Robot stacking and AGV warehouse management cooperative scheduling system fusing code scanning positioning

Abstract

The invention relates to the technical field of warehouse scheduling management, and discloses a robot stacking and AGV warehouse management collaborative scheduling system fusing code scanning positioning. Goods feature information and goods position information are dynamically collected through a code scanning device and a position sensor; according to the use state information of the storage stations of the target cargo storage warehouse and in combination with an artificial intelligence algorithm, identifying the storage station which is not fully loaded in the cargo storage area and has the minimum station number; according to storage area analysis information of a target goods storage warehouse, in combination with numerical analysis and standard goods transportation AGV characteristic information of the warehouse storage area based on big data storage, goods transportation AGVs required by the selected warehouse storage area in the goods storage process are accurately identified; and according to the storage area analysis information of the target goods storage warehouse and the standard goods stacking robot feature information of the storage area of the standard storage warehouse, goods stacking robot dynamic identification needed by the selected warehouse storage area in the goods storage process is carried out, and the efficiency of goods warehouse management scheduling is improved.

Description

Technical Field

[0001] This invention relates to the technical field of warehouse scheduling and management, specifically to a collaborative scheduling system for robot palletizing and AGV warehouse management that integrates barcode scanning and positioning. Background Technology

[0002] Warehouse collaborative scheduling systems include palletizing robots, responsible for picking up, placing, and stacking materials, typically equipped with adaptive grippers (such as suction cups and claws) and vision systems to adapt to goods of different sizes; Automated Guided Vehicles (AGVs / AMRs), responsible for autonomously moving and transporting goods within the warehouse; navigation and positioning using technologies such as LiDAR, visual recognition, or QR codes; and barcode scanning and positioning systems, integrating RFID, barcode scanners, or vision cameras to automatically identify goods information and provide precise positioning feedback for AGVs, enabling accurate docking with other equipment. Existing warehouse collaborative scheduling systems cannot achieve dynamic intelligent positioning of goods in the warehouse to optimize storage location, nor can they intelligently schedule goods transport AGVs and goods palletizing robots, thus reducing the intelligence and efficiency of warehouse scheduling.

[0003] Chinese invention patent application CN118886673A, published on November 1, 2024, discloses a method for scheduling stacker cranes and AGV clusters in an automated warehouse for aviation materials based on an improved RRT algorithm. The method involves obtaining current orders and inventory information; constructing a stacker crane and AGV cluster scheduling model and a buffer area scheduling model with minimum time cost and optimal path planning as objective functions; solving the stacker crane and AGV cluster scheduling model and the buffer area scheduling model using an improved Firehawk optimization algorithm and objective encoding / decoding method to obtain the optimal allocation scheme and visualized scheduling path; and optimizing the visualized scheduling path based on an improved fast random tree algorithm to obtain the optimal transportation path for the AGVs. However, this technical solution cannot achieve dynamic intelligent positioning of goods in the warehouse, reducing the intelligence of warehouse collaborative scheduling. Summary of the Invention

[0004] (a) Technical problems to be solved To address the shortcomings of existing warehouse management collaborative scheduling systems, which cannot achieve dynamic and intelligent positioning of the optimal storage location in the warehouse, nor can they intelligently schedule AGVs for cargo transportation and palletizing robots for cargo storage, thus reducing the intelligence and efficiency of warehouse management scheduling, this new system aims to achieve the following: intelligent positioning of the optimal storage location in the warehouse, accurate selection of AGVs for cargo transportation, precise matching of AGVs for cargo storage and palletizing, flexible and autonomous execution of cargo transportation, efficient scheduling of cargo storage, and improved intelligence and scientific nature of warehouse management scheduling.

[0005] (II) Technical Solution This invention is achieved through the following technical solution: a robot palletizing and AGV warehouse management collaborative scheduling system that integrates barcode scanning and positioning, the system including a warehouse goods storage positioning module, a warehouse transportation AGV and palletizing robot management module, and a warehouse goods transportation and storage management module; The warehouse cargo positioning module is used to collect cargo characteristic information and cargo location information, analyze and process the warehouse storage area required for cargo storage based on the cargo information, and obtain the target cargo storage warehouse storage area analysis information; search and process the usage status of the storage workstations in the warehouse storage area required for cargo storage, and obtain the target cargo storage warehouse workstation usage status information; and perform positioning processing on the storage workstations in the warehouse storage area required for cargo storage, and obtain the target cargo storage warehouse workstation information. The warehouse transportation AGV and palletizing robot management module identifies the AGVs required for the selected warehouse area during the warehousing process based on the warehouse area information, thus obtaining the AGV identification information for the target warehouse area; and identifies the palletizing robots required for the selected warehouse area during the warehousing process based on the warehouse area information, thus obtaining the palletizing robot identification information for the target warehouse area. The warehouse cargo transportation and storage management module is used to collect the location information of the cargo warehouse storage area and to execute cargo warehouse transportation control operations and cargo warehouse storage control operations respectively. The warehouse cargo positioning module includes a cargo information collection unit, a cargo location information collection unit, a standard warehouse cargo information storage unit, a cargo warehouse area analysis unit, a cargo warehouse area storage station usage status search unit, and a cargo warehouse station selection unit. The cargo information collection unit collects cargo feature information through a barcode scanning device; the cargo location information collection unit collects cargo location information through a location sensor; the warehouse storage area standard storage cargo information storage unit stores standard storage cargo information for the warehouse storage area; the cargo warehouse storage area analysis unit performs warehouse storage area analysis processing based on the cargo feature information and the standard storage cargo information to obtain target cargo storage area analysis information; the cargo warehouse storage area workstation usage status search unit searches for the usage status of the warehouse storage areas required for cargo storage based on the target cargo storage area analysis information and in conjunction with the warehouse collaborative scheduling platform to obtain target cargo storage area workstation usage status information; and the cargo storage area workstation selection unit locates the warehouse storage areas required for cargo storage based on the target cargo storage area workstation usage status information to obtain target cargo storage area workstation information. The warehouse transportation AGV and palletizing robot management module includes a standard cargo transportation AGV information storage unit, a cargo transportation AGV identification unit, a standard cargo palletizing robot information storage unit, and a cargo palletizing robot identification unit. The warehouse storage area standard cargo transportation AGV information storage unit is used to store the characteristic information of the warehouse storage area standard cargo transportation AGV; the cargo transportation AGV identification unit performs cargo transportation AGV identification processing required for selecting the warehouse storage area during the cargo storage process based on the target cargo storage warehouse storage area analysis information and the warehouse storage area standard cargo transportation AGV characteristic information, to obtain the target cargo storage warehouse storage area transportation AGV identification information; the warehouse storage area standard cargo palletizing robot information storage unit is used to store the warehouse storage area standard cargo palletizing robot characteristic information; the cargo palletizing robot identification unit performs cargo palletizing robot identification processing required for selecting the warehouse storage area during the cargo storage process based on the target cargo storage warehouse storage area analysis information and the warehouse storage area standard cargo palletizing robot characteristic information, to obtain the target cargo storage warehouse storage area palletizing robot identification information; The warehouse cargo transportation and storage management module includes a cargo warehouse storage area location acquisition unit, a cargo storage and transportation control unit, and a cargo storage control unit; The cargo warehouse storage area location acquisition unit collects cargo warehouse storage area location information based on the analysis information of the target cargo warehouse storage area and in conjunction with the warehouse collaborative scheduling platform; the cargo storage and transportation control unit performs cargo storage and transportation control operations based on the cargo feature information, the cargo location information, the target cargo warehouse storage area transportation AGV identification information, and the cargo warehouse storage area location information, in conjunction with the warehouse collaborative scheduling platform and cargo transportation AGV; the cargo storage control unit performs cargo storage control operations based on the cargo feature information, the target cargo warehouse storage workstation information, and the target cargo warehouse storage area palletizing robot identification information, in conjunction with the warehouse collaborative scheduling platform and palletizing robot.

[0006] Preferably, the following steps are taken: First, collect cargo characteristic information and cargo location information. Then, based on the cargo information, analyze and process the warehouse storage area required for cargo warehousing to obtain the target cargo storage area analysis information. Next, search and process the usage status of the storage workstations in the required warehouse storage area to obtain the target cargo storage workstation usage status information. Finally, locate the storage workstations in the required warehouse storage area to obtain the target cargo storage workstation information. The system uses scanning devices installed at warehouse access control points to collect barcodes or QR codes of goods to be stored from handheld mobile devices provided by staff. Based on these barcodes or QR codes, it identifies characteristic text information about the goods and generates goods feature information. The scanning devices include either fixed scanners or handheld barcode scanners, and the mobile devices include either smartphones or tablets. The goods feature information includes the goods' dimensions, volume, weight, storage requirements, and type. A location sensor is also used to collect the location information of the warehouse access control point where the goods are scanned, generating goods location information, which includes the horizontal, vertical, and abscissa of the warehouse access control point's location. Based on the cargo characteristic information and the standard warehouse cargo information matrix of the warehouse storage area, the warehouse storage area analysis and processing required for cargo storage are performed to obtain the target cargo storage warehouse storage area analysis information; Based on the analysis information of the target goods warehouse storage area, the usage status of the storage workstations in the warehouse storage area required for goods storage is searched and processed to obtain the target goods warehouse storage workstation usage status information matrix. Based on the target goods storage warehouse storage station usage status information matrix, the storage station location processing of the required warehouse storage area is performed to obtain the target goods storage warehouse storage station information.

[0007] Preferably, the steps for performing warehouse area analysis processing required for cargo storage based on the cargo characteristic information and the standard warehouse cargo information matrix to obtain the target cargo storage warehouse area analysis information are as follows: Establish a standard warehouse cargo information matrix for warehouse storage areas ,in Indicates the first The warehouse storage area type corresponds to the standard stored goods information of the warehouse storage area. The warehouse storage area type indicates different types of storage areas set up by the warehouse for different goods storage needs. The standard stored goods information indicates the standard stored goods feature information set up for different types of warehouse storage areas. The standard stored goods feature information includes the size, volume, weight, storage environment requirements and types of stored goods. The unified cost search algorithm is used to combine the cargo feature information with the standard warehouse cargo information matrix of the warehouse storage area. Information on standard stored goods in the warehouse storage area described in the text Perform cargo information matching to search for standard warehouse cargo information in the warehouse storage area that matches the cargo feature information. The corresponding warehouse storage area type text information is used to generate target goods storage warehouse storage area analysis information after data identification. The target goods storage warehouse storage area analysis information represents the warehouse storage area information matched for the goods to be stored.

[0008] Preferably, the steps for performing a search and processing of the storage station usage status of the warehouse area required for goods storage based on the analysis information of the target goods storage warehouse storage area to obtain the target goods storage warehouse storage station usage status information matrix are as follows: Obtain the analysis information of the target goods storage warehouse area; Based on the warehouse storage area type text information corresponding to the target goods storage warehouse storage area analysis information, the warehouse collaborative scheduling platform searches for the usage status information of all storage workstations within the target warehouse storage area required for the goods to be stored, and generates a target goods storage warehouse storage workstation usage status information matrix. ,in Indicates the first The usage status information of the target goods storage workstations corresponding to the storage workstations in each warehouse storage area includes full load and not full load. Full load means that the storage space of the specific storage workstation in the warehouse storage area has been completely occupied by goods and can continue to store goods. Not full load means that the storage space of the specific storage workstation in the warehouse storage area has not been completely occupied by goods and cannot continue to store goods.

[0009] Preferably, the steps for locating storage workstations in the required warehouse storage area based on the target goods storage warehouse workstation usage status information matrix to obtain the target goods storage warehouse workstation information are as follows: A matrix of warehouse workstation usage status information based on warehouse workstation usage status keywords and warehouse workstation numbers for the target goods storage warehouse. The target goods storage warehouse storage station usage status information described in the text Perform a text information search to find the storage workstations in the target goods storage warehouse whose usage status is "not full" and whose storage workstation number has the smallest value. The corresponding warehouse storage area storage station number information is used, and the target goods storage warehouse storage station information is generated through data identification. The specific operation steps for generating the target goods storage warehouse storage station information are as follows: Step 1411: Initialize and update the maximum number of iterations T and the usage status information matrix of the storage station in the target goods storage warehouse. The location of the raccoon population in the warehouse workstation search is randomly initialized and updated within the optimization space; the formula for updating the location of the raccoon population in the warehouse workstation search is as follows: ,in This indicates a search for individual raccoons at warehouse workstations. In spatial dimension The target goods storage warehouse storage station usage status information matrix The location of the search space; The target goods storage warehouse storage station usage status information matrix The upper boundary of the optimization space. The target goods storage warehouse storage station usage status information matrix The lower boundary of the optimization space, where r represents a random number taking values ​​in the interval [0,1]. Step 1412, Hunting and Attacking, using the status information matrix at the storage workstation of the target goods warehouse. In the optimization space, the raccoon population is searched for in the warehouse workstations. A simulated attack strategy against iguanas is used to hunt and kill the iguanas. Individual raccoons climb trees to search for the target goods warehouse workstations whose usage status is "not fully loaded" and whose workstation number is the smallest. Iguana; other storage workstations search raccoons waiting on the ground until the target goods storage warehouse storage workstation usage status information. The iguana fell to the ground; the target cargo storage warehouse storage station usage status information. After the iguana lands, the warehouse workstation searches for and attacks the raccoon, which then hunts and kills the target goods. (Warehouse workstation usage status information.) Iguana; The algorithm design assumes that the optimal location of the raccoon member in the warehouse workstation search raccoon population is the warehouse workstation usage status information of the target goods storage warehouse. The location of the iguana, assuming half of the target goods storage warehouse's storage station usage status information. The iguana climbs the tree, and the other half of the target goods storage warehouse storage station usage status information. The iguana fell to the ground; information on the usage status of the storage workstations in the target cargo warehouse that had been climbing up the tree. iguana usage status information matrix at the storage station in the target goods warehouse The mathematical simulation formula for the position in the optimization space is as follows: ,in This indicates the usage status information of the storage workstations in the target goods storage warehouse mentioned on the tree. iguanas have a spatial dimension of The target goods storage warehouse storage station usage status information matrix The updated position in the optimization space This indicates a search for individual raccoons at tree-mounted storage workstations. In spatial dimension The target goods storage warehouse storage station usage status information matrix The updated position in the optimization space. This indicates the usage status information of the storage workstations in the target goods storage warehouse mentioned on the tree. iguanas have a spatial dimension of The target goods storage warehouse storage station usage status information matrix The original position in the search space. Represents a random integer taking values ​​in the range [0,1]. Information on the usage status of storage workstations in the target goods storage warehouse After the iguana fell to the ground, the usage status information of the storage workstations in the target goods warehouse was obtained. The iguana was placed in the storage station of the target goods warehouse, and the usage status information matrix was used. A random location within the optimization space; based on this random location, simulate the usage status information of the storage workstations in the target goods warehouse on the ground. iguana usage status information matrix at the storage station in the target goods warehouse The target goods warehouse storage station usage status information; (The text also mentions movement position within the optimization space.) The formula for simulating the position movement is: ,in This indicates the usage status information of the storage workstations in the target cargo storage warehouse on the ground. iguanas have a spatial dimension of The target goods storage warehouse storage station usage status information matrix The updated position in the optimization space This indicates a search for individual raccoons at ground storage workstations. In spatial dimension The target goods storage warehouse storage station usage status information matrix The updated position in the optimization space. This indicates the usage status information of the storage workstations in the target cargo storage warehouse on the ground. iguanas have a spatial dimension of The target goods storage warehouse storage station usage status information matrix The original position in the search space; This indicates the usage status information of the storage workstations in the target cargo storage warehouse on the ground. iguanas have a spatial dimension of The target goods storage warehouse storage station usage status information matrix The range of update positions in the optimization space; This indicates that the search for individual raccoons at ground-level warehouse workstations has a spatial dimension of [missing information]. The target goods storage warehouse storage station usage status information matrix The range of update positions in the optimization space; Step 1413: Escape from predators by using the status information matrix at the storage workstation in the target cargo warehouse. The search for storage workstations in the optimization space of the raccoon population is conducted by simulating encounters with predators and strategies for escaping predators. The search aims to identify the target goods storage warehouse with the smallest storage workstation usage status that is not fully loaded and has the lowest storage workstation number. When a predator uses the status information matrix of the storage station in the target cargo warehouse. When searching for raccoon individuals at warehouse workstations in the optimization space, the warehouse workstation usage status information matrix of the raccoon individuals at the target goods warehouse is used. The simulation formula for raccoon individuals escaping from their current dangerous position to reach a new safe position within the optimization space; the position update process of raccoon individuals escaping predators in warehouse workstations is as follows: ,in This indicates that the predator is in a spatial dimension of The target goods storage warehouse storage station usage status information matrix The updated position during the search for individual raccoons at the ground storage workstations in the optimization space. This indicates a search for individual raccoons at warehouse workstations. In spatial dimension The target goods storage warehouse storage station usage status information matrix The updated position during the process of escaping the predator in the optimization space; and They represent the first The target cargo storage warehouse storage station usage status information matrix after the number of iterations The upper and lower boundaries of the optimization space; Step 1414: When the algorithm reaches the maximum number of iterations, output the storage status information of the target goods storage warehouse that satisfies the condition that the storage workstation is not fully loaded and has the smallest storage workstation number. Otherwise, repeat steps 1412 to 1414 until the maximum number of iterations is reached; Step 1415: Obtain the target goods storage warehouse storage station usage status information output in step 1414. The corresponding warehouse storage area storage station number information is generated, and the target goods storage warehouse storage station information is generated through data identification.

[0010] Preferably, the steps for identifying the AGVs required for transporting goods in the selected warehouse area during the goods warehousing process based on the warehouse area information are as follows: Based on the analysis information of the target cargo storage warehouse area and the feature information matrix of standard cargo transportation AGVs in the warehouse area, the cargo transportation AGV identification process required for the selected warehouse area in the cargo storage process is performed to obtain the target cargo storage warehouse area transportation AGV identification information. Based on the analysis information of the target goods storage warehouse area and the feature information matrix of standard goods palletizing robots in the storage area, the palletizing robot identification process required for the selected warehouse storage area in the goods storage process is performed to obtain the palletizing robot identification information of the target goods storage warehouse area.

[0011] Preferably, the steps for identifying the AGVs required for selecting the warehouse storage area during the cargo warehousing process, based on the analysis information of the target cargo storage warehouse area and the feature information matrix of standard cargo transportation AGVs in the warehouse storage area, are as follows: Establish a feature information matrix for standard cargo transportation AGVs in warehouse storage areas. ,in Indicates the first The standard cargo transport AGV feature information for warehouse storage area corresponding to different warehouse storage area types; the standard cargo transport AGV feature information represents the standard cargo transport AGV feature information set for different types of warehouse storage areas, wherein the standard cargo transport AGV feature information includes the name, number, specifications, and brand information of the cargo transport AGV; the cargo transport AGV is mainly responsible for transporting goods to be stored from the warehouse access control terminal to the selected warehouse storage area; The analysis information of the target cargo storage warehouse area is compared with the feature information matrix of the standard cargo transportation AGV in the warehouse area. The warehouse storage area standard cargo transportation AGV characteristic information described in the article By performing text information matching of warehouse storage area types, the standard cargo transportation AGV feature information of the warehouse storage area corresponding to the analysis information of the target cargo storage warehouse storage area is retrieved. The system generates AGV identification information for the target goods storage warehouse area through data identification.

[0012] Preferably, the steps for performing palletizing robot identification processing for the selected warehouse storage area during the goods storage process, based on the target goods storage warehouse storage area analysis information and the standard goods palletizing robot feature information matrix of the warehouse storage area, to obtain the palletizing robot identification information of the target goods storage warehouse storage area are as follows: Establish a feature information matrix for standard cargo palletizing robots in warehouse storage areas. ,in Indicates the first The standard cargo palletizing robot feature information for warehouse storage areas corresponding to different warehouse storage area types; the standard cargo palletizing robot feature information represents the feature information of standard cargo palletizing robots set for different types of warehouse storage areas, wherein the standard cargo palletizing robot feature information includes the name, number, specifications, and brand information of the cargo palletizing robot; the cargo palletizing robot is mainly responsible for storing the goods to be stored in the selected warehouse storage area transported by cargo transport AGV to the selected storage workstation; The analysis information of the target cargo warehouse storage area is compared with the feature information matrix of the standard cargo palletizing robot in the warehouse storage area. The warehouse storage area standard goods palletizing robot feature information described in the text By performing text information matching of warehouse storage area types, the standard goods palletizing robot feature information of the warehouse storage area corresponding to the analysis information of the target goods storage warehouse storage area is retrieved. The data is then used to generate identification information for the palletizing robot in the target goods storage area of ​​the warehouse.

[0013] Preferably, the steps for collecting the location information of the warehouse storage area and executing the warehouse storage and transportation control operations and the warehouse storage control operations are as follows: Based on the warehouse storage area analysis information corresponding to the warehouse storage area type text information of the target goods storage warehouse, the warehouse collaborative scheduling platform searches for the goods palletizing location information of the selected warehouse storage area and generates goods warehouse storage area location information, which includes the horizontal, vertical and vertical coordinates of the goods palletizing location in the warehouse storage area. The warehouse collaborative scheduling platform controls the target cargo transportation AGV to transport the goods to be stored from the warehouse access control position to the cargo stacking position in the selected warehouse area based on the cargo characteristic information, cargo location information, target cargo storage warehouse storage area transportation AGV identification information, and cargo warehouse storage area location information. The platform executes cargo warehouse storage and transportation control operations. If the cargo warehouse storage and transportation control operations are not completed, the cargo warehouse storage and transportation control operation instructions continue to be executed. When the cargo warehouse storage and transportation control operation is completed, the warehouse collaborative scheduling platform controls the target palletizing robot to store the goods to be stored at the selected warehouse storage area palletizing position, which are transported by the cargo transport AGV, to the target storage position through the cargo transport AGV, based on the cargo characteristic information, the storage workstation information of the target cargo storage warehouse, and the palletizing robot identification information of the storage area of ​​the target cargo storage warehouse, thereby executing the cargo warehouse storage control operation.

[0014] (III) Beneficial Effects This invention provides a collaborative scheduling system for robot palletizing and AGV warehouse management that integrates barcode scanning and positioning. It offers the following advantages: 1. By dynamically collecting cargo feature information and cargo location information through barcode scanning devices and position sensors, the system achieves precise location of product information and location information of goods to be stored using integrated barcode scanning technology. Based on cargo feature information and combined with intelligent search algorithms and scientifically stored standard cargo information of warehouse storage areas, the system performs precise analysis of the warehouse storage areas required for cargo storage, enabling scientific selection of warehouse storage areas based on cargo features. Based on the analysis information of the target cargo storage areas and combined with the warehouse collaborative scheduling platform, the system dynamically searches for the usage status of storage workstations in the warehouse storage areas required for cargo storage, enabling real-time acquisition of the usage status of storage workstations in the target warehouse storage areas based on the warehouse management platform, thereby improving the reliability of cargo storage management. Based on the usage status information of the target cargo storage areas and combined with artificial intelligence algorithms, the system identifies the storage workstations in the cargo storage areas that are not fully loaded and have the smallest workstation number, enabling intelligent optimization of cargo storage workstations based on storage status and workstation order, thereby improving the scientific and intelligent nature of cargo warehouse management scheduling.

[0015] Second, by analyzing the target goods storage area and combining numerical analysis with the characteristic information of standard goods transport AGVs in the storage area based on big data storage, the required goods transport AGVs for the selected storage area are accurately identified during the goods storage process. This enables autonomous selection of target goods storage and transport AGVs based on the goods storage area. Furthermore, based on the analysis of the target goods storage area and combining data analysis with the characteristic information of standard goods palletizing robots in the storage area, the required goods palletizing robots for the selected storage area are dynamically identified during the goods storage process. This enables precise matching of goods storage and palletizing robots based on the goods storage area, achieving dynamic and scientific scheduling of goods storage and transport AGVs and storage and palletizing robots, thereby improving the efficiency of goods storage management scheduling.

[0016] Third, by analyzing the target goods storage area information and combining it with the warehouse collaborative scheduling platform to accurately collect the location information of the storage area, positioning information is provided for the subsequent accurate execution of goods storage and transportation. Based on the goods characteristic information, goods location information, target goods storage area transportation AGV identification information, and goods storage area location information, combined with the warehouse collaborative scheduling platform, the goods transportation AGV efficiently and reliably executes the storage and transportation control operation from the warehouse access control terminal to the goods palletizing position in the storage area, realizing adaptive storage and transportation. Based on the goods characteristic information, target goods storage area storage station information, target goods storage area palletizing robot identification information, combined with the warehouse collaborative scheduling platform, the palletizing robot scientifically controls the storage and transportation operation from the goods palletizing position in the storage area to the storage station, realizing intelligent storage and transportation, achieving full-process management of goods storage and scheduling, and improving the quality of goods storage and scheduling. Attached Figure Description

[0017] Figure 1 A schematic diagram of the module of the robot palletizing and AGV warehouse management collaborative scheduling system that integrates barcode scanning and positioning provided by the present invention; Figure 2 The flowchart illustrates the operation of the robot palletizing and AGV warehouse management collaborative scheduling system that integrates barcode scanning and positioning provided by this invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0019] An example of this integrated barcode scanning and positioning robot palletizing and AGV warehouse management collaborative scheduling system is as follows: Example: Please see Figures 1-2 The system integrates barcode scanning and positioning with a robot palletizing and AGV warehouse management collaborative scheduling system. The system includes a warehouse goods storage positioning module, a warehouse transportation AGV and palletizing robot management module, and a warehouse goods transportation and storage management module. The warehouse cargo positioning module is used to collect cargo characteristic information and cargo location information, analyze and process the warehouse storage area required for cargo storage based on cargo information, and obtain the target cargo storage warehouse storage area analysis information; it searches and processes the usage status of the storage workstations in the warehouse storage area required for cargo storage, and obtains the target cargo storage warehouse storage workstation usage status information; it locates the storage workstations in the warehouse storage area required for cargo storage, and obtains the target cargo storage warehouse storage workstation information. The warehouse transportation AGV and palletizing robot management module identifies the AGVs required for transporting goods in the selected warehouse area during the goods storage process based on the warehouse area information, and obtains the identification information of the AGVs transporting goods in the target warehouse area; it also identifies the palletizing robots required for the selected warehouse area during the goods storage process based on the warehouse area information, and obtains the identification information of the palletizing robots in the target warehouse area. The warehouse cargo transportation and storage management module is used to collect the location information of the cargo warehouse storage area and to execute cargo warehouse transportation control operations and cargo warehouse storage control operations respectively. The warehouse cargo positioning module includes a cargo information collection unit, a cargo location information collection unit, a standard warehouse cargo information storage unit, a cargo warehouse area analysis unit, a cargo warehouse area storage station usage status search unit, and a cargo storage station selection unit. The system comprises the following components: a cargo information collection unit, which collects cargo feature information via barcode scanning; a cargo location information collection unit, which collects cargo location information via location sensors; a warehouse storage area standard cargo information storage unit, which stores standard cargo information for the warehouse storage area; a cargo warehouse storage area analysis unit, which performs analysis and processing of the warehouse storage area required for cargo storage based on cargo feature information and standard cargo information, to obtain target cargo storage area analysis information; a cargo warehouse storage area workstation usage status search unit, which searches and processes the usage status of storage workstations in the warehouse storage area required for cargo storage based on the target cargo storage area analysis information and in conjunction with the warehouse collaborative scheduling platform, to obtain target cargo storage area workstation usage status information; and a cargo storage workstation selection unit, which locates storage workstations in the warehouse storage area required for cargo storage based on the target cargo storage area workstation usage status information, to obtain target cargo storage area workstation information. The warehouse transportation AGV and palletizing robot management module includes a standard goods transportation AGV information storage unit, a goods transportation AGV identification unit, a standard goods palletizing robot information storage unit, and a goods palletizing robot identification unit in the warehouse storage area. The warehouse storage area includes a standard cargo transport AGV information storage unit for storing the characteristic information of standard cargo transport AGVs in the warehouse storage area; a cargo transport AGV identification unit for performing cargo transport AGV identification processing based on the target cargo storage area analysis information and the standard cargo transport AGV characteristic information, to obtain the target cargo storage area transport AGV identification information; a warehouse storage area standard cargo palletizing robot information storage unit for storing the characteristic information of standard cargo palletizing robots in the warehouse storage area; and a cargo palletizing robot identification unit for performing cargo palletizing robot identification processing based on the target cargo storage area analysis information and the standard cargo palletizing robot characteristic information, to obtain the target cargo storage area palletizing robot identification information. The warehouse cargo transportation and storage management module includes a cargo warehouse storage area location acquisition unit, a cargo storage and transportation control unit, and a cargo storage control unit; The cargo warehouse storage area location acquisition unit collects cargo warehouse storage area location information based on the analysis information of the target cargo warehouse storage area and in conjunction with the warehouse collaborative scheduling platform; the cargo storage and transportation control unit executes cargo storage and transportation control operations based on cargo characteristic information, cargo location information, target cargo warehouse storage area transportation AGV identification information, and cargo warehouse storage area location information, in conjunction with the warehouse collaborative scheduling platform and cargo transportation AGV; the cargo storage control unit executes cargo storage control operations based on cargo characteristic information, target cargo warehouse storage workstation information, and target cargo warehouse storage area palletizing robot identification information, in conjunction with the warehouse collaborative scheduling platform and palletizing robot.

[0020] For further details, please refer to Figures 1-2 The process involves collecting cargo characteristic and location information, analyzing the warehouse storage areas required for cargo warehousing based on the cargo information, obtaining analysis information for the target cargo warehouse storage areas, searching for the usage status of storage workstations in the required warehouse storage areas, obtaining usage status information for the target cargo warehouse workstations, and locating the storage workstations in the required warehouse storage areas to obtain storage workstation information for the target cargo warehouse. The steps are as follows: Step 11: Collect the barcode or QR code of the goods to be stored provided by the staff's handheld mobile device online through the barcode scanning device installed at the warehouse access control terminal. Based on the barcode or QR code, identify the characteristic text information of the goods to be stored and generate the goods characteristic information. The barcode scanning device includes any one of a fixed barcode scanner or a handheld barcode scanner, and the mobile device includes any one of a smartphone or a tablet. The goods characteristic information includes the size, volume, weight, storage environment requirements, and type of the goods. Collect the location information of the warehouse access control terminal where the goods to be stored are scanned online through the position sensor and generate the goods location information. The goods location information includes the horizontal, vertical, and vertical coordinates of the warehouse access control terminal position. Step 12: Based on the cargo feature information and the standard warehouse cargo information matrix, perform warehouse storage area analysis and processing required for cargo storage to obtain the target cargo storage warehouse storage area analysis information; Step 13: Based on the analysis information of the target goods warehouse storage area, perform a search and processing of the usage status of the storage workstations in the warehouse storage area required for goods storage, and obtain the target goods warehouse storage workstation usage status information matrix. Step 14: Based on the target goods warehouse storage station usage status information matrix, perform storage station location processing for the warehouse storage area required for goods storage to obtain the target goods warehouse storage station information.

[0021] The steps for performing warehouse area analysis based on cargo characteristic information and a standard warehouse cargo information matrix to obtain target cargo warehouse area analysis information are as follows: Step 121: Establish a standard warehouse cargo information matrix for the warehouse storage area. ,in Indicates the first The standard warehouse storage information corresponds to the warehouse storage area type. The warehouse storage area type indicates the different types of storage areas set up by the warehouse for different goods storage needs. The standard warehouse storage information indicates the standard storage characteristics of the goods set up for different types of warehouse storage areas. The standard storage characteristics include the size, volume, weight, storage environment requirements and types of the stored goods. Step 122: Use the unified cost search algorithm to combine the cargo feature information with the standard warehouse cargo information matrix of the warehouse storage area. Information on standard stored goods in the central warehouse storage area Perform cargo information matching to search for standard warehouse cargo information in warehouse storage areas that match the cargo characteristics. The corresponding warehouse storage area type text information is used to generate target goods storage warehouse storage area analysis information after data identification. The target goods storage warehouse storage area analysis information represents the warehouse storage area information matched for the goods to be stored.

[0022] The steps for performing a search and processing of the storage station usage status of the required storage area in the target goods warehouse based on the analysis information of the storage area are as follows: Step 131: Obtain analysis information on the storage area of ​​the target goods warehouse; Step 132: Based on the warehouse storage area type text information corresponding to the target goods storage area analysis information, the warehouse collaborative scheduling platform searches for the usage status information of all storage stations within the target warehouse storage area required for the goods to be stored, and generates a target goods storage area storage station usage status information matrix. ,in Indicates the first The usage status information of the storage workstations corresponding to the storage areas of each warehouse includes whether the storage workstations are fully loaded or not. Fully loaded means that the storage space of the specific storage workstation in the warehouse area has been completely occupied by goods and can continue to store goods. Not fully loaded means that the storage space of the specific storage workstation in the warehouse area has not been completely occupied by goods and cannot continue to store goods.

[0023] The steps for locating storage workstations in the required warehouse area based on the target goods storage workstation usage status information matrix are as follows: Step 141: Based on the keywords and numbers of the storage workstations, create a matrix of storage workstation usage status information for the target goods storage warehouse. Target Goods Storage Warehouse Storage Station Usage Status Information Perform a text search to find the warehouse storage space usage status information for the target goods warehouse with the smallest storage space number that is not fully occupied. The corresponding warehouse storage area storage station number information is used to generate the target goods storage warehouse storage station information through data identification. The specific operation steps for generating the target goods storage warehouse storage station information are as follows: Step 1411: Initialize and update the maximum number of iterations T and the state information matrix of the storage workstations in the target goods storage warehouse. The location of the raccoon population in the warehouse workstation search is randomly initialized and updated within the optimization space; the formula for updating the location of the raccoon population in the warehouse workstation search is as follows: ,in This indicates a search for individual raccoons at warehouse workstations. In spatial dimension Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The location of the search space; Matrix of storage status information for target goods warehouse storage stations The upper boundary of the optimization space. Matrix of storage status information for target goods warehouse storage stations The lower boundary of the optimization space, where r represents a random number taking values ​​in the interval [0,1]. Step 1412, Hunting and Attacking: Use the status information matrix at the target cargo storage warehouse workstation. In the optimization space, the raccoon population is searched for in the warehouse workstations. A simulated attack strategy against iguanas is used to hunt and kill the iguanas. Individual raccoons climb trees to search for target goods in warehouses that meet the criteria of being in a partially occupied warehouse and having the smallest warehouse workstation number. The warehouse workstation usage status information is also analyzed. Iguana; Other storage workstations search raccoons waiting on the ground until the target goods are found. Storage workstation usage status information. The iguana fell to the ground; the target cargo warehouse storage station usage status information. After the iguana lands, the warehouse workstation searches for and attacks the raccoon, which then hunts and kills the target goods. (Warehouse workstation usage status information.) Iguana; The algorithm design assumes that the optimal storage location search raccoon member in the storage location search raccoon population is the target goods storage location. (Storage location usage status information is also mentioned.) The location of the iguanas, assuming half of the target goods are stored in the warehouse, includes information on the usage status of storage workstations. The iguana climbs the tree, while the other half of the target cargo warehouse storage station usage status information... The iguana fell to the ground; information on the usage status of storage workstations in the target cargo warehouse that had climbed up the tree. iguana usage status matrix in target cargo warehouse storage workstations The mathematical simulation formula for the position in the optimization space is as follows: ,in This indicates the usage status information of the target goods storage warehouse and storage workstations on the tree. iguanas have a spatial dimension of Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The updated position in the optimization space This indicates a search for individual raccoons at tree-mounted storage workstations. In spatial dimension Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The updated position in the optimization space. This indicates the usage status information of the target goods storage warehouse and storage workstations on the tree. iguanas have a spatial dimension of Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The original position in the search space. Represents a random integer taking values ​​in the range [0,1]. Information on the usage status of storage workstations in the target goods warehouse After the iguana fell to the ground, the usage status information of the target cargo storage warehouse workstations was obtained. The iguana was placed in the target cargo warehouse storage station's usage status information matrix. A random location within the optimization space; based on this random location, simulate the usage status information of the target goods storage warehouse workstations on the ground. iguana usage status matrix in target cargo warehouse storage workstations Movement position within the optimization space; target goods storage warehouse storage station usage status information. The formula for simulating the position movement is: ,in Information indicating the usage status of storage stations in ground-based target cargo warehouses. iguanas have a spatial dimension of Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The updated position in the optimization space This indicates a search for individual raccoons at ground storage workstations. In spatial dimension Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The updated position in the optimization space. Information indicating the usage status of storage stations in ground-based target cargo warehouses. iguanas have a spatial dimension of Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The original position in the search space; Information indicating the usage status of storage stations in ground-based target cargo warehouses. iguanas have a spatial dimension of Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The range of update positions in the optimization space; This indicates that the search for individual raccoons at ground-level warehouse workstations has a spatial dimension of [missing information]. Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The range of update positions in the optimization space; Step 1413: Escape the predator and use the status information matrix at the storage workstation in the target cargo warehouse. The search for storage workstations within the optimization space of a raccoon population involves simulating predator encounters and escape strategies to find target goods warehouses with the smallest workstation numbers that meet the criteria of being underutilized. When a predator uses the status information matrix at a storage workstation in a target cargo warehouse. When searching for raccoon individuals at warehouse workstations within the optimization space, the search for raccoon individuals at warehouse workstations utilizes the state information matrix of the target goods warehouse workstations. The simulation formula for raccoon individuals escaping from their current dangerous position to reach a new safe position within the optimization space; the position update process of raccoon individuals escaping predators in warehouse workstations is as follows: ,in This indicates that the predator is in a spatial dimension of Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The updated position during the search for individual raccoons at the ground storage workstations in the optimization space. This indicates a search for individual raccoons at warehouse workstations. In spatial dimension Target Goods Storage Warehouse Storage Station Usage Status Information Matrix The updated position during the process of escaping the predator in the optimization space; and They represent the first Matrix of target cargo storage warehouse workstation usage status after iteration number The upper and lower boundaries of the optimization space; Step 1414: When the algorithm reaches the maximum number of iterations, output the storage status information of the target goods warehouse storage station that satisfies the condition of not being fully loaded and has the smallest storage station number value. Otherwise, repeat steps 1412 to 1414 until the maximum number of iterations is reached; Step 1415: Obtain the target goods storage warehouse storage station usage status information output in Step 1414. The corresponding warehouse storage area storage station number information is generated, and the target goods storage warehouse storage station information is generated through data identification.

[0024] By dynamically collecting cargo feature and location information through barcode scanning devices and position sensors, the system achieves precise location of product and location information for goods awaiting warehousing using integrated barcode scanning technology. Based on cargo feature information and combined with intelligent search algorithms and scientifically stored standard warehouse cargo information, the system performs precise analysis of the required warehouse areas, enabling scientific selection of warehouse areas based on cargo features. Based on the analysis information of the target cargo warehouse areas and combined with the warehouse collaborative scheduling platform, the system dynamically searches for the usage status of storage workstations in the required warehouse areas, enabling real-time acquisition of the usage status of storage workstations in the target warehouse areas through the warehouse management platform, thus improving the reliability of cargo warehousing management. Based on the usage status information of the target cargo warehouse workstations and combined with artificial intelligence algorithms, the system identifies the storage workstations in the cargo storage area that are not fully loaded and have the smallest workstation number, achieving intelligent optimization of cargo storage workstations based on storage status and workstation order, thus improving the scientific and intelligent nature of cargo warehouse management scheduling.

[0025] For further details, please refer to Figures 1-2 The steps for identifying the AGVs (Automated Guided Vehicles) needed for transporting goods in the selected warehouse area based on the warehouse area information are as follows: First, the AGV identification information for transporting goods in the target warehouse area is obtained. Second, the palletizing robot identification information for the selected warehouse area is obtained based on the warehouse area information. Step 21: Based on the analysis information of the target goods storage warehouse area and the feature information matrix of standard goods transportation AGVs in the warehouse area, perform the identification processing of the goods transportation AGVs required for the selected warehouse area in the goods storage process to obtain the identification information of the transport AGVs in the target goods storage warehouse area. Step 22: Based on the analysis information of the target goods storage warehouse storage area and the feature information matrix of standard goods palletizing robots in the storage area, perform the goods palletizing robot identification processing required for the selected warehouse storage area in the goods storage process, and obtain the palletizing robot identification information of the target goods storage warehouse storage area.

[0026] The steps for identifying the AGVs needed to transport goods in the target warehouse storage area, based on the analysis information of the target goods storage warehouse storage area and the feature information matrix of standard goods transport AGVs in the warehouse storage area, are as follows: Step 211: Establish a feature information matrix for standard cargo transportation AGVs in the warehouse storage area. ,in Indicates the first The standard cargo transport AGV feature information corresponds to the type of warehouse storage area; the standard cargo transport AGV feature information represents the feature information of the standard cargo transport AGV set for different types of warehouse storage areas, including the name, number, specifications, and brand information of the cargo transport AGV; the cargo transport AGV is mainly responsible for transporting goods to be stored from the warehouse access control terminal to the selected warehouse storage area; Step 212: Combine the target goods storage warehouse area analysis information with the standard goods transportation AGV feature information matrix of the warehouse area. Feature information of AGVs for standard cargo transportation in the central warehouse storage area By matching the text information of warehouse storage area types, the standard cargo transportation AGV feature information of the warehouse storage area corresponding to the analysis information of the target cargo storage warehouse area is retrieved. The system generates AGV identification information for the target goods storage warehouse area through data identification.

[0027] The steps for identifying the palletizing robots required for the selected warehouse area during the cargo warehousing process, based on the analysis information of the target cargo warehouse storage area and the feature information matrix of standard cargo palletizing robots in the warehouse storage area, are as follows: Step 221: Establish a feature information matrix for standard goods palletizing robots in the warehouse storage area. ,in Indicates the first The standard cargo palletizing robot feature information corresponds to the warehouse storage area type; the standard cargo palletizing robot feature information represents the feature information of the standard cargo palletizing robot set for different types of warehouse storage areas, including the name, number, specifications, and brand information of the cargo palletizing robot; the cargo palletizing robot is mainly responsible for storing the goods to be stored in the selected warehouse storage area transported by cargo transport AGV to the selected storage station; Step 222: Combine the target goods warehouse storage area analysis information with the standard goods palletizing robot feature information matrix of the warehouse storage area. Feature information of standard goods palletizing robots in the central warehouse storage area By matching the text information of warehouse storage area types, the standard cargo palletizing robot feature information of the warehouse storage area corresponding to the analysis information of the target cargo storage warehouse storage area is retrieved. The data is then used to generate identification information for the palletizing robot in the target goods storage area of ​​the warehouse.

[0028] By analyzing the target goods storage area and combining numerical analysis with the characteristic information of standard goods transport AGVs in the storage area based on big data storage, the required goods transport AGVs for the selected storage area are accurately identified during the goods storage process. This enables autonomous selection of target goods storage and transport AGVs based on the goods storage area. Furthermore, by analyzing the target goods storage area and combining data analysis with the characteristic information of standard goods palletizing robots in the storage area, the required goods palletizing robots for the selected storage area are dynamically identified during the goods storage process. This enables precise matching of goods storage and palletizing robots based on the goods storage area, achieving dynamic and scientific scheduling of goods storage and transport AGVs and palletizing robots, thus improving the efficiency of goods storage management scheduling.

[0029] For further details, please refer to Figures 1-2 The steps for collecting location information of the warehouse storage area and executing warehouse storage and transportation control operations and warehouse storage control operations are as follows: Step 31: Based on the warehouse storage area analysis information corresponding to the warehouse storage area type text information of the target goods storage warehouse, the warehouse collaborative scheduling platform searches for the goods palletizing location information of the selected warehouse storage area and generates the goods warehouse storage area location information, which includes the horizontal, vertical and vertical coordinates of the goods palletizing location in the warehouse storage area. Step 32: Based on cargo characteristic information, cargo location information, target cargo warehouse storage area transportation AGV identification information, and cargo warehouse storage area location information, the warehouse collaborative scheduling platform controls the target cargo transportation AGV to transport the cargo to be stored from the warehouse access control position to the cargo palletizing position in the selected warehouse storage area, and executes the cargo warehouse storage transportation control operation. If the cargo warehouse storage transportation control operation is not completed, the cargo warehouse storage transportation control operation instructions continue to be executed. Step 33: When the warehouse storage and transportation control operation is completed, the warehouse collaborative scheduling platform controls the target palletizing robot to store the goods to be stored at the selected warehouse storage area palletizing position by transporting them to the warehouse storage area via the cargo transport AGV, based on the cargo characteristic information, the target cargo storage warehouse storage station information, and the target cargo storage warehouse storage area palletizing robot identification information, thereby executing the warehouse storage control operation.

[0030] By analyzing information from the target goods storage area and combining it with a warehouse collaborative scheduling platform to accurately collect the location information of the storage area, positioning information is provided for the subsequent precise execution of goods storage and transportation. Based on goods characteristic information, goods location information, AGV identification information of the target goods storage area, and the location information of the storage area, combined with the warehouse collaborative scheduling platform, the goods transportation AGV efficiently and reliably executes the storage and transportation control operation from the warehouse access control terminal to the goods palletizing position in the storage area, realizing adaptive storage and transportation. Based on goods characteristic information, storage workstation information of the target goods storage area, and palletizing robot identification information of the target goods storage area, combined with the warehouse collaborative scheduling platform, the palletizing robot scientifically controls the storage and transportation operation from the goods palletizing position in the storage area to the storage workstation, realizing intelligent storage and transportation, achieving full-process management of goods storage and scheduling, and improving the quality of goods storage and scheduling.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning, characterized in that, The system includes a warehouse cargo positioning module, a warehouse transportation AGV and palletizing robot management module, and a warehouse cargo transportation and storage management module. The warehouse cargo positioning module is used to collect cargo characteristic information and cargo location information, analyze and process the warehouse storage area required for cargo storage based on the cargo information, and obtain the target cargo storage warehouse storage area analysis information; search and process the usage status of the storage workstations in the warehouse storage area required for cargo storage, and obtain the target cargo storage warehouse workstation usage status information; and perform positioning processing on the storage workstations in the warehouse storage area required for cargo storage, and obtain the target cargo storage warehouse workstation information. The warehouse transportation AGV and palletizing robot management module identifies the AGVs required for the selected warehouse area during the warehousing process based on the warehouse area information, thus obtaining the AGV identification information for the target warehouse area; and identifies the palletizing robots required for the selected warehouse area during the warehousing process based on the warehouse area information, thus obtaining the palletizing robot identification information for the target warehouse area. The warehouse cargo transportation and storage management module is used to collect the location information of the cargo warehouse storage area and to execute cargo warehouse transportation control operations and cargo warehouse storage control operations, respectively.

2. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 1, characterized in that: The steps for collecting cargo characteristic information and cargo location information, analyzing and processing the warehouse storage area required for cargo warehousing based on the cargo information to obtain the target cargo warehouse storage area analysis information; searching and processing the usage status of the storage workstations in the warehouse storage area required for cargo warehousing to obtain the target cargo warehouse storage workstation usage status information; and locating the storage workstations in the warehouse storage area required for cargo warehousing to obtain the target cargo warehouse storage workstation information are as follows: The system uses barcode scanning devices installed at warehouse access control points to collect barcodes or QR codes of goods to be stored from staff-held mobile devices. Based on these barcodes or QR codes, it identifies the characteristic text information of the goods to be stored and generates goods characteristic information. The system also uses location sensors to collect the location information of the warehouse access control point where the goods to be stored are scanned and generates goods location information. Based on the cargo characteristic information and the standard warehouse cargo information matrix of the warehouse storage area, the warehouse storage area analysis and processing required for cargo storage are performed to obtain the target cargo storage warehouse storage area analysis information; Based on the analysis information of the target goods warehouse storage area, the usage status of the storage workstations in the warehouse storage area required for goods storage is searched and processed to obtain the target goods warehouse storage workstation usage status information matrix. Based on the target goods storage warehouse storage station usage status information matrix, the storage station location processing of the required warehouse storage area is performed to obtain the target goods storage warehouse storage station information.

3. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 2, characterized in that: The steps for performing warehouse area analysis based on the cargo characteristic information and the standard warehouse cargo information matrix to obtain the target cargo warehouse area analysis information are as follows: Establish a standard warehouse cargo information matrix for warehouse storage areas The include ;in Indicates the first Information on standard stored goods in warehouse storage areas corresponding to different warehouse storage area types; The unified cost search algorithm is used to combine the cargo feature information with the... The above Perform cargo information matching to search for goods that match the cargo feature information. The corresponding warehouse storage area type text information is used to generate target goods storage warehouse storage area analysis information after data identification.

4. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 3, characterized in that: The steps for performing a search and processing of the storage station usage status of the required storage area in the target goods warehouse based on the analysis information of the target goods storage area to obtain the target goods warehouse storage station usage status information matrix are as follows: Obtain the analysis information of the target goods storage warehouse area; Based on the warehouse storage area type text information corresponding to the target goods storage warehouse storage area analysis information, the warehouse collaborative scheduling platform searches for the usage status information of all storage workstations within the target warehouse storage area required for the goods to be stored, and generates a target goods storage warehouse storage workstation usage status information matrix. The include ;in Indicates the first Information on the usage status of the target goods storage workstations corresponding to the storage areas of each warehouse.

5. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 4, characterized in that: The steps for locating storage workstations in the required warehouse area based on the target goods storage warehouse workstation usage status information matrix to obtain the target goods storage warehouse workstation information are as follows: Based on the keywords of warehouse workstation usage status and warehouse workstation number information, the data is analyzed... The above Perform a text information search to find the warehouse workstation with the smallest "not fully occupied" status and the smallest warehouse workstation number. The corresponding warehouse storage area storage station number information is used, and the target goods storage warehouse storage station information is generated through data identification. The specific operation steps for generating the target goods storage warehouse storage station information are as follows: Step 1411: Initialize, update the maximum number of iterations T, and as stated in the... The search space is randomly initialized and updated to search for the location of the raccoon population at the warehouse workstations; Step 1412, Hunting and Attacking, as described In the optimization space, the raccoon population is searched for in the warehouse workstations. The raccoon attacks and hunts the iguanas using a simulated attack strategy. Individual raccoons climb trees to search for the warehouse workstation with the smallest workstation number that meets the criteria of being in a partially occupied warehouse. Iguanas; other warehouse workstations search for raccoons waiting on the ground until the... The iguana fell to the ground, the aforementioned After the iguana landed, the warehouse staff searched for and attacked the raccoon, which then killed it. Iguana; The algorithm design assumes that the optimal location of the raccoon member in the raccoon population for the warehouse workstation search is the... The location of the iguana, assuming half of what is stated. The iguana climbed the tree and ascended, the other half described The iguana fell to the ground; the one that had climbed the tree rose up. iguanas in the The position in the optimization space is mathematically simulated; Regarding the After the iguana fell to the ground, the following... The iguana was placed in the A random location in the optimization space; simulating the ground based on the random location. iguanas in the Move position within the optimization space; Step 1413, escape the predator, in the... The search for storage spaces within the optimization space for raccoon populations involves simulating predator encounters and escape strategies to find the storage space that satisfies the condition of being underutilized and having the smallest storage space number. ; When the predator is in When searching for raccoon individuals at warehouse workstations in the optimization space, the raccoon individuals at warehouse workstations are described in the Escape the current dangerous position and reach a new safe position within the optimization space; Step 1414: When the algorithm reaches the maximum number of iterations, output the value of the storage station that satisfies the condition of being underutilized and has the smallest storage station number. Otherwise, repeat steps 1412 to 1414 until the maximum number of iterations is reached; Step 1415: The output of step 1414 The corresponding warehouse storage area storage station number information is used to generate the target goods storage warehouse storage station information through data identification.

6. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 5, characterized in that: The following steps are taken to identify the AGVs (Automated Guided Vehicles) needed for transporting goods in the selected warehouse area based on the warehouse area information, thus obtaining the AGV identification information for the target goods warehouse area; and to identify the palletizing robots needed for the selected warehouse area based on the warehouse area information, thus obtaining the palletizing robot identification information for the target goods warehouse area: Based on the analysis information of the target cargo storage warehouse area and the feature information matrix of standard cargo transportation AGVs in the warehouse area, the cargo transportation AGV identification process required for the selected warehouse area in the cargo storage process is performed to obtain the target cargo storage warehouse area transportation AGV identification information. Based on the analysis information of the target goods storage warehouse area and the feature information matrix of standard goods palletizing robots in the storage area, the palletizing robot identification process required for the selected warehouse storage area in the goods storage process is performed to obtain the palletizing robot identification information of the target goods storage warehouse area.

7. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 6, characterized in that: The steps for identifying the AGVs required for transporting goods in the target warehouse storage area based on the analysis information of the target goods storage warehouse storage area and the feature information matrix of standard goods transport AGVs in the warehouse storage area are as follows: Establish a feature information matrix for standard cargo transportation AGVs in warehouse storage areas. The include ;in Indicates the first The characteristic information of standard cargo transport AGVs corresponding to various warehouse storage area types; The target cargo storage warehouse storage area analysis information and the The above Perform text information matching of warehouse storage area types to search for the warehouse storage area analysis information corresponding to the target goods storage area. The system generates AGV identification information for the target goods storage warehouse area through data identification.

8. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 7, characterized in that: The steps for identifying the palletizing robots required for the selected warehouse area during the cargo warehousing process, based on the analysis information of the target cargo warehouse storage area and the feature information matrix of standard cargo palletizing robots in the warehouse storage area, are as follows: Establish a feature information matrix for standard cargo palletizing robots in warehouse storage areas. The include ;in Indicates the first The characteristic information of standard goods palletizing robots in warehouse storage areas corresponding to various warehouse storage area types; The target cargo storage warehouse storage area analysis information and the The above Perform text information matching of warehouse storage area types to search for the warehouse storage area analysis information corresponding to the target goods storage area. The data is then used to generate identification information for the palletizing robot in the target goods storage area of ​​the warehouse.

9. The robot palletizing and AGV warehouse management collaborative scheduling system integrating barcode scanning and positioning as described in claim 8, characterized in that: The steps for collecting warehouse storage area location information and executing warehouse storage and transportation control operations and warehouse storage control operations are as follows: Based on the warehouse storage area analysis information corresponding to the warehouse storage area type text information of the target goods storage warehouse, the warehouse collaborative scheduling platform searches for the goods palletizing location information of the selected warehouse storage area and generates the goods warehouse storage area location information. The warehouse collaborative scheduling platform controls the target cargo transportation AGV to transport the goods to be stored from the warehouse access control position to the cargo stacking position in the selected warehouse area based on the cargo characteristic information, cargo location information, target cargo storage warehouse storage area transportation AGV identification information, and cargo warehouse storage area location information. The platform executes cargo warehouse storage and transportation control operations. If the cargo warehouse storage and transportation control operations are not completed, the cargo warehouse storage and transportation control operation instructions continue to be executed. When the cargo warehouse storage and transportation control operation is completed, the warehouse collaborative scheduling platform controls the target palletizing robot to store the goods to be stored at the selected warehouse storage area palletizing position, which are transported by the cargo transport AGV, to the target storage position through the cargo transport AGV, based on the cargo characteristic information, the storage workstation information of the target cargo storage warehouse, and the palletizing robot identification information of the storage area of ​​the target cargo storage warehouse, thereby executing the cargo warehouse storage control operation.

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