Warehouse, warehouse layout map construction method thereof, electronic equipment and storage medium

Abstract

The invention relates to the technical field of intelligent warehousing, and discloses a warehouse and a warehouse layout map construction method thereof, electronic equipment and a storage medium. The method comprises the steps that a building layout map of a warehouse is acquired, and the building layout map comprises a plurality of building elements; identifying a plurality of building elements in the building layout map, and converting the plurality of building elements into a polygon expression mode; calling a geometric engine to establish an element geometric model of each building element based on the polygon expression modes of the plurality of building elements; union set and complementary set operation is carried out based on the multiple element geometric models through a geometric engine, and a warehouse geometric model of the warehouse is obtained; and constructing a storage layout map of the warehouse according to the geometric model of the warehouse. In this way, automatic layout of the warehouse with the irregular map is achieved.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, specifically to a warehouse and its warehousing layout map construction method, electronic equipment, and storage medium. Background Technology

[0002] When designing the layout of a smart warehousing system, the first step is typically to create a digital warehouse layout map at the software level. This map guides the construction of the physical warehouse and forms the logical framework for the system's functionality. Based on the constructed digital warehouse layout, point and line drawings of shelves, workstations, charging stations, and robot movement paths can be automatically generated in Computer-Aided Design (CAD). However, existing digital warehouse layout technologies are only suitable for cases where the CAD layout map of the building housing the warehouse is a regular map; they lack technology for automatic layout on irregular maps. Summary of the Invention

[0003] In view of the above problems, embodiments of this application provide a method for constructing a warehouse and its layout map, an electronic device and a storage medium, to solve the problem that the prior art cannot automatically lay out irregular maps.

[0004] According to one aspect of the embodiments of this application, a method for constructing a warehouse layout map is provided, the method comprising: Obtain the building layout map of the warehouse, wherein the building layout map includes multiple building elements; Identify multiple building elements in the building layout map and convert the multiple building elements into polygon representations; Based on the polygonal representation of the multiple architectural elements, the geometry engine is invoked to establish the elemental geometric model of each architectural element; The warehouse geometric model is obtained by performing union and complement operations on multiple element geometric models using the geometric engine. Construct a warehouse layout map based on the warehouse geometric model.

[0005] In one alternative approach, constructing the warehouse layout map based on the warehouse geometry model includes: Within the maximum outer envelope boundary of the storage area in the warehouse geometric model, shelves and aisles are filled. The geometric engine determines whether the filled shelves are within the storage area. Shelves not within the storage area are optimized to obtain the shelf and aisle layout. Based on the shelving and aisle layout, the workstation area of ​​the warehouse is filled with workstations and the charging pile area is filled with charging piles in the warehouse geometric model to obtain the workstation layout and the charging pile layout. Generate robot paths and robot rotation points located on the robot paths based on the shelf and aisle layout; The warehouse layout map is constructed based on the layout of the shelves and aisles, the layout of the workstations, the layout of the charging piles, the robot paths, and the robot rotation points.

[0006] In one alternative approach, the plurality of said building elements include one or more of exterior walls, interior walls, columns, elevator shafts, and interior door openings; The step of identifying multiple building elements in the building layout map and converting the multiple building elements into polygon representations includes: Identify multiple building elements in the building layout map; Convert the boundary of each of the architectural elements into a continuous edge; Extract the vertex coordinates from the polygonal pattern formed by the connected edges.

[0007] In one alternative approach, obtaining the warehouse geometric model by performing union and complement operations on multiple element geometric models using the geometry engine includes: The geometry engine performs a union operation on the outer wall geometric model regions in multiple element geometric models to obtain the complete regional geometric model of the warehouse, wherein the outer wall geometric model regions include the enclosed areas of the outer wall geometric models; The complete region geometric model is taken as the whole set, and the inner wall geometric model of the inner wall, the column geometric model of the column, and the elevator shaft geometric model of the elevator shaft are taken as subsets. The complement of the subsets is calculated. The warehouse geometry model is created by using the complement as the effective layout region, wherein the warehouse geometry model includes multiple element geometry models and the effective layout region.

[0008] In one alternative approach, the effective layout area includes the storage area, the workstation area, and the charging pile area; Before filling shelving and aisle space within the maximum outer boundary of the storage area in the warehouse geometric model, and determining whether the filled shelving is within the storage area using the geometric engine, optimizing shelving not within the storage area, and obtaining the shelving and aisle layout, the method further includes: Determine the edges for arranging the workstation and the edges for arranging the charging pile; Based on the edges used for arranging the workstation and the edges used for arranging the charging pile, the workstation area and the charging pile area are determined in the effective layout area; The area outside the workstation area and the charging pile area in the effective layout area shall be designated as the storage area; The maximum outer envelope boundary range is determined based on the storage area.

[0009] In one alternative approach, determining the edges for arranging the workstation and the edges for arranging the charging pile includes: If the user selects an edge for laying out the workstation and an edge for laying out the charging pile, the edge for laying out the workstation and the edge for laying out the charging pile are determined according to the user's selection operation, wherein the user selects from the edge corresponding to the outer wall geometry model and the edge corresponding to the inner wall geometry model; If the user-selected edges for laying out the workstation and the charging pile are not received, select the edges for laying out the workstation and the charging pile from the edges corresponding to the external wall geometry model.

[0010] In one alternative approach, determining the maximum outer envelope boundary range based on the storage area includes: Determine the maximum horizontal and vertical dimensions of the storage area; Using the maximum dimension in the horizontal direction and the maximum dimension in the vertical direction as the two side lengths of a rectangle, a rectangular region covering the entire storage area is established, and the rectangular region is determined as the maximum outer envelope boundary range.

[0011] In one optional approach, the process involves filling shelves and aisles within the maximum outer boundary of the storage area in the warehouse geometric model, and using the geometry engine to determine whether the filled shelves are within the storage area. Shelves not within the storage area are then optimized to obtain the shelf and aisle layout, including: The shelf dimensions of a single shelf are calculated based on the size of the material bin, and the aisle width is calculated based on the size of the robot, wherein the shelf dimensions include the shelf length and the shelf width; Within the maximum outer envelope boundary, the shelving and the aisle are filled according to the shelving size and the aisle width; The geometry engine calculates the intersection of a single shelf located at the edge with the storage area; If the size of the intersection is smaller than the size of the individual shelf located at the edge, the individual shelf located at the edge is optimized; The layout of the shelves and aisles is obtained.

[0012] In one alternative embodiment, the number of rows of the shelf is greater than or equal to 2; If the size of the intersection is smaller than the size of the individual shelf located at the edge, the individual shelf located at the edge is optimized, including: If the size of the intersection is 0, delete the single shelf located at the edge; If the size of the intersection is greater than 0 and less than the size of the single shelf located at the edge, the single shelf located at the edge is split into multiple single-row shelves, the single-row shelves located entirely within the storage area are retained, and the remaining single-row shelves are deleted.

[0013] In one alternative approach, filling the shelving and the aisle within the maximum outer envelope boundary according to the shelving size and the aisle width includes: Shelf filling step: Along the horizontal direction, fill multiple individual shelves sequentially without gaps according to the shelf dimensions to obtain a row of shelves; Tunnel filling steps: Fill a tunnel along the transverse direction according to the tunnel width; The shelf filling step and the aisle filling step are performed alternately until the maximum outer envelope boundary range is filled.

[0014] In one alternative, in the racking and aisle layout, each row of racks and each aisle is arranged laterally along the length direction, the racks and aisles are arranged alternately along the longitudinal direction, and each row of racks has multiple storage locations arranged along the length direction. Based on the shelving and aisle layout, the workstation area of ​​the warehouse in the warehouse geometric model is filled with workstations, and the charging pile area is filled with charging piles, resulting in a workstation layout and a charging pile layout, including: In the horizontal direction, based on the position under each row of shelves where the robot can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, and the horizontal lines with the same vertical coordinate are connected. In the vertical direction, multiple vertical lines are generated based on the horizontal center of each storage location, and the vertical lines with the same horizontal coordinate are connected. Extend the connected horizontal line and the connected vertical line to the workstation area and the charging pile area; Workstations are filled in the workstation area, and charging piles are filled in the charging pile area. If the workstation area includes a first intersection of the extension of the horizontal line and the extension of the vertical line, the robot position in the workstation is aligned with the first intersection. If the charging pile area includes a second intersection of the extension of the horizontal line and the extension of the vertical line, the robot position in the charging pile is aligned with the second intersection.

[0015] In one alternative configuration, the shelving unit is a double-row shelving unit; In the horizontal direction, based on the positions under each row of shelves where robots can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, including: In the transverse direction, multiple transverse lines are generated based on the longitudinal center of each row of shelves and the longitudinal center of each aisle.

[0016] In one alternative approach, the step of filling the workstation area and charging pile area of ​​the warehouse in the warehouse geometry model with workstations and charging piles respectively, based on the shelving and aisle layout, to obtain the workstation layout and charging pile layout, includes: Obtain the warehouse boundary in the warehouse geometric model and transform the warehouse boundary into a vector; Based on the sign of the cross product of the vectors of adjacent boundaries in the warehouse boundary, the concavity and convexity properties of the interior corners of the warehouse are determined. Identify overlapping areas where the workstation area and the charging pile area intersect each other, wherein the overlapping areas contain the inner corners of the warehouse; Based on the layout of the shelves and aisles, in the warehouse geometric model, the workstation area of ​​the warehouse is filled with workstations, and the charging pile area is filled with charging piles, wherein the overlapping area with convex attributes at the inner corners of the warehouse is not filled with workstations or charging piles.

[0017] In one alternative, in the racking and aisle layout, each row of racks and each aisle is arranged laterally along the length direction, the racks and aisles are arranged alternately along the longitudinal direction, and each row of racks has multiple storage locations arranged along the length direction. The step of generating robot paths and robot rotation points located on the robot paths based on the shelf and aisle layout includes: In the horizontal direction, based on the position under each row of shelves where the robot can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, and the horizontal lines with the same vertical coordinate are connected. In the vertical direction, multiple vertical lines are generated based on the horizontal center of each storage location, and the vertical lines with the same horizontal coordinate are connected. The connected horizontal lines and the connected vertical lines are extended to the boundary of the storage area to obtain multiple horizontal extension lines and multiple vertical extension lines; For each of the multiple horizontal extension lines and the multiple vertical extension lines, each extension line is shortened so that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and the second endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, thereby obtaining the robot path; Based on the intersections between all the extension lines, and the first and second endpoints of all the extension lines, the robot rotation points on the robot path are generated.

[0018] In one alternative, the connected horizontal lines include horizontal lines through doorways in the interior wall, but do not include horizontal lines through the wall itself. The connected longitudinal lines include longitudinal lines through doorways in the inner walls, but do not include longitudinal lines through the walls themselves.

[0019] In one alternative approach, for each of the plurality of horizontal and vertical extension lines, shortening each extension line to move its first endpoint to an extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and moving the second endpoint of the extension line to an extension line that intersects the extension line perpendicularly and is closest to the second endpoint, to obtain the robot path, includes: For each of the plurality of horizontal extension lines and the plurality of vertical extension lines, each extension line is shortened such that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint; the extension line is shortened such that the second endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, thereby obtaining the intersection point between the plurality of extension lines and the endpoint of each extension line; For the end intersection point located at the endpoint of the extension line, determine whether the surrounding environment of the end intersection point meets the robot rotation requirements; For a target extension line whose surrounding environment at the end intersection does not meet the robot's rotation requirements, the end of the target extension line where the end intersection is located is shortened to the intersection adjacent to the end intersection to obtain the robot path.

[0020] In one alternative approach, for each of the plurality of horizontal and vertical extension lines, shortening each extension line to move its first endpoint to an extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and moving the second endpoint of the extension line to an extension line that intersects the extension line perpendicularly and is closest to the second endpoint, to obtain the robot path, includes: For each of the plurality of horizontal extension lines and the plurality of vertical extension lines, each extension line is shortened such that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint; the extension line is shortened such that the second endpoint of the extension line is shortened to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, thereby obtaining the intersection point between the plurality of extension lines and the endpoint of each extension line; For a target extension line filled with charging piles in the extension direction, determine whether the endpoint of the target extension line in the extension direction reaches the robot position of the charging pile; If the endpoint of the target extension line does not reach the robot location of the charging pile, the endpoint of the target extension line in the extension direction is extended to the robot location.

[0021] In one alternative approach, after constructing a warehouse layout map based on the shelving and aisle layout, the workstation layout, the charging pile layout, the robot paths, and the robot rotation points, the method further includes: In response to the CAD map export command, warehouse layout data is obtained based on the warehouse layout map, wherein the warehouse layout data includes shelf layout data, workstation layout data, charging pile layout data, robot path data, and robot rotation point data; The warehouse layout data is exported so that it can be imported into CAD software, and the warehouse elements corresponding to the warehouse layout data are placed in the CAD software based on the warehouse layout data. The warehouse elements include shelves, workstations, charging piles, robot paths, and robot rotation points.

[0022] In one alternative approach, the warehouse layout data is the coordinate data of the warehouse elements.

[0023] According to another aspect of the embodiments of this application, a warehouse is provided, wherein the warehouse is constructed based on the warehouse layout map construction method described in any of the above embodiments.

[0024] According to another aspect of the embodiments of this application, an electronic device is provided, including: a processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the warehouse layout map construction method described in any of the above embodiments.

[0025] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein the storage medium stores executable instructions, which, when executed on an electronic device, cause the electronic device to perform the warehouse layout map construction method described in any of the above embodiments.

[0026] This embodiment of the application converts multiple building elements in the warehouse's architectural layout map into polygonal representations. Based on these polygonal representations, a geometry engine is invoked to create an elemental geometric model for each building element. Then, the geometry engine performs union and complement operations on these multiple elemental geometric models to obtain the warehouse's geometric model. Finally, a warehouse layout map is constructed based on this geometric model. In this method, by performing union and complement operations on individual elemental geometric models, areas suitable for warehouse facilities can be identified, and warehouse facilities can be laid out within these areas. This eliminates the need for manual intervention, preventing interference between the laid-out warehouse facilities and building elements. It achieves automatic warehouse layout on irregular maps, shortening the map production cycle and reducing layout costs and error rates.

[0027] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0028] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart illustrating the warehouse layout map construction method provided in this application embodiment is shown. Figure 2 This application provides a schematic plan view of a warehouse layout map according to an embodiment of the present application. Figure 3 This illustration shows a schematic diagram of how architectural elements are converted into polygonal representations according to an embodiment of this application; Figure 4 It shows Figure 2 A schematic diagram of the complete area geometry model of the warehouse shown; Figure 5 It shows Figure 2A schematic diagram of the effective layout area of ​​the warehouse shown. Figure 6 A schematic diagram of the storage area, workstation area, charging pile area, and maximum outer envelope boundary range in a warehouse according to an embodiment of this application is shown; Figure 7 This illustration shows a schematic diagram of the edge-located shelf before optimization in an embodiment of this application; Figure 8 This illustration shows a schematic diagram of an optimized edge shelf in an embodiment of this application; Figure 9 Schematic diagrams of edge shelves in other embodiments of this application are shown; Figure 10 A schematic diagram of the shelving and aisle layout in an embodiment of this application is shown; Figure 11 A schematic diagram of horizontal and vertical lines within a local area of ​​a warehouse according to an embodiment of this application is shown; Figure 12 A schematic diagram showing the alignment of the robot's position with the first intersection point in the workstation according to an embodiment of this application is shown; Figure 13 A schematic diagram of the interior corners of two warehouses in embodiments of this application is shown; Figure 14 This illustration shows a schematic diagram of horizontal and vertical lines extending to the boundary of the storage area within a local area of ​​a warehouse according to an embodiment of this application; Figure 15 It shows Figure 14 A schematic diagram showing the shortened horizontal and vertical lines. Figure 16 A schematic diagram of the extension line near the door opening in the interior wall in an embodiment of this application is shown; Figure 17 A schematic diagram is shown showing that the surrounding environment of the end intersection in some embodiments of this application does not meet the requirements for robot rotation; Figure 18 It shows the Figure 17 A schematic diagram showing the extension line after the shortening operation. Figure 19 A schematic diagram of the extension line of the charging pile area in an embodiment of this application is shown; Figure 20 It shows the Figure 19 A schematic diagram showing the extension operation performed on the line shown. Figure 21 A schematic diagram of the warehouse layout map of an embodiment of this application is shown; Figure 22 This invention provides a schematic diagram of the structure of a warehouse layout map construction device. Figure 23A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0029] The reference numerals in the detailed embodiments are as follows: Warehouse 100; Exterior wall 10; Interior wall 20; Column 30; Elevator shaft 40; Interior wall doorway 50. Detailed Implementation

[0030] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0031] An intelligent warehousing system is an intelligent system that integrates advanced information technology and automated equipment to achieve efficient storage, handling, identification, picking, and operation of goods. In this system, warehouse layout, as a core basic element, is first constructed digitally at the software level, forming a logical framework that guides the construction of the physical warehouse and the realization of system functions.

[0032] Based on this digital warehouse layout, the various subsystems within the intelligent warehousing system, such as the Order Management System (OMS), Warehouse Management System (WMS), Warehouse Control System (WCS), and Warehouse Execution System (WES), can then perform the following functions: route planning and resource allocation, location management and inventory optimization, equipment scheduling and task coordination, and order processing and workflow execution. Therefore, warehouse layout is not only the basis for constructing a physical warehouse, but also the underlying foundation for the efficient operation and functional integration of the entire intelligent warehousing system.

[0033] Digital warehouse layout is based on the CAD layout map of the building where the warehouse is located. Based on the constructed warehouse layout, the point-line drawing of shelves, workstations, charging stations, robot movement paths, etc., can be automatically completed in CAD. However, existing digital warehouse layout technologies are only applicable to cases where the CAD layout map of the building where the warehouse is located is a regular map (i.e., the outer walls of the warehouse area are standard rectangles), and lack technology for automatic layout on irregular maps.

[0034] Compared to regular maps, irregular maps have polygonal boundaries instead of standard rectangles. Irregular maps contain areas such as interior walls, pillars, and elevator shafts, which are unsuitable for planning facilities like shelving, workstations, and charging stations. Therefore, warehouse layout on irregular maps requires manual drawing. Due to these limitations, the layout of irregular maps cannot be achieved using existing automated technologies for regular map layouts, necessitating manual warehouse layout, resulting in long map production cycles, high costs, and a high risk of errors.

[0035] In view of this, this application provides a method for constructing a warehouse layout map. This method involves converting multiple building elements in the warehouse's architectural layout map into polygonal representations. Based on these polygonal representations, a geometry engine is used to create an elemental geometric model for each building element. Then, the geometry engine performs union and complement operations on these multiple elemental geometric models to obtain the warehouse's geometric model. Finally, the warehouse layout map is constructed based on this geometric model. In this method, by performing union and complement operations on individual elemental geometric models, an area suitable for laying out warehouse facilities can be obtained. The warehouse facilities can then be laid out within this area, avoiding interference between the laid-out warehouse facilities and building elements without relying on manual intervention. This achieves automatic warehouse layout on irregular maps, shortens the map production cycle, and reduces layout costs and error rates.

[0036] Figure 1 A flowchart illustrating a warehouse layout map construction method provided in an embodiment of this application is shown. This method is executed on an electronic device. Figure 1 As shown, the method includes the following steps.

[0037] S110, Obtain the building layout map of the warehouse.

[0038] The building layout map includes multiple building elements, including one or more of the following: exterior walls, interior walls, columns, elevator shafts, and doorways in the interior walls. Figure 2 This application provides a schematic plan view of a warehouse layout map according to an embodiment of the present application. Figure 2 As shown, the building elements in the building layout map include an exterior wall 10, an interior wall 20, a column 30, an elevator shaft 40, and a doorway 50 in the interior wall 20. The interior wall 20 divides the warehouse 100 into multiple storage areas (two storage areas are shown in the figure, namely storage area A and storage area B). In some other embodiments, the building elements in the building layout map may not include interior walls, doorways in the interior walls, elevator shafts, etc., and this application does not limit this.

[0039] S120 identifies multiple building elements in the building layout map and converts these elements into polygon representations.

[0040] This step involves parsing the CAD map. First, multiple building elements are identified in the architectural layout map. Then, the boundaries of each building element are converted into connected edges. Finally, the vertex coordinates of the polygonal pattern formed by these connected edges are extracted. By converting building elements into polygonal representations, it is easier to build geometric models of the elements in subsequent steps.

[0041] Figure 3 This illustration shows a schematic diagram of how architectural elements are converted into polygonal representations according to an embodiment of this application. Figure 3 The illustration uses only the elevator shaft as an example. Figure 3 As shown, the boundary of elevator shaft 40 is converted into four connected edges, forming a rectangle. The coordinates of the four vertices of this rectangle are extracted: P1(x1,y1), P2(x2,y2), P3(x3,y3), and P4(x4,y4). Based on these four vertex coordinates, the polygonal representation of elevator shaft 40 is obtained. Alternatively, a polygonal representation can be derived based on two opposite corner points, such as P1(x1,y1) and P4(x4,y4).

[0042] S130 uses a polygonal representation of multiple building elements and calls a geometry engine to build the elemental geometric model of each building element.

[0043] S140 uses a geometry engine to perform union and complement operations on multiple element geometric models to obtain the warehouse geometric model.

[0044] Steps S130 and S140 construct the warehouse geometric model, which can be achieved by calling a geometry engine. The geometry engine can be a low-level library capable of performing geometric operations, executing various spatial relationship judgments and calculations, performing spatial indexing, and checking whether geometric figures conform to geometric rules, such as GEOS (Geometry Engine, Open Source), JTS Topology Suite (JTS), Shapely, etc.

[0045] Step S140 determines the effective layout area of ​​warehouse 100 through operations such as union and complement between element geometric models. The union operation yields the complete warehouse area, while the complement operation removes elements such as interior walls 20, columns 30, and elevator shafts 40 from the complete warehouse area, thus obtaining the effective layout area of ​​warehouse 100. In some embodiments, step S140 further includes the following steps: S141, the geometry engine performs a union operation on the outer wall geometric model regions in multiple element geometric models to obtain the complete regional geometric model of the warehouse. The outer wall geometric model region includes the enclosed area of ​​the outer wall geometric model.

[0046] Figure 4 It shows Figure 2 A schematic diagram of the complete regional geometry of the warehouse shown. Figure 4 The area within the irregular polygonal frame shown represents the complete area of ​​warehouse 100.

[0047] S142, take the complete region geometric model as the whole set, and take the inner wall geometric model of the inner wall, the column geometric model of the column, and the elevator shaft geometric model of the elevator shaft as subsets, and calculate the complement of the subsets.

[0048] S143, create a warehouse geometry model using the complement as the effective layout region. The warehouse geometry model includes multiple element geometry models and the effective layout region.

[0049] Figure 5 It shows Figure 2 The diagram shows the effective layout area of ​​the warehouse. The gray-filled areas R1 and R2 represent the effective layout areas. If warehouse 100 does not have an interior wall 20, the resulting effective layout area is a single area.

[0050] S150, Construct a warehouse layout map based on the warehouse geometric model.

[0051] In some embodiments, step S150 further includes the following steps: S151, within the maximum outer boundary of the storage area in the warehouse geometric model, the shelves and aisles are filled, and the geometric engine determines whether the filled shelves are within the storage area. Shelves outside the storage area are optimized to obtain the shelf and aisle layout.

[0052] S152, based on the layout of the shelves and aisles, fill the workstation area in the warehouse geometric model with workstations and the charging pile area with charging piles to obtain the workstation layout and charging pile layout.

[0053] S153, generate robot paths and robot rotation points located on the robot paths based on the shelf and aisle layout.

[0054] S154 is a warehouse layout map that constructs a warehouse based on the layout of shelves and aisles, workstations, charging stations, robot paths, and robot rotation points.

[0055] In this process, step S151 involves filling the shelves and aisles, step S152 involves filling the workstations and charging stations, and step S153 involves generating the robot path and robot rotation points. The specific implementation process of steps S151 to S154 is explained in detail below.

[0056] The effective layout area obtained in step S143 includes the storage area, workstation area and charging pile area. In step S151, the layout of shelves and aisles is based on the maximum outer envelope boundary range and the storage area range. Figure 6 This diagram illustrates the storage area, workstation area, charging pile area, and maximum outer envelope boundary range within a warehouse according to an embodiment of this application. Please refer to... Figure 6 In some embodiments, before filling the shelving and aisles, storage areas are determined from the effective layout area by the following steps, and the maximum outer envelope boundary range is determined based on the storage areas: Step a1: First, determine the edges used for laying out workstations and the edges used for laying out charging piles.

[0057] In this step, if the user selects edges for workstation and charging pile layout, the edges for these layouts are determined based on the user's selection. The user chooses from the edges corresponding to the outer wall geometry model and the inner wall geometry model. If no user-selected edges are received, the edges for workstation and charging pile layouts are selected from the edges corresponding to the outer wall geometry model. This method determines the edges the user prefers to place for workstations / charging piles. If the user specifies an edge, that edge is selected; otherwise, the edge corresponding to the warehouse boundary (outer wall 10) is prioritized. For example, ... Figure 6 As shown, the edges selected by the user for laying out the workstation and the edges for laying out the charging pile are edge N10 and edge N20 (edges of the outer wall 10).

[0058] It is understandable that the user's selection operation for the edges used to lay out the workstation and the edges used to lay out the charging pile can be performed after step S120. By performing step S120, the boundary of each building element is converted into edges that are connected end to end, and the user can then select from the obtained edges.

[0059] Step a2: Based on the edges used for laying out the workstations and the edges used for laying out the charging piles, determine the workstation area and the charging pile area within the effective layout area. For example... Figure 6 As shown, along edges N10 and N20, workstation areas W1, W2, W3 and W4 are determined, as well as charging pile areas C1 and C2.

[0060] Step a3: Use the area outside the workstation area and charging pile area in the effective layout area as the storage area.

[0061] Please continue reading. Figure 6In the effective layout area R1, area V1, excluding workstation areas W1 and W2 and charging pile area C1, is the storage area; in the effective layout area R2, area V2, excluding workstation areas W3 and W4 and charging pile area C2, is the storage area.

[0062] Step a4: Determine the maximum outer envelope boundary range based on the storage area.

[0063] The workstation area, charging pile area, and storage area were determined using the above method, and the maximum outer envelope boundary range was determined based on the storage area. Next, shelving and aisle filling were carried out within the maximum outer envelope boundary range. Based on the determined storage area, it was determined whether the filled shelving exceeded the layable area (storage area). Shelving exceeding the storage area was optimized to ensure that all laid-out shelving was located within the storage area, thereby avoiding incorrect layout. Specifically, intersection operations can be used to determine whether there is a conflict between the shelving and warehouse elements (e.g., exterior wall 10, interior wall 20, etc.). In some embodiments, step S151 can be further implemented as follows: S1511 calculates the shelf dimensions of a single rack based on the bin size and the aisle width based on the robot size. The rack dimensions include both length and width. The rack dimensions are typically slightly larger than the bin size to allow for a safety distance. The aisle width is also typically larger than the robot width, and the specific design depends on the aisle's traffic pattern. For example, in one-way traffic, the aisle width is the robot width + 2 × safety clearance; in two-way traffic, the aisle width = 2 × robot width + 3 × safety clearance.

[0064] S1512, within the maximum outer envelope boundary, fill the shelves and aisles according to the shelf dimensions and aisle width.

[0065] S1513 uses a geometry engine to calculate the intersection of a single shelf located at the edge with the storage area.

[0066] S1514 If the size of the intersection is smaller than the size of a single shelf located at the edge, optimize the single shelf located at the edge.

[0067] S1515, obtain the shelving and aisle layout.

[0068] Step S1512 further includes a shelf filling step and an aisle filling step. The shelf filling step includes: filling multiple individual shelves sequentially and without gaps along the transverse direction according to the shelf dimensions to obtain a row of shelves; the aisle filling step includes: filling an aisle along the transverse direction according to the aisle width. The shelf filling step and the aisle filling step are performed alternately until the entire outer boundary is filled. That is, within the maximum outer boundary, filling is performed sequentially in the order of shelf, aisle, shelf, aisle.

[0069] In step S1514, when optimizing a single shelf located at the edge, for a single shelf with a row number greater than or equal to 2: if the size of the intersection is 0, delete the single shelf located at the edge; if the size of the intersection is greater than 0 and less than the size of the single shelf located at the edge, split the single shelf located at the edge into multiple single-row shelves, retain the single-row shelves completely located within the storage area, and delete the remaining single-row shelves.

[0070] Figure 7 and Figure 8 A schematic diagram illustrating the optimization of edge-located shelves in an embodiment of this application is shown, wherein... Figure 7 This illustration shows a schematic diagram of the edge-located shelf before optimization, as shown in an embodiment of this application. Figure 8 A schematic diagram of the optimized edge shelf in an embodiment of this application is shown.

[0071] like Figure 7 As shown, a single shelf is a double-row shelf with 3 rows of storage locations along the horizontal X direction, where shelves D1 to D8 are all located at the edge.

[0072] For shelves D1 and D8, the size of their intersection with storage area V1 is 0, meaning there is no intersection between them. Therefore, shelves D1 and D8 are not located in the storage area at all, and shelves D1 and D8 need to be deleted.

[0073] For shelves D2 to D7, if the intersection size between each shelf and storage area V1 is greater than 0 and less than the shelf's size (meaning there is partial intersection), then each shelf is split into two single-row shelves. For example, shelf D3 is split into single-row shelves D31 and D32. Single-row shelf D32, which is entirely within storage area V1, is retained, while single-row shelf D31 is deleted. For shelves D2 and D7, the resulting single-row shelves are not entirely within storage area V1; therefore, all single-row shelves obtained from splitting shelves D2 and D7 must be deleted. The processing method for shelves D4 to D6 is the same as for D3 and will not be repeated.

[0074] The result after optimization through the above operations is as follows: Figure 8 As shown.

[0075] Figure 9 Schematic diagrams of edge shelves in other embodiments of this application are shown, such as... Figure 9 As shown, the size of the intersection of the edge shelves D9~D14 and the storage area V1 is equal to the size of these shelves themselves. That is, the shelves are completely located within the storage area V1. Therefore, there is no need to optimize the shelves, and shelves D9~D14 can be retained directly.

[0076] right Figure 6The illustrated embodiment, after filling the shelving and aisle areas and optimizing shelving outside the storage area, results in the following shelving and aisle layout: Figure 10 As shown.

[0077] Please continue reading. Figure 10 In the racking and aisle layout, each row of racks and each aisle is arranged along the transverse direction (X), and the racks and aisles are arranged alternately along the longitudinal direction (Y). Each row of racks has multiple storage locations arranged along its length direction (X). Unless otherwise specified, the following description is based on this racking and aisle layout. Based on the above racking and aisle layout, in some embodiments, step S152 further includes the following steps: S1521, in the horizontal direction, based on the position under each row of shelves where the robot can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, and horizontal lines with the same vertical coordinate are connected.

[0078] S1522, in the vertical direction, based on the horizontal center of each storage location, generates multiple vertical lines and connects the vertical lines with the same horizontal coordinate.

[0079] Figure 11 A schematic diagram of horizontal and vertical lines within a local area of ​​a warehouse according to an embodiment of this application is shown. For example... Figure 11 As shown, shelves D15-D18 are double-row shelves, allowing robots to pass underneath. A horizontal line is generated under each shelf along the horizontal axis (X) based on the longitudinal center of each double-row shelf (D15-D18). Similarly, a horizontal line is generated at the position corresponding to each shelf along the horizontal axis (X) based on the longitudinal center of each aisle. Shelf D19 is a single-row shelf, and robots cannot pass underneath it; therefore, no horizontal line is generated under shelf D19. Then, the horizontal lines with the same vertical coordinate are connected to obtain the connected horizontal lines L31-L35 shown in the figure. The resulting connected longitudinal lines are L41-L46.

[0080] S1523 extends the connected horizontal and vertical lines to the workstation area and charging pile area.

[0081] S1524, fill the workstation area with workstations and the charging pile area with charging piles. Wherein, if the workstation area includes the first intersection of the extension of the horizontal line and the extension of the vertical line, then align the robot position in the workstation with the first intersection; if the charging pile area includes the second intersection of the extension of the horizontal line and the extension of the vertical line, then align the robot position in the charging pile with the second intersection.

[0082] In the above method, horizontal and vertical lines are generated based on the center of multiple rows of shelves and the center of aisles, and these lines are extended to the workstation area / charging pile area. Then, the robot positions in the workstation area / charging pile area are matched to the intersection of the horizontal and vertical lines in that area. In other words, the layout position of the workstation / charging pile is determined by the above method.

[0083] Figure 12 This illustration shows a schematic diagram of the alignment of the robot's position with the first intersection point in the workstation according to an embodiment of this application. Figure 12 As shown, each robot point in workstation W1 is aligned with the first intersection point, so that the robot can directly reach the robot point in workstation W1 by traveling along the horizontal or vertical path.

[0084] Since the map of Warehouse 100 is an irregular map, there may be both concave and convex inner corners of the warehouse. When filling the area around the inner corner of the warehouse with workstations and charging piles, the concave and convex attributes of the inner corner of the warehouse are further considered.

[0085] In some embodiments, step S152 further includes: obtaining the warehouse boundary in the warehouse geometric model and converting the warehouse boundary into a vector; determining the concavity / convexity attribute of the warehouse interior corners based on the sign of the cross product of adjacent boundaries in the warehouse boundary; identifying overlapping areas where the workstation area and the charging pile area intersect each other, wherein the overlapping areas have warehouse interior corners. Then, in step S1524, when filling the workstation area with workstations and the charging pile area with charging piles, for the overlapping areas where the workstation area and the charging pile area intersect each other, workstations or charging piles are filled in the overlapping areas where the warehouse interior corners are concave, while workstations or charging piles are not filled in the overlapping areas where the warehouse interior corners are convex.

[0086] When determining the convexity or concavity of an interior corner, the boundary order (clockwise or counterclockwise) in the geometry engine can be used. If the boundary order is counterclockwise, the cross product of the preceding and following boundary vectors of the interior corner is positive, indicating a convex interior corner. If the boundary order is clockwise, the cross product of the preceding and following boundary vectors of the interior corner is negative, indicating a concave interior corner.

[0087] Figure 13 The following diagram illustrates two types of warehouse interior corners in embodiments of this application, such as... Figure 13As shown, the first workstation area is laid out along edge N1 of the warehouse boundary, and the second workstation area is laid out along edge N2 of the warehouse boundary. The two workstation areas overlap. Edges N1 and N2 form the warehouse interior corner E1. In the geometry engine, the vector of edge N1 is the vector pointing in the positive X direction as shown in the figure, and the vector of edge N2 is the vector pointing in the negative Y direction as shown in the figure. Taking the cross product of these two vectors, the result is negative. Therefore, the warehouse interior corner E1 formed by edges N1 and N2 has a concave property. Workstations can be laid out in the overlapping area of ​​the first and second workstation areas (the area around the warehouse interior corner E1). Workstations laid out in the overlapping area will not be affected by the workstations on both sides of the warehouse interior corner E1, and robots can smoothly enter the robot positions of that workstation. The layout of charging piles is similar.

[0088] Please continue reading Figure 13 The first charging pile area is located along edge N3 of the warehouse boundary, and the second charging pile area is located along edge N4 of the warehouse boundary. The two charging pile areas overlap. The vector of edge N3 is the vector pointing in the positive X direction as shown in the figure, and the vector of edge N4 is the vector pointing in the positive Y direction as shown in the figure. Taking the cross product of these two vectors, the result is positive. Therefore, the interior corner E2 of the warehouse formed by edges N1 and N2 has convex properties. No charging piles are placed in the overlapping area of ​​the first and second charging pile areas (the area around the interior corner E2 of the warehouse). If charging piles are placed in this area, the charging piles will be affected by the charging piles on both sides of the interior corner E2 of the warehouse, and there will not be enough space for the robot to enter the robot position of the charging pile. The layout of the workstation is the same.

[0089] It is understandable that the aforementioned overlapping area could also be the overlapping area of ​​charging piles and workstations.

[0090] Step S153 further includes the following steps: S1531, in the horizontal direction, based on the position under each row of shelves where the robot can pass and the longitudinal center of each aisle, generates multiple horizontal lines and connects the horizontal lines with the same vertical coordinate.

[0091] S1532, in the vertical direction, generates multiple vertical lines based on the horizontal center of each storage location, and connects the vertical lines with the same horizontal coordinate.

[0092] S1533, extend the connected horizontal lines and the connected vertical lines to the boundary of the storage area to obtain multiple horizontal extension lines and multiple vertical extension lines.

[0093] S1534, for each of the multiple horizontal and multiple vertical extension lines, shorten each extension line so that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and move the second endpoint of the extension line to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, to obtain the robot path.

[0094] S1535, based on the intersections between all the extensions, and the first and second endpoints of all the extensions, generate the robot rotation points on the robot path.

[0095] It should be noted that although the connected horizontal and vertical lines are obtained in step S152, in some embodiments, these lines may not be stored to save storage space. In step S153, the operations related to the horizontal and vertical lines are performed again, and the robot path is finally obtained and stored based on the extended lines. In some embodiments, the connected horizontal and vertical lines obtained in step S152 can also be stored in the storage space of the electronic device, in which case the steps to obtain the connected horizontal and vertical lines do not need to be performed in step S153.

[0096] Figure 14 This illustration shows a schematic diagram of horizontal and vertical lines extending to the boundary of the storage area within a local area of ​​a warehouse, as described in an embodiment of this application. Figure 14 As shown in the diagram, the horizontal lines extend to the boundary N5 of the storage area, and the vertical lines extend to the boundary N6 of the storage area. For each horizontal and vertical extension line, it is shortened so that the two endpoints of each extension line are moved to the extension line that intersects the line perpendicularly and is closest to that endpoint. Taking the vertical extension line L5 as an example, by shortening L5, its endpoint P5, which is closest to boundary N6, is moved to the extension line L6 that intersects L5 perpendicularly and is closest to that endpoint P5; that is, the endpoint is moved to the position of point P6. A similar shortening process is performed on the remaining extension lines. The shortened horizontal and vertical lines are as follows: Figure 15 As shown in the figure, the horizontal and vertical lines represent the robot's path, and the points on them are the robot's rotation points.

[0097] In a warehouse 100 layout where the building is divided into multiple storage areas by inner walls 20, there may be doorways 50 beneath the inner walls 20 for robots to pass through. In some embodiments, when connecting horizontal lines with the same vertical coordinate, if the connected horizontal lines pass through the inner wall 20, preventing the robot from passing through, then these two horizontal lines are not connected. If the connected horizontal lines pass through the doorway 50 of the inner wall 20, allowing the robot to pass through, then these two horizontal lines are connected. That is, the connected horizontal lines include the horizontal lines passing through the doorway 50 of the inner wall 20, but do not include the horizontal lines passing through the inner wall 20 itself.

[0098] Similarly, when connecting vertical lines with the same horizontal coordinate, if the two vertical lines pass through the inner wall 20 and the robot cannot pass through the wall, then the two vertical lines are not connected. If the two vertical lines pass through the doorway 50 of the inner wall 20 and the robot can pass through the doorway 50, then the two vertical lines are connected. That is, the connected vertical lines include the vertical lines that pass through the doorway 50 of the inner wall 20, but do not include the vertical lines that pass through the inner wall 20.

[0099] By processing the horizontal and vertical lines near the doorway 50 of the inner wall 20 in the above manner and finally generating the robot path, it is possible to avoid the robot path passing through the wall and provide a convenient path for travel between adjacent storage areas. Figure 16 A schematic diagram of the extension line near the door opening in the interior wall in an embodiment of this application is shown, such as... Figure 16 As shown, longitudinal lines L7~L9 pass through the doorway 50 of the inner wall 20, while the other longitudinal lines do not pass through the doorway 50 of the inner wall 20.

[0100] When the intersection of the horizontal and vertical extension lines is an endpoint, if there are facilities near the intersection that affect the robot's rotation, such as shelf uprights or pillars, and if these facilities are close to the intersection, considering the space required for the robot to turn, such an intersection is not suitable as a robot location. In some embodiments, step S1534 further includes the following steps: Step b1: For each of the multiple horizontal and multiple vertical extension lines, shorten each extension line so that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint. Then shorten the extension line so that the second endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint. This yields the intersection point between the multiple extension lines and the endpoint of each extension line.

[0101] Step b2: For the end intersection points located at the endpoints of the extension lines, determine whether the surrounding environment of the end intersection points meets the requirements for robot rotation.

[0102] Step b3: For the target extension line whose surrounding environment at the end intersection does not meet the robot's rotation requirements, shorten one end of the target extension line where the end intersection is located to the intersection adjacent to the end intersection to obtain the robot path.

[0103] By using the above method, the robot path is prevented from extending to the end intersection point where the surrounding environment does not meet the robot's rotation requirements, thereby avoiding the robot's rotation point from being placed at such an intersection point, which would cause the robot to interfere with the surrounding environment at that point.

[0104] Figure 17 This illustration shows a schematic diagram in some embodiments of the present application where the surrounding environment of the end intersection does not meet the robot's rotation requirements, such as... Figure 17 As shown, there is a column of a single-row shelf D15 near the intersection point P7 of the transverse extension line L10. If the robot rotates at this intersection point P7, it will interfere with the column of the single-row shelf D15. Therefore, the end of the transverse extension line L10 (the target extension line) at the intersection point P7 is shortened to the intersection point P8 adjacent to the intersection point P7. A similar operation is performed on the longitudinal extension line L11. After performing the above shortening operation on the transverse extension line L10 and the longitudinal extension line L11, the resulting extension line is as follows. Figure 18 As shown.

[0105] For the charging station area, if the endpoint of the extension line does not reach the robot's location at the charging station, the robot cannot charge at that endpoint. In some embodiments, step S1534 further includes the following steps: Step c1: For each of the multiple horizontal and multiple vertical extension lines, shorten each extension line so that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint. Then shorten the extension line so that the second endpoint of the extension line is shortened to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint. This yields the intersection point between the multiple extension lines and the endpoint of each extension line.

[0106] Step c2: For a target extension line filled with charging piles in the extension direction, determine whether the endpoint of the target extension line in the extension direction reaches the robot position of the charging pile.

[0107] Step c3: If the endpoint of the target extension line does not reach the robot location of the charging pile, extend the endpoint of the target extension line in the extension direction to the robot location.

[0108] In the above manner, the endpoint of the target extension line filled with charging piles in the extension direction is extended to the robot's position. When the robot walks, it can walk to this endpoint and thus dock with the charging pile at this endpoint for charging.

[0109] Figure 19A schematic diagram of the extension line of the charging pile area in an embodiment of this application is shown, such as... Figure 19 As shown, the extension line L12 is filled with charging piles along its extension direction, but the endpoint P9 of the extension line L12 in the extension direction does not reach the robot point P10 of the charging pile. Therefore, the endpoint P9 of the extension line L12 (the target extension line) in the extension direction is extended to the robot point P10. Similar processing is performed on the remaining target extension lines to obtain the following result: Figure 20 The extension line shown.

[0110] After the operations described in the above embodiments, a warehouse layout map of warehouse 100 is obtained. Please refer to [link / reference needed]. Figure 21 It shows a schematic diagram of the warehouse layout map obtained through the operations of the above embodiments.

[0111] Furthermore, in some embodiments, after constructing a warehouse layout map of warehouse 100 based on shelf and aisle layout, workstation layout, charging pile layout, robot paths, and robot rotation points in step S154, a CAD map is exported based on this warehouse layout map. The method also includes the following steps: The S160, responding to CAD map export commands, acquires warehouse layout data based on the warehouse layout map. This warehouse layout data includes shelf layout data, workstation layout data, charging pile layout data, robot path data, and robot rotation point data.

[0112] S170, export warehouse layout data so that the warehouse layout data can be imported into CAD software, and place the warehouse elements corresponding to the warehouse layout data in the CAD software based on the warehouse layout data. The warehouse elements include shelves, workstations, charging piles, robot paths and robot rotation points.

[0113] Warehouse layout data can be the coordinate data of warehouse elements. In CAD software, standard CAD blocks can be placed at the positions corresponding to the coordinate data of warehouse elements.

[0114] Some embodiments of this application also provide a warehouse 100, which is constructed based on a warehouse layout map obtained by the warehouse layout map construction method of any of the above embodiments.

[0115] Figure 22 A schematic diagram of the warehouse layout map construction device provided in an embodiment of this application is shown. Figure 22 As shown, the warehouse layout map building device 200 includes: The acquisition module 210 is used to acquire the building layout map of the warehouse, wherein the building layout map includes multiple building elements; The conversion module 220 is used to identify multiple building elements in the building layout map and convert the multiple building elements into polygon representations. The first modeling module 230 is used for polygonal representation based on multiple building elements, and calls the geometry engine to build the element geometric model of each building element; The second modeling module 240 is used to perform union and complement operations based on multiple element geometric models through the geometry engine to obtain the warehouse geometric model; Module 250 is used to build a warehouse layout map based on the warehouse geometry model.

[0116] The warehouse layout map construction device 200 of this application embodiment also includes other modules for performing the steps of the above method embodiments, which will not be described in detail here.

[0117] Figure 23 The diagram shows a structural schematic of an electronic device provided in an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0118] like Figure 23 As shown, the electronic device 300 may include a processor 302 and a memory 304.

[0119] The memory 304 is used to store the computer program 306. The memory 304 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device. The computer program 306 may include computer-executable instructions.

[0120] The processor 302 is used to execute the computer program 306 to implement the above-described warehouse layout map construction method embodiment.

[0121] Processor 302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Electronic device 300 may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0122] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described warehouse layout map construction method embodiment.

[0123] This application provides a computer program that can be executed by a processor to implement the above-described warehouse layout map construction method.

[0124] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described warehouse layout map construction method embodiment.

[0125] In the several embodiments provided in this application, any function, if implemented as a software functional module / unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application 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 other electronic device) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0126] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0127] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims enumerating several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

[0128] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for constructing a warehouse layout map, characterized in that, The method includes: Obtain the building layout map of the warehouse, wherein the building layout map includes multiple building elements; Identify multiple building elements in the building layout map and convert the multiple building elements into polygon representations; Based on the polygonal representation of the multiple architectural elements, the geometry engine is invoked to establish the elemental geometric model of each architectural element; The warehouse geometric model is obtained by performing union and complement operations on multiple element geometric models using the geometric engine. Construct a warehouse layout map based on the warehouse geometric model.

2. The method according to claim 1, characterized in that, The step of constructing the warehouse layout map based on the warehouse geometric model includes: Within the maximum outer envelope boundary of the storage area in the warehouse geometric model, shelves and aisles are filled. The geometric engine determines whether the filled shelves are within the storage area. Shelves not within the storage area are optimized to obtain the shelf and aisle layout. Based on the shelving and aisle layout, the workstation area of ​​the warehouse is filled with workstations and the charging pile area is filled with charging piles in the warehouse geometric model to obtain the workstation layout and the charging pile layout. Generate robot paths and robot rotation points located on the robot paths based on the shelf and aisle layout; The warehouse layout map is constructed based on the layout of the shelves and aisles, the layout of the workstations, the layout of the charging piles, the robot paths, and the robot rotation points.

3. The method according to claim 2, characterized in that, The aforementioned building elements include one or more of the following: exterior walls, interior walls, columns, elevator shafts, and interior door openings; The step of identifying multiple building elements in the building layout map and converting the multiple building elements into polygon representations includes: Identify multiple building elements in the building layout map; Convert the boundary of each of the architectural elements into a continuous edge; Extract the vertex coordinates from the polygonal pattern formed by the connected edges.

4. The method according to claim 3, characterized in that, The process of obtaining the warehouse geometric model by performing union and complement operations on multiple element geometric models using the geometric engine includes: The complete regional geometric model of the warehouse is obtained by performing a union operation on the outer wall geometric model regions in the multiple element geometric models using the geometric engine, wherein the outer wall geometric model regions include the enclosed areas of the outer wall geometric models; The complete region geometric model is taken as the whole set, and the inner wall geometric model of the inner wall, the column geometric model of the column, and the elevator shaft geometric model of the elevator shaft are taken as subsets. The complement of the subsets is calculated. The warehouse geometry model is created by using the complement as the effective layout region, wherein the warehouse geometry model includes multiple element geometry models and the effective layout region.

5. The method according to claim 4, characterized in that, The effective layout area includes the storage area, the workstation area, and the charging pile area; Before filling shelving and aisle layout within the maximum outer boundary of the storage area in the warehouse geometric model, and determining whether the filled shelving is within the storage area using the geometric engine, optimizing shelving not within the storage area, the method further includes: Determine the edges for arranging the workstation and the edges for arranging the charging pile; Based on the edges used for arranging the workstation and the edges used for arranging the charging pile, the workstation area and the charging pile area are determined in the effective layout area; The area outside the workstation area and the charging pile area in the effective layout area shall be designated as the storage area; The maximum outer envelope boundary range is determined based on the storage area.

6. The method according to claim 5, characterized in that, The determination of the edges used for arranging the workstation and the edges used for arranging the charging pile includes: If the user selects an edge for laying out the workstation and an edge for laying out the charging pile, the edge for laying out the workstation and the edge for laying out the charging pile are determined according to the user's selection operation, wherein the user selects from the edge corresponding to the outer wall geometry model and the edge corresponding to the inner wall geometry model; If the user-selected edges for laying out the workstation and the charging pile are not received, select the edges for laying out the workstation and the charging pile from the edges corresponding to the external wall geometry model.

7. The method according to claim 5, characterized in that, Determining the maximum outer envelope boundary range based on the storage area includes: Determine the maximum horizontal and vertical dimensions of the storage area; Using the maximum dimension in the horizontal direction and the maximum dimension in the vertical direction as the two side lengths of a rectangle, a rectangular region covering the entire storage area is established, and the rectangular region is determined as the maximum outer envelope boundary range.

8. The method according to claim 2, characterized in that, The process involves filling shelves and aisles within the maximum outer boundary of the storage area in the warehouse's geometric model, and using the geometry engine to determine whether the filled shelves are within the storage area. Shelves not within the storage area are optimized to obtain the shelf and aisle layout, including: The shelf dimensions of a single shelf are calculated based on the size of the material bin, and the aisle width is calculated based on the size of the robot, wherein the shelf dimensions include the shelf length and the shelf width; Within the maximum outer envelope boundary, the shelving and the aisle are filled according to the shelving size and the aisle width; The geometry engine calculates the intersection of a single shelf located at the edge with the storage area; If the size of the intersection is smaller than the size of the individual shelf located at the edge, the individual shelf located at the edge is optimized; The layout of the shelves and aisles is obtained.

9. The method according to claim 8, characterized in that, The number of rows of the shelf is greater than or equal to 2; If the size of the intersection is smaller than the size of the individual shelf located at the edge, the individual shelf located at the edge is optimized, including: If the size of the intersection is 0, delete the single shelf located at the edge; If the size of the intersection is greater than 0 and less than the size of the single shelf located at the edge, the single shelf located at the edge is split into multiple single-row shelves, the single-row shelves located entirely within the storage area are retained, and the remaining single-row shelves are deleted.

10. The method according to claim 8, characterized in that, The process of filling the shelving and aisles within the maximum outer envelope boundary according to the shelving size and the aisle width includes: Shelf filling step: Along the horizontal direction, fill multiple individual shelves sequentially without gaps according to the shelf dimensions to obtain a row of shelves; Tunnel filling steps: Fill a tunnel along the transverse direction according to the tunnel width; The shelf filling step and the aisle filling step are performed alternately until the maximum outer envelope boundary range is filled.

11. The method according to claim 5 or 6, characterized in that, In the layout of the shelving and aisles, each row of shelving and each aisle is arranged laterally along the length direction, and the shelving and aisles are arranged alternately along the longitudinal direction. Each row of shelving has multiple storage locations arranged along the length direction. Based on the shelving and aisle layout, the workstation area of ​​the warehouse in the warehouse geometric model is filled with workstations, and the charging pile area is filled with charging piles, to obtain the workstation layout and charging pile layout, including: In the horizontal direction, based on the position under each row of shelves where the robot can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, and the horizontal lines with the same vertical coordinate are connected. In the vertical direction, multiple vertical lines are generated based on the horizontal center of each storage location, and the vertical lines with the same horizontal coordinate are connected. Extend the connected horizontal line and the connected vertical line to the workstation area and the charging pile area; Workstations are filled in the workstation area, and charging piles are filled in the charging pile area. If the workstation area includes a first intersection of the extension of the horizontal line and the extension of the vertical line, the robot position in the workstation is aligned with the first intersection. If the charging pile area includes a second intersection of the extension of the horizontal line and the extension of the vertical line, the robot position in the charging pile is aligned with the second intersection.

12. The method according to claim 11, characterized in that, The shelving unit is a double-row shelving unit; In the horizontal direction, based on the positions under each row of shelves where robots can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, including: In the transverse direction, multiple transverse lines are generated based on the longitudinal center of each row of shelves and the longitudinal center of each aisle.

13. The method according to claim 5 or 6, characterized in that, Based on the shelving and aisle layout, the workstation area of ​​the warehouse in the warehouse geometric model is filled with workstations, and the charging pile area is filled with charging piles, to obtain the workstation layout and charging pile layout, including: Obtain the warehouse boundary in the warehouse geometric model and transform the warehouse boundary into a vector; Based on the sign of the cross product of the vectors of adjacent boundaries in the warehouse boundary, the concavity and convexity properties of the interior corners of the warehouse are determined. Identify overlapping areas where the workstation area and the charging pile area intersect each other, wherein the overlapping areas contain the inner corners of the warehouse; Based on the layout of the shelves and aisles, in the warehouse geometric model, the workstation area of ​​the warehouse is filled with workstations, and the charging pile area is filled with charging piles, wherein the overlapping area with convex attributes at the inner corners of the warehouse is not filled with workstations or charging piles.

14. The method according to claim 2, characterized in that, In the layout of the shelving and aisles, each row of shelving and each aisle is arranged laterally along the length direction, and the shelving and aisles are arranged alternately along the longitudinal direction. Each row of shelving has multiple storage locations arranged along the length direction. The step of generating robot paths and robot rotation points located on the robot paths based on the shelf and aisle layout includes: In the horizontal direction, based on the position under each row of shelves where the robot can pass and the longitudinal center of each aisle, multiple horizontal lines are generated, and the horizontal lines with the same vertical coordinate are connected. In the vertical direction, multiple vertical lines are generated based on the horizontal center of each storage location, and the vertical lines with the same horizontal coordinate are connected. The connected horizontal lines and the connected vertical lines are extended to the boundary of the storage area to obtain multiple horizontal extension lines and multiple vertical extension lines; For each of the multiple horizontal extension lines and the multiple vertical extension lines, each extension line is shortened so that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and the second endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, thereby obtaining the robot path; Based on the intersections between all the extension lines, and the first and second endpoints of all the extension lines, the robot rotation points on the robot path are generated.

15. The method according to claim 14, characterized in that, The connected horizontal lines include horizontal lines passing through doorways in the inner wall, but do not include horizontal lines passing through the wall itself. The connected longitudinal lines include longitudinal lines through doorways in the inner walls, but do not include longitudinal lines through the walls themselves.

16. The method according to claim 14, characterized in that, The method of shortening each of the plurality of horizontal and vertical extension lines to move a first endpoint of the extension line to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and moving a second endpoint of the extension line to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, to obtain the robot path, includes: For each of the plurality of horizontal extension lines and the plurality of vertical extension lines, each extension line is shortened such that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint; the extension line is shortened such that the second endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, thereby obtaining the intersection point between the plurality of extension lines and the endpoint of each extension line; For the end intersection point located at the endpoint of the extension line, determine whether the surrounding environment of the end intersection point meets the robot rotation requirements; For a target extension line whose surrounding environment at the end intersection does not meet the robot's rotation requirements, the end of the target extension line where the end intersection is located is shortened to the intersection adjacent to the end intersection to obtain the robot path.

17. The method according to claim 14, characterized in that, The method of shortening each of the plurality of horizontal and vertical extension lines to move a first endpoint of the extension line to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint, and moving a second endpoint of the extension line to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, to obtain the robot path, includes: For each of the plurality of horizontal extension lines and the plurality of vertical extension lines, each extension line is shortened such that the first endpoint of the extension line is moved to the extension line that intersects the extension line perpendicularly and is closest to the first endpoint; the extension line is shortened such that the second endpoint of the extension line is shortened to the extension line that intersects the extension line perpendicularly and is closest to the second endpoint, thereby obtaining the intersection point between the plurality of extension lines and the endpoint of each extension line; For a target extension line filled with charging piles in the extension direction, determine whether the endpoint of the target extension line in the extension direction reaches the robot position of the charging pile; If the endpoint of the target extension line does not reach the robot location of the charging pile, the endpoint of the target extension line in the extension direction is extended to the robot location.

18. The method according to claim 2, characterized in that, After constructing the warehouse layout map based on the shelving and aisle layout, the workstation layout, the charging pile layout, the robot path, and the robot rotation point, the method further includes: In response to the CAD map export command, warehouse layout data is obtained based on the warehouse layout map, wherein the warehouse layout data includes shelf layout data, workstation layout data, charging pile layout data, robot path data, and robot rotation point data; The warehouse layout data is exported so that it can be imported into CAD software, and warehouse elements corresponding to the warehouse layout data are placed in the CAD software based on the warehouse layout data. The warehouse elements include shelves, workstations, charging piles, robot paths, and robot rotation points.

19. The method according to claim 18, characterized in that, The warehouse layout data refers to the coordinate data of the warehouse elements.

20. A warehouse, characterized in that, The warehouse layout map is constructed using the warehouse layout map construction method according to any one of claims 1-19.

21. An electronic device, characterized in that, include: A processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the warehouse layout map construction method as described in any one of claims 1-19.

22. A computer-readable storage medium, characterized in that, The storage medium stores executable instructions, which, when executed on an electronic device, cause the electronic device to perform the warehouse layout map construction method as described in any one of claims 1-19.

Images