6 parameters. The array rules defined in the rule area to which the location belongs are called to calculate the column coordinates and layer coordinates of the current location, thus completing the coordinate array calculation of the location. Repeat the above process of searching the database and calculating coordinates until the coordinate array calculation of all storage locations from the starting position (i.e., the starting row, starting column, and starting layer) to the ending position (i.e., the ending row, ending column, and ending layer) is completed, and the coordinate array calculation results are output to form a storage location coordinate array table for the entire non-standard shelving area.

[0047] In summary, the above-mentioned non-standard shelving location coordinate array method can be mainly divided into the following parts: regular area splitting of non-standard shelving; initial array location coordinate calculation; definition of location coordinate array rules for a single regular area; and calculation of location coordinate array for the entire non-standard shelving area.

[0048] Compared with existing technologies, the advantages of the above-mentioned non-standard shelf location coordinate array method are as follows: 1) High adaptability: By dividing non-standard shelves into regular areas, it effectively solves the problem that it is difficult to accurately array the location coordinates of non-standard shelves due to their irregular structure and inconsistent parameters. It can adapt to various complex non-standard shelf scenarios and breaks the limitation that the existing location coordinate array method is only applicable to standard shelves. 2) Precise positioning: The initial coordinates are calculated by introducing the theoretical positioning distance between the forks and the uprights in the storage compartment. Fine array rules are set for the layer address and column address of the storage location in a single regular area. At the same time, the accuracy of the coordinate array calculation for each storage location is ensured by considering cases such as far-deep storage, near-deep storage, and multiple storage locations, so as to provide reliable data support for the precise operation of the stacker crane. 3) High efficiency: Designers can output relevant data for each regular area of ​​non-standard shelving through regional data table formats (such as EXCEL tables or other formats) to form a non-standard shelving database, which is convenient for on-site access and management; at the same time, the entire area of ​​the pallet array process is automatically executed according to preset rules without manual intervention, which greatly improves the efficiency of pallet coordinate array and reduces manual operation costs. 4) High safety: Precise storage location coordinates can avoid risks such as cargo collisions and equipment damage caused by stacker crane positioning deviations, thus improving the safety of warehousing operations; at the same time, a reasonable storage location coordinate array can also help optimize the warehouse space layout and improve the space utilization rate of non-standard racks.

[0049] Based on the above-described method for non-standard shelf location coordinate arrays, this invention also provides a non-standard shelf location coordinate array device. (See attached image) Figure 6 As shown, the device may include the following modules: The first determining module 602 is used to determine multiple initial address ranges based on the parameter information and address information of each location on the non-standard shelf.

[0050] The partitioning module 604 is used to divide the non-standard shelving into multiple regular areas based on the address information of each storage location and multiple initial address ranges; wherein each regular area includes one or more corresponding storage locations.

[0051] The second determining module 606 is used to determine the initial array location address of the current rule area corresponding to the stacker crane based on the target address information and target parameter information of the storage locations included in each rule area, as well as preset parameters and the actual interaction parameters between the stacker crane and the non-standard rack.

[0052] The array module 608 is used to perform the location coordinate array of the non-standard shelf based on the initial array location address, the target address information, target parameter information and preset location coordinate array rules corresponding to each rule area.

[0053] The non-standard shelf location coordinate array device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned non-standard shelf location coordinate array method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0054] This invention also provides an electronic device, such as... Figure 7 The diagram shows the structure of the electronic device 100, which includes a processor 71 and a memory 70. The memory 70 stores computer-executable instructions that can be executed by the processor 71. The processor 71 executes the computer-executable instructions to implement the above-mentioned non-standard shelf location coordinate array method.

[0055] exist Figure 7 In the illustrated embodiment, the electronic device 100 further includes a bus 72 and a communication interface 73, wherein the processor 71, the communication interface 73, and the memory 70 are connected via the bus 72.

[0056] The memory 70 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 73 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 72 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 72 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0057] The processor 71 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the aforementioned non-standard shelf location coordinate array method can be completed by the integrated logic circuitry in the processor 71 or by software instructions. The processor 71 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the non-standard shelf location coordinate array method disclosed in this embodiment can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory. The processor 71 reads the information in the memory and, in conjunction with its hardware, completes the steps of the non-standard shelf location coordinate array method of the aforementioned embodiment.

[0058] Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0059] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0060] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for non-standard shelf location coordinate array, characterized in that, include: Based on the parameter and address information of each location on the non-standard shelving, multiple initial address ranges are determined; Based on the address information of each storage location and multiple initial address ranges, the non-standard shelving is divided into multiple regular areas; wherein each regular area includes one or more corresponding storage locations; Based on the target address information and target parameter information of the storage locations included in each rule area, as well as preset parameters and the actual interaction parameters between the stacker crane and the non-standard rack, the initial array storage location address of the current rule area corresponding to the stacker crane is determined; Based on the initial array location addresses and the target address information, target parameter information, and preset location coordinate array rules corresponding to each rule area, the location coordinate array of the non-standard shelf is performed.

2. The method for non-standard shelf location coordinate arrays according to claim 1, characterized in that, The parameter information includes multiple parameters, including the width of the storage compartment, the center-to-center distance between adjacent storage locations within the compartment, the center-to-center distance between adjacent storage locations across a column, the height difference between near and far storage locations, the number of storage locations contained in the compartment, and the shelf height. Based on the parameter information and address information of each storage location on the non-standard shelving, multiple initial address ranges are determined, including: Traverse all storage locations to form corresponding initial storage location groups with storage locations having identical parameters, resulting in multiple initial storage location groups; wherein, each initial storage location group corresponds one-to-one with the initial address range, and all storage locations within the same initial storage location group have identical parameters. Record the address information and multiple parameters of all locations within each initial location group, and determine the initial address range corresponding to each initial location group based on its corresponding address information.

3. The non-standard shelf location coordinate array method according to claim 2, characterized in that, The address information includes the address of the corresponding storage location; Based on the address information of each storage location and multiple initial address ranges, the non-standard shelving is divided into multiple regular areas, including: Based on the address of each storage location, check if there is a target address within each initial address range that does not match the corresponding initial storage location group; For each initial address range, the following operations are performed: if there is no target address within the initial address range, the initial location group corresponding to the initial address range is treated as a rule region; if there is a target address within the initial address range, the initial location group corresponding to the initial address range is split into multiple location groups based on the target address within the initial address range, and each location group is treated as a corresponding rule region; wherein, the addresses of all locations within the same location group are within the same address range, and the location group corresponds one-to-one with the address range.

4. The non-standard shelf location coordinate array method according to claim 3, characterized in that, After dividing the non-standard shelving into multiple regular areas based on the address information of each storage location and multiple initial address ranges, the process further includes: Record the addresses and multiple parameters of all storage locations within each rule area, and determine the first starting address and first ending address of the non-standard shelving and the second starting address and second ending address of each rule area based on the address of each storage location. Based on the first starting address and the first ending address, the address of each storage location is converted into corresponding coordinates in a preset coordinate system; Based on the addresses of all storage locations within each rule area and the second start address and second end address corresponding to each rule area, a corresponding coordinate interval under a preset coordinate system is generated for each rule area. Check whether the coordinates of each storage location are within the corresponding coordinate range; If the coordinates of each storage location are within the corresponding coordinate range, then based on the coordinate ranges and multiple parameters corresponding to each regular area, a regional data table of the non-standard shelf corresponding to each regular area is generated and stored in a preset database. If the coordinates of a storage location are not within the corresponding coordinate range, output the corresponding coordinates that are not within the corresponding coordinate range, and repeat the steps of determining multiple initial address ranges based on the parameter information and address information of each storage location on the non-standard shelf.

5. The non-standard shelf location coordinate array method according to claim 4, characterized in that, The preset parameters include the center distance between the fork tips of the stacker crane, the width and thickness of the fork tips, the pallet height, and the safety clearance height between the fork and the pallet. The actual interaction parameters include the current position of the stacker crane, the first actual distance between the fork and the upright within the storage compartment, and the second actual distance between the fork and the lower crossbeam within the storage compartment. Based on the target address information and target parameter information of the storage locations included in each rule area, as well as the preset parameters and the actual interaction parameters between the stacker crane and the non-standard rack, the initial array storage location address of the current rule area corresponding to the stacker crane is determined, including: Based on the width of the storage compartment corresponding to the current rule area, the center distance between adjacent storage locations within the storage compartment, the number of storage locations contained in the storage compartment, and the center distance and width of the fork forks of the stacker crane, the first theoretical positioning distance between the forks and the uprights within the storage compartment corresponding to the current rule area is determined. Based on the pallet height, the fork thickness of the stacker crane, and the safe clearance height between the fork and the pallet, determine the second theoretical positioning distance between the fork and the lower crossbeam within the current rule area. Based on the current location of the stacker crane, the first actual distance and the second actual distance, as well as the first theoretical positioning distance and the second theoretical positioning distance corresponding to the current rule area, the initial array location address of the current rule area is determined.

6. The method for non-standard shelf location coordinate arrays according to claim 5, characterized in that, The address includes the column address and layer address of the corresponding storage location, and the initial array storage location address includes the initial array storage location layer address and initial array storage location column address corresponding to the corresponding regular area; based on the current location of the stacker crane, the first actual distance and the second actual distance, and the first theoretical positioning distance and the second theoretical positioning distance corresponding to the current regular area, the initial array storage location address of the current regular area is determined, including: Obtain the current column position and current row position of the stacker crane corresponding to the non-standard rack; Based on the current column position, the first actual distance, and the first theoretical positioning distance corresponding to the current rule area, determine the initial array location layer address of the current rule area; Based on the current row position, the second actual distance, and the second theoretical positioning distance corresponding to each rule area, the initial array cargo position column address of the current rule area is determined.

7. The method for non-standard shelf location coordinate arrays according to claim 6, characterized in that, The preset cargo location coordinate array rules include preset cargo location column coordinate array rules and preset cargo location layer coordinate array rules corresponding to the corresponding rule areas. The cargo location coordinate array includes a cargo location column coordinate array and a cargo location layer coordinate array. Based on the initial array location addresses and the target address information, target parameter information, and preset location coordinate array rules corresponding to each rule area, the location coordinate array of the non-standard shelving is performed, including: Based on the initial array of cargo location addresses, determine the start and end positions of the cargo location coordinate array; Based on the column address corresponding to each rule area and multiple parameters, starting from the starting position, the non-standard shelf is arrayed according to the preset shelf column coordinate array rules corresponding to each rule area until the end position is reached. Based on the layer address corresponding to each rule area and multiple parameters, starting from the starting position, the non-standard shelf is arranged into a storage layer coordinate array according to the preset storage layer coordinate array rules corresponding to each rule area until the end position is reached. Based on the results of the cargo location column coordinate array and the cargo location layer coordinate array, the cargo location coordinate array result is determined.

8. The method for non-standard shelf location coordinate array according to claim 1, characterized in that, Also includes: The location coordinate array table of the non-standard shelving is generated based on the location coordinate array results.

9. A non-standard shelf location coordinate array device, characterized in that, include: The first determining module is used to determine multiple initial address ranges based on the parameter information and address information of each location on the non-standard shelf; The partitioning module is used to divide the non-standard shelving into multiple regular areas based on the address information of each storage location and multiple initial address ranges; wherein each regular area includes one or more corresponding storage locations; The second determining module is used to determine the initial array location address of the current rule area corresponding to the stacker crane based on the target address information and target parameter information of the storage locations included in each rule area, as well as preset parameters and the actual interaction parameters between the stacker crane and the non-standard rack. The array module is used to perform the location coordinate array of the non-standard shelf based on the initial array location address, target address information, target parameter information, and preset location coordinate array rules corresponding to each rule area.

10. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the non-standard shelf location coordinate array method according to any one of claims 1 to 8.

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