Warehouse operation path optimization method and system based on RFID positioning

Abstract

The application discloses a warehouse operation path optimization method and system based on RFID positioning, relates to the technical field of intelligent warehouse logistics path optimization, and comprises the following steps: acquiring an original warehouse operation path, dividing the original warehouse operation path into a plurality of independent path segments based on RFID anchor points, determining at least one standby path segment for each path segment, performing traffic state verification of the path segments based on operation equipment tag data of the RFID anchor points, determining a target segment with a traffic obstacle, screening a matched standby path segment from the standby path segments based on the first and last RFID anchor points of the target segment, performing splicing of the standby path segment, combining the original path segment and the standby path segment in sequence based on the splicing result, reconstructing an operation path sequence, and determining an optimized warehouse operation path. The standby path segment with the same first and last anchor points is preconfigured for each path segment, so that the response time of path reconstruction is shortened.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing and logistics route optimization technology, specifically to a method and system for optimizing warehousing operation routes based on RFID positioning. Background Technology

[0002] In large warehousing centers, automated guided vehicles (AGVs) are widely used for the inbound, picking, and outbound transportation of goods. The warehousing scheduling system plans the travel path from the starting point to the destination for the AGV according to the work task. The AGV completes the work by passing through each channel and storage location node in sequence according to the planned path.

[0003] Existing warehouse route planning methods mainly calculate a complete path based on the warehouse map and task nodes before the operation begins. However, during the actual operation of AGVs, unforeseen obstacles may occur in the warehouse aisles, such as temporary stacking of goods blocking the aisles, congestion caused by multiple AGVs converging, and obstacles on the aisle ground. This can prevent some sections of the pre-planned path from passing at normal speed. When AGVs encounter such obstacles, they can usually only wait in place for the obstacles to be cleared, or the scheduling system can re-plan the global path. Waiting in place causes operation delays and affects the connection of subsequent tasks. Global re-planning requires recalculating the complete path, which takes a long time and places high demands on the processing capacity of the scheduling system. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a method and system for optimizing warehouse operation routes based on RFID positioning.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a warehouse operation path optimization method based on RFID positioning, specifically including:

[0008] The original warehousing operation route is obtained. Based on the RFID anchor points deployed throughout the area, the original warehousing operation route is divided into several independent route segments, and at least one backup route segment is determined for each route segment.

[0009] Based on the real-time collection of equipment tag data from each RFID anchor point, the passage status of the path segments is checked to determine the target segments with passage obstacles.

[0010] Based on the first and last RFID anchor points of the target segment, select matching backup path segments from the backup path segments and perform the splicing of the backup path segments.

[0011] Based on the results of the splicing and merging, the original path segments and the backup path segments are combined in sequence to reconstruct the operation path sequence and determine the optimized warehousing operation path.

[0012] Preferably, the original warehousing operation route is obtained, and based on the globally deployed RFID anchor points, the original warehousing operation route is divided into multiple independent route segments, and at least one backup route segment is determined for each route segment, including:

[0013] Obtain the original warehousing operation path of the current task from the warehousing scheduling system. The original warehousing operation path includes the start point of the operation, the sequence of storage location nodes along the way, the end point of the operation, and the connection channel information between each node.

[0014] Read the layout information of RFID anchor points deployed throughout the entire area. The RFID anchor point layout information records the unique anchor point identifier and the three-dimensional spatial coordinates of the anchor point installation position of each RFID anchor point in the storage area. RFID anchor points are installed at the intersection of storage channels, in the middle of channels, and at the entrance and exit positions of each storage location. Each RFID anchor point has a fixed spatial position coordinate and a unique anchor point identifier.

[0015] The original warehousing operation path is spatially overlaid with the RFID anchor point layout information along the operation direction. Each RFID anchor point along the original warehousing operation path is used as a segment node. The path segment between two adjacent segment nodes is divided into a path segment. The beginning of each path segment corresponds to a starting RFID anchor point and the end corresponds to a ending RFID anchor point. The starting RFID anchor point and the ending RFID anchor point are two adjacent RFID anchor points on the original warehousing operation path.

[0016] Assign segment identifiers to each path segment, and record the starting RFID anchor point identifier, ending RFID anchor point identifier, length of the path segment within the channel, and estimated travel time of the path segment under normal traffic conditions based on the path segment length and the standard travel speed of the operating equipment.

[0017] For each path segment, the starting and ending RFID anchor points of the path segment are used as search criteria. From all feasible paths within the warehouse area, other travel paths are searched whose starting and ending points coincide with the starting and ending RFID anchor points respectively, and whose intermediate RFID anchor point sequences are different from those of the path segment. The travel paths selected from the search results are used as backup path segments for that path segment, and the travel distance and estimated travel time of each backup path segment are recorded.

[0018] Preferably, based on the real-time data collected from the operating equipment tags at each RFID anchor point, the passage status of the path segments is checked to determine the target segments with passage obstacles, including:

[0019] Each RFID anchor point reads the RFID tag information carried by the working equipment that enters the anchor point's reading range according to the collection cycle. The RFID tag information includes the unique equipment identifier of the working equipment and the timestamp of the time when the tag was read. The RFID anchor point packages the read RFID tag information with its own identifier into an anchor point access record. The anchor point access record includes the anchor point identifier, equipment identifier and access time timestamp.

[0020] For each path segment, the starting and ending RFID anchor points are used to query the passage time of the same working equipment passing through the starting RFID anchor point and the passage time of passing through the ending RFID anchor point from the anchor point passage record. The actual passage time of the working equipment on the path segment is obtained by subtracting the passage time of the starting RFID anchor point from the passage time of the ending RFID anchor point.

[0021] Divide the length of the path segment by the actual travel time to obtain the actual travel rate of the path segment in this trip.

[0022] The actual traffic speed is compared with the traffic speed determination benchmark of the path segment. When the actual traffic speed is lower than the traffic speed determination benchmark, the path segment is marked as a target segment with a traffic obstacle, and the starting RFID anchor point and ending RFID anchor point corresponding to the target segment are recorded.

[0023] The method for determining the passage rate benchmark is as follows: extract the passage time of all operating equipment on the path segment within a certain time period before the current moment from the historical passage records uploaded and stored in real time from each RFID anchor point, convert each passage time into a passage rate and arrange them from smallest to largest, and take the passage rate value at the lower percentile after arrangement as the passage rate benchmark.

[0024] Preferably, based on the first and last RFID anchor points of the target segment, matching alternative path segments are selected from the alternative path segments, and the splicing of the alternative path segments is performed, including:

[0025] Using the starting and ending RFID anchor points of the target segment as the first and last matching conditions, all alternative path segments with the same starting and ending RFID anchor points are retrieved from the alternative path segments determined for each path segment, forming a candidate alternative segment set.

[0026] For each candidate alternative path segment in the candidate alternative segment set, read the estimated travel time of the candidate alternative path segment, and calculate the number of times the candidate alternative path segment changes direction on the spatial path as the number of path bends;

[0027] Compare the estimated travel time of each candidate backup path segment, and determine the candidate backup path segment with the shortest estimated travel time as the optimal backup path segment.

[0028] When there are multiple candidate alternative path segments with the same expected travel time, the number of path bends is compared, and the candidate alternative path segment with the fewest path bends is determined as the optimal alternative path segment.

[0029] Replace the part of the original warehousing operation path that belongs to the target segment with the optimal backup path segment, connect the first end of the optimal backup path segment with the starting RFID anchor point of the target segment in the spatial path, and connect the last end of the optimal backup path segment with the ending RFID anchor point of the target segment in the spatial path to complete the splicing.

[0030] Check the path continuity between the first RFID anchor point of the optimal backup path segment at the splicing point and the adjacent path segment in the original warehousing operation path that is before the target segment. Check the path continuity between the last RFID anchor point of the optimal backup path segment and the adjacent path segment in the original warehousing operation path that is after the target segment. The path continuity check includes whether the RFID anchor points at the splicing point are consistent and whether the turning angle required when the splicing operation equipment changes from the travel direction of the adjacent path segment to the travel direction of the optimal backup path segment is within the range of the turning angle that the operation equipment can execute.

[0031] When the RFID anchor points at the splicing point are consistent and the turning angle is within the executable range, the splicing is deemed to have passed the verification. If the verification fails, the current optimal backup path segment is removed from the candidate backup segment set and then re-selected.

[0032] Preferably, based on the results of the splicing and merging, the original path segments and the backup path segments are combined sequentially to reconstruct the operation path sequence and determine the optimized warehousing operation path, including:

[0033] All original path segments that were not marked as target segments in the original warehousing operation path are retained. These original path segments and the optimal backup path segments that have been spliced ​​together are arranged in the order of the operation direction. Adjacent path segments are connected by a shared RFID anchor point to form a reconstructed operation path sequence.

[0034] Read the estimated travel time of the optimal backup path segment, calculate the difference between the estimated travel time of the optimal backup path segment and the estimated travel time of the original target segment, adjust the estimated arrival time of all work nodes after the target segment according to the difference, and update the timing information of each work node.

[0035] The reconstructed job path sequence and the updated timing information of each job node are output to the warehouse scheduling system as the optimized warehouse job path.

[0036] This invention also provides a warehouse operation path optimization system based on RFID positioning, comprising:

[0037] Segmentation module: Obtain the original warehousing operation path, divide the original warehousing operation path into several independent path segments based on the RFID anchor points deployed throughout the area, and determine at least one backup path segment for each path segment.

[0038] Status verification module: Based on the real-time data of the operating equipment tags collected from each RFID anchor point, it performs passage status verification of the path segments and determines the target segments with passage obstacles;

[0039] Segment matching module: Based on the first and last RFID anchor points of the target segment, it selects matching backup path segments from the backup path segments and performs the splicing of the backup path segments.

[0040] Path reconstruction module: Based on the results of the splicing and merging, the original path segments and the backup path segments are combined in sequence to reconstruct the operation path sequence and determine the optimized warehousing operation path.

[0041] (III) Beneficial Effects

[0042] This invention provides a method and system for optimizing warehouse operation routes based on RFID positioning, which has the following beneficial effects:

[0043] This invention divides the original warehousing operation path into several independent path segments according to RFID anchor points, and pre-configures a backup path segment with the same start and end anchor points for each path segment. When a path segment encounters a passage obstacle, only that segment needs to be replaced without replanning the global path, thus shortening the response time of path reconstruction.

[0044] When selecting alternative route segments, the starting and ending RFID anchor points of the target segment are used as the first and last matching conditions to ensure that the anchor points of the alternative route segments and the original route segments are completely consistent at the segment boundaries. At the same time, the optimal alternative route is selected by comprehensively comparing the estimated travel time and the number of bends of the alternative route segments, which takes into account both the travel efficiency and feasibility of the replacement route. Attached Figure Description

[0045] Figure 1 This is a flowchart of the method of the present invention;

[0046] Figure 2 This is a system block diagram of the present invention. Detailed Implementation

[0047] 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.

[0048] Please see Figure 1 This invention provides a warehouse operation route optimization method based on RFID positioning, comprising the following steps:

[0049] The original warehousing operation route is obtained. Based on the RFID anchor points deployed throughout the area, the original warehousing operation route is divided into several independent route segments, and at least one backup route segment is determined for each route segment.

[0050] Furthermore, the acquisition of the original warehousing operation path involves dividing the original warehousing operation path into multiple independent path segments based on the globally deployed RFID anchor points, and determining at least one backup path segment for each path segment, including:

[0051] Obtain the original warehousing operation path of the current task from the warehousing scheduling system. The original warehousing operation path includes the operation start point, the sequence of storage location nodes along the way, the operation end point, and the connection channel information between each node.

[0052] Read the layout information of RFID anchor points deployed throughout the entire area. The RFID anchor point layout information records the unique anchor point identifier and the three-dimensional spatial coordinates of the anchor point installation position of each RFID anchor point in the storage area. The RFID anchor points are installed at the intersection of storage channels, the middle of the channels, and the entrance and exit positions of each storage location. Each RFID anchor point has a fixed spatial position coordinate and a unique anchor point identifier.

[0053] The original warehousing operation path is spatially overlaid with the RFID anchor point layout information along the operation direction. Each RFID anchor point along the original warehousing operation path is used as a segment node. The path segment between two adjacent segment nodes is divided into a path segment. The beginning of each path segment corresponds to a starting RFID anchor point and the end corresponds to a ending RFID anchor point. The starting RFID anchor point and the ending RFID anchor point are two adjacent RFID anchor points on the original warehousing operation path.

[0054] Assign segment identifiers to each path segment, and record the starting RFID anchor point identifier, ending RFID anchor point identifier, length of the path segment within the channel, and estimated travel time of the path segment under normal traffic conditions based on the path segment length and the standard travel speed of the operating equipment.

[0055] For each path segment, the starting and ending RFID anchor points of the path segment are used as search criteria. From all feasible paths within the warehouse area, other travel paths are searched whose starting and ending points coincide with the starting and ending RFID anchor points respectively, and whose intermediate RFID anchor point sequences are different from those of the path segment. The travel paths selected from the search results are used as backup path segments for that path segment, and the travel distance and estimated travel time of each backup path segment are recorded.

[0056] It should be noted that when the warehouse scheduling system issues a work task to the AGV, the original warehouse work path includes the work start point, multiple storage location nodes along the way, the work end point, and the connection channel information between each node.

[0057] The system reads the overall RFID anchor point layout information and spatially overlays the original warehousing operation path along the operation direction with the RFID anchor point layout information. The RFID anchor points along the original warehousing operation path include: the anchor point at the exit of the charging and parking area, the anchor point at the intersection of the first main channel and each branch aisle, the anchor point in the middle of the branch aisle, the anchor points at the entrance and exit of each storage location, the anchor point at the intersection of the first main channel and the second main channel, and the anchor point at the entrance of the packaging area. Using these RFID anchor points as segment nodes, the path segment between two adjacent segment nodes is divided into a path segment. The beginning of each path segment corresponds to a starting RFID anchor point, and the end corresponds to a ending RFID anchor point.

[0058] Each path segment is assigned a segment identifier, and the starting RFID anchor point identifier, ending RFID anchor point identifier, the length of the path segment within the channel, and the estimated travel time are recorded. The estimated travel time is calculated as follows:

[0059] The path segment length is read, the standard driving speed of the AGV under normal traffic conditions is read, and the path segment length is divided by the standard driving speed to obtain the estimated travel time. The path segment lengths are different for each path segment. Taking the path segment from the exit of the charging and parking area to the first intersection as an example, its length is the straight distance of the main channel. Taking the path segment from the entrance of the branch lane to the middle section of the branch lane as an example, its length is the actual distance between the two anchor points on the branch lane.

[0060] For each path segment, the starting and ending RFID anchor points of the path segment are used as search criteria to search for other possible paths from all feasible paths within the storage area. These paths have the starting and ending points that coincide with the starting and ending RFID anchor points, respectively, and the intermediate RFID anchor point sequence they pass through is different from the intermediate RFID anchor point sequence passed through by the path segment.

[0061] Taking the path segment between two adjacent intersections on the main channel as an example, the original route is to drive directly along the main channel. In the storage area, other routes with the same starting point and ending point but different routes are searched. A detour route is found, which turns from the starting point into a side road, travels through the side road to another main channel, and then travels back to the ending point along the main channel. This searched route is used as a backup route segment for this path segment. The travel distance and estimated travel time of the backup route segment are recorded. Taking the path segment between two anchor points on a side road as an example, the original route is to drive directly along the side road. A detour route is found, which turns from the starting point into an adjacent parallel road, travels through the parallel road to the corresponding position, and then turns back to the ending point. This route is used as a backup route segment. At least one backup route segment is determined for each path segment. The travel distance and estimated travel time of each backup route segment are recorded.

[0062] Based on the real-time collection of equipment tag data from each RFID anchor point, the passage status of the path segments is checked to determine the target segments with passage obstacles.

[0063] Furthermore, the process of performing path segmentation accessibility verification based on real-time data collected from the operating equipment tags at each RFID anchor point to determine target segments with access obstacles includes:

[0064] Each RFID anchor point reads the RFID tag information carried by the working equipment that enters the anchor point's reading range according to the collection cycle. The RFID tag information includes the unique equipment identifier of the working equipment and the timestamp of the time when the tag was read. The RFID anchor point packages the read RFID tag information with its own identifier into an anchor point access record. The anchor point access record includes the anchor point identifier, the equipment identifier, and the timestamp of the access time.

[0065] For each path segment, the starting and ending RFID anchor points are used to query the passage time of the same working equipment passing through the starting RFID anchor point and the passage time of passing through the ending RFID anchor point from the anchor point passage record. The actual passage time of the working equipment on the path segment is obtained by subtracting the passage time of the starting RFID anchor point from the passage time of the ending RFID anchor point.

[0066] Divide the length of the path segment by the actual travel time to obtain the actual travel rate of the path segment in this trip.

[0067] The actual traffic speed is compared with the traffic speed determination benchmark of the path segment. When the actual traffic speed is lower than the traffic speed determination benchmark, the path segment is marked as a target segment with a traffic obstacle, and the starting RFID anchor point and ending RFID anchor point corresponding to the target segment are recorded.

[0068] The method for determining the passage rate judgment benchmark is as follows: extract the passage time of all operating equipment on the path segment within a certain time period before the current moment from the historical anchor point passage records uploaded and stored in real time from each RFID anchor point, convert each passage time into passage rate and arrange them from smallest to largest, and take the passage rate value at the lower percentile after arrangement as the passage rate judgment benchmark.

[0069] It should be noted that each RFID anchor point continuously reads the RFID tag information carried by AGVs entering its reading range according to the collection cycle. AGVs have RFID tags attached to their bodies, and each tag stores a unique device identifier for that AGV. When an AGV passes through an RFID anchor point, the anchor point reads the AGV tag information, records the device identifier from the tag along with the current timestamp, and packages this information, along with the anchor point's own identifier, into an anchor point passage record. When an AGV leaves the charging and parking area and passes through the first anchor point, the anchor point records the AGV's passage time. When an AGV travels along the main channel and passes through each intersection anchor point, each anchor point records the corresponding passage time in sequence. When an AGV turns into a side lane and passes through each anchor point on that side lane, each anchor point records the corresponding passage time separately.

[0070] For a path segment on a branch roadway, i.e., a path segment with the starting anchor point at the entrance of the branch roadway and the ending anchor point at the middle section of the branch roadway, the travel time of the same AGV passing the starting anchor point and the travel time passing the ending anchor point are retrieved from the anchor point travel records. The travel time of the starting anchor point is subtracted from the travel time of the ending anchor point to obtain the actual travel time of the AGV on that path segment. The actual travel speed of this trip is obtained by dividing the length of the path segment within the channel by the actual travel time.

[0071] From the historical anchor point passage records uploaded and stored in real time from each RFID anchor point, the passage time of each AGV on the path segment in the past week is extracted. The passage time of each passage is converted into the passage rate. The specific conversion method is to divide the length of the path segment by the actual passage time of each passage. All the converted passage rates are arranged from smallest to largest. The passage rate value at the lower percentile after arrangement is taken as the passage rate judgment benchmark. The passage rate judgment benchmark reflects the lower passage rate level that may occur in the path segment under normal passage conditions.

[0072] The actual passage speed of the AGV on this path segment is compared with the passage speed judgment benchmark. When the actual passage speed is lower than the passage speed judgment benchmark, it indicates that the passage of the path segment is currently slow, and there may be AGV congestion, temporary stacking of goods occupying the road, or obstacles on the passage ground. The path segment is marked as the target segment with passage obstacles, and the starting RFID anchor point and ending RFID anchor point corresponding to the target segment are recorded.

[0073] After the target segment marking is completed, check whether all currently marked target segments are spatially continuous. If multiple adjacent path segments are marked as target segments at the same time, and adjacent target segments share the same RFID anchor point, then the continuous target segments are merged into a target segment group. The RFID anchor point closest to the start of the operation is used as the starting RFID anchor point of the merged group, and the RFID anchor point closest to the end of the operation is used as the ending RFID anchor point of the merged group. If only one path segment is marked as a target segment, and neither of the adjacent path segments before and after it is marked, then no merging operation is required.

[0074] Based on the first and last RFID anchor points of the target segment, select matching backup path segments from the backup path segments and perform the splicing of the backup path segments.

[0075] Furthermore, based on the first and last RFID anchor points of the target segment, matching alternative path segments are selected from the alternative path segments, and the splicing of the alternative path segments is performed, including:

[0076] Using the starting and ending RFID anchor points of the target segment as the first and last matching conditions, all alternative path segments with the same starting and ending RFID anchor points are retrieved from the alternative path segments determined for each path segment, forming a candidate alternative segment set.

[0077] For each candidate alternative path segment in the candidate alternative segment set, read the estimated travel time of the candidate alternative path segment, and calculate the number of times the candidate alternative path segment changes direction on the spatial path as the number of path bends;

[0078] Compare the estimated travel time of each candidate backup path segment, and determine the candidate backup path segment with the shortest estimated travel time as the optimal backup path segment.

[0079] When there are multiple candidate alternative path segments with the same expected travel time, the number of path bends is compared, and the candidate alternative path segment with the fewest path bends is determined as the optimal alternative path segment.

[0080] Replace the part of the original warehousing operation path that belongs to the target segment with the optimal backup path segment, connect the first end of the optimal backup path segment with the starting RFID anchor point of the target segment in the spatial path, and connect the last end of the optimal backup path segment with the ending RFID anchor point of the target segment in the spatial path to complete the splicing.

[0081] Check the path continuity between the first RFID anchor point of the optimal backup path segment at the splicing point and the adjacent path segment in the original warehousing operation path that is before the target segment. Check the path continuity between the last RFID anchor point of the optimal backup path segment and the adjacent path segment in the original warehousing operation path that is after the target segment. The path continuity check includes whether the RFID anchor points at the splicing point are consistent and whether the turning angle required when the splicing operation equipment changes from the travel direction of the adjacent path segment to the travel direction of the optimal backup path segment is within the range of the turning angle that the operation equipment can execute.

[0082] When the RFID anchor points at the splicing point are consistent and the turning angle is within the executable range, the splicing is deemed to have passed the verification. If the verification fails, the current optimal backup path segment is removed from the candidate backup segment set and then re-selected.

[0083] It should be noted that, using the starting and ending RFID anchor points of the target segment as the first and last matching conditions, all alternative path segments with the same starting and ending RFID anchor points are retrieved from the alternative path segments previously determined for this path segment, forming a set of candidate alternative segments.

[0084] Taking the target segment on the branch roadway as an example, two alternative path segments were retrieved. The first alternative path segment detours through the adjacent parallel roadway of the branch roadway, passing through the starting anchor point of the target segment, the anchor points at both ends of the parallel roadway, and the ending anchor point of the target segment. The second alternative path segment detours through the main channel to another branch roadway and then turns back, passing through the starting anchor point of the target segment, the anchor point at the entrance of the adjacent branch roadway on the main channel, the anchor point in the middle section of the branch roadway, and the ending anchor point of the target segment.

[0085] For the first alternative route segment, its estimated travel time is read and the number of bends is calculated. The alternative route segment changes direction once when it turns into the parallel roadway from the starting anchor point, and changes direction a second time when it turns back to the ending anchor point at the end of the parallel roadway. If there are bends in the parallel roadway, each bend is counted as one change of direction. The total number of bends is calculated. For the second alternative route segment, the estimated travel time is read and the number of bends is calculated in the same way. This route changes direction once when it turns into another roadway along the main channel from the starting anchor point, and changes direction a second time when it turns back to the ending anchor point from that roadway.

[0086] Comparing the estimated travel time of two candidate backup route segments, the first backup route segment has a shorter estimated travel time, so it is determined as the optimal backup route segment. When there are multiple candidate backup route segments with the same estimated travel time, the number of path bends is compared, and the candidate backup route segment with the fewest path bends is determined as the optimal backup route segment.

[0087] Replace the portion of the original warehousing operation path that belongs to the target segment with the optimal backup path segment. This involves deleting the original path segment corresponding to the target segment in the original path, aligning the beginning of the optimal backup path segment with the starting RFID anchor point of the target segment on the spatial path, and aligning the end of the optimal backup path segment with the ending RFID anchor point of the target segment on the spatial path to complete the splicing.

[0088] After splicing, check the path continuity at the splicing point. Check the path continuity between the first anchor point of the optimal backup path segment and the adjacent path segment in the original warehousing operation path that is before the target segment: whether the RFID anchor points at the splicing point are consistent, and whether the turning angle required to change from the travel direction of the adjacent path segment to the travel direction of the optimal backup path segment is within the range of the AGV's executable turning angle. Check the path continuity between the last anchor point of the optimal backup path segment and the adjacent path segment in the original warehousing operation path that is after the target segment: whether the RFID anchor points at the splicing point are consistent, and whether the turning angle required to change from the travel direction of the optimal backup path segment to the travel direction of the subsequent path segment is within the executable range. If both continuity checks pass, the verification is complete. If the verification fails, remove the backup path segment from the candidate backup segment set, re-select the next optimal backup path segment, and verify it again.

[0089] Based on the results of the splicing and merging, the original path segments and the backup path segments are combined in sequence to reconstruct the operation path sequence and determine the optimized warehousing operation path.

[0090] Furthermore, based on the results of the splicing and merging, the original path segments and the backup path segments are combined sequentially to reconstruct the operation path sequence and determine the optimized warehousing operation path, including:

[0091] All original path segments that were not marked as target segments in the original warehousing operation path are retained. These original path segments and the optimal backup path segments that have been spliced ​​together are arranged in the order of the operation direction. Adjacent path segments are connected by a shared RFID anchor point to form a reconstructed operation path sequence.

[0092] Read the estimated travel time of the optimal backup path segment, calculate the difference between the estimated travel time of the optimal backup path segment and the estimated travel time of the original target segment, adjust the estimated arrival time of all work nodes after the target segment according to the difference, and update the timing information of each work node.

[0093] The reconstructed job path sequence and the updated timing information of each job node are output to the warehouse scheduling system as the optimized warehouse job path.

[0094] It should be noted that all original path segments in the original warehousing operation path that were not marked as target segments are retained. These original path segments and the optimal backup path segments that have been spliced ​​together are arranged in the order of the operation direction. The arrangement order is: all original path segments from the operation start point to the target segment, the optimal backup path segments, and all original path segments from the target segment to the operation end point. Adjacent path segments are connected by a shared RFID anchor point to form the reconstructed operation path sequence.

[0095] Read the estimated travel time of the optimal backup route segment and the estimated travel time of the original target segment. Calculate the difference between the two and adjust the estimated arrival time of all operation nodes after the target segment according to this difference. That is, the arrival time of each subsequent cargo location and the arrival time of the operation endpoint are all extended by this difference based on the original planned time. Update the timing information of each operation node.

[0096] The reconstructed operation path sequence and the updated timing information of each operation node are output as the optimized warehouse operation path to the warehouse scheduling system. The warehouse scheduling system then sends the optimized path to the AGV vehicle control system. The AGV continues to execute subsequent operation tasks according to the new path. When it reaches the starting anchor point of the target segment, it enters the backup path to bypass congestion or obstacle areas. At the ending anchor point of the target segment, it returns to the original path to continue to complete the subsequent picking operation and finally reach the end of the operation.

[0097] Please see Figure 2 The present invention also provides a warehouse operation path optimization system based on RFID positioning, including:

[0098] Segmentation module: Obtain the original warehousing operation path, divide the original warehousing operation path into several independent path segments based on the RFID anchor points deployed throughout the area, and determine at least one backup path segment for each path segment.

[0099] Status verification module: Based on the real-time data of the operating equipment tags collected from each RFID anchor point, it performs passage status verification of the path segments and determines the target segments with passage obstacles;

[0100] Segment matching module: Based on the first and last RFID anchor points of the target segment, it selects matching backup path segments from the backup path segments and performs the splicing of the backup path segments.

[0101] Path reconstruction module: Based on the results of the splicing and merging, the original path segments and the backup path segments are combined in sequence to reconstruct the operation path sequence and determine the optimized warehousing operation path.

[0102] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0105] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the described technical solution.

Claims

1. A warehouse operation path optimization method based on RFID positioning, characterized in that, Includes the following steps: The original warehousing operation route is obtained. Based on the RFID anchor points deployed throughout the area, the original warehousing operation route is divided into several independent route segments, and at least one backup route segment is determined for each route segment. Based on the real-time collection of equipment tag data from each RFID anchor point, the passage status of the path segments is checked to determine the target segments with passage obstacles. Based on the first and last RFID anchor points of the target segment, select matching backup path segments from the backup path segments and perform the splicing of the backup path segments. Based on the results of the splicing and merging, the original path segments and the backup path segments are combined in sequence to reconstruct the operation path sequence and determine the optimized warehousing operation path.

2. The warehouse operation path optimization method based on RFID positioning according to claim 1, characterized in that, The original warehousing operation route is obtained. Based on the globally deployed RFID anchor points, the original warehousing operation route is divided into multiple independent route segments, and at least one backup route segment is determined for each route segment, including: Obtain the original warehousing operation path of the current task from the warehousing scheduling system. The original warehousing operation path includes the start point of the operation, the sequence of storage location nodes along the way, the end point of the operation, and the connection channel information between each node. Read the layout information of RFID anchor points deployed throughout the entire area. The RFID anchor point layout information records the unique anchor point identifier and the three-dimensional spatial coordinates of the anchor point installation position of each RFID anchor point in the storage area. RFID anchor points are installed at the intersection of storage channels, in the middle of channels, and at the entrance and exit positions of each storage location. Each RFID anchor point has a fixed spatial position coordinate and a unique anchor point identifier. The original warehousing operation path is spatially overlaid with the RFID anchor point layout information along the operation direction. Each RFID anchor point along the original warehousing operation path is used as a segment node. The path segment between two adjacent segment nodes is divided into a path segment. The beginning of each path segment corresponds to a starting RFID anchor point and the end corresponds to a ending RFID anchor point. The starting RFID anchor point and the ending RFID anchor point are two adjacent RFID anchor points on the original warehousing operation path. Each path segment is assigned a segment identifier, and the starting RFID anchor point identifier, ending RFID anchor point identifier, length of the path segment within the channel, and estimated travel time of the path segment calculated based on the path segment length and the standard travel speed of the operating equipment under normal traffic conditions are recorded.

3. The warehouse operation route optimization method based on RFID positioning according to claim 2, characterized in that, For each path segment, the starting and ending RFID anchor points of the path segment are used as search criteria. From all feasible paths within the warehouse area, other travel paths are searched whose starting and ending points coincide with the starting and ending RFID anchor points respectively, and whose intermediate RFID anchor point sequences are different from those of the path segment. The travel paths selected from the search results are used as backup path segments for that path segment, and the travel distance and estimated travel time of each backup path segment are recorded.

4. The warehouse operation route optimization method based on RFID positioning according to claim 3, characterized in that, Based on the real-time data collected from the tags of the operating equipment at each RFID anchor point, the passage status of each path segment is checked to identify target segments with passage obstacles, including: Each RFID anchor point reads the RFID tag information carried by the working equipment that enters the anchor point's reading range according to the collection cycle. The RFID tag information includes the unique equipment identifier of the working equipment and the timestamp of the time when the tag was read. The RFID anchor point packages the read RFID tag information with its own identifier into an anchor point access record. The anchor point access record includes the anchor point identifier, equipment identifier and access time timestamp. For each path segment, the starting and ending RFID anchor points are used to query the passage time of the same working equipment passing through the starting RFID anchor point and the passage time of passing through the ending RFID anchor point from the anchor point passage record. The actual passage time of the working equipment on the path segment is obtained by subtracting the passage time of the starting RFID anchor point from the passage time of the ending RFID anchor point. Divide the length of the path segment by the actual travel time to obtain the actual travel rate of the path segment in this trip.

5. The warehouse operation path optimization method based on RFID positioning according to claim 4, characterized in that, The actual traffic speed is compared with the traffic speed determination benchmark of the path segment. When the actual traffic speed is lower than the traffic speed determination benchmark, the path segment is marked as a target segment with a traffic obstacle, and the starting RFID anchor point and ending RFID anchor point corresponding to the target segment are recorded.

6. The warehouse operation path optimization method based on RFID positioning according to claim 5, characterized in that, The method for determining the passage rate benchmark is as follows: extract the passage time of all operating equipment on the path segment within a certain time period before the current moment from the historical passage records uploaded and stored in real time from each RFID anchor point, convert each passage time into a passage rate and arrange them from smallest to largest, and take the passage rate value at the lower percentile after arrangement as the passage rate benchmark.

7. The warehouse operation route optimization method based on RFID positioning according to claim 6, characterized in that, Based on the first and last RFID anchor points of the target segment, matching alternative path segments are selected from the alternative path segments, and the splicing of the alternative path segments is performed, including: Using the starting and ending RFID anchor points of the target segment as the first and last matching conditions, all alternative path segments with the same starting and ending RFID anchor points are retrieved from the alternative path segments determined for each path segment, forming a candidate alternative segment set. For each candidate alternative path segment in the candidate alternative segment set, read the estimated travel time of the candidate alternative path segment, and calculate the number of times the candidate alternative path segment changes direction on the spatial path as the number of path bends; Compare the estimated travel time of each candidate backup path segment, and determine the candidate backup path segment with the shortest estimated travel time as the optimal backup path segment.

8. The warehouse operation path optimization method based on RFID positioning according to claim 7, characterized in that, When there are multiple candidate alternative path segments with the same expected travel time, the number of path bends is compared, and the candidate alternative path segment with the fewest path bends is determined as the optimal alternative path segment. Replace the part of the original warehousing operation path that belongs to the target segment with the optimal backup path segment, connect the first end of the optimal backup path segment with the starting RFID anchor point of the target segment in the spatial path, and connect the last end of the optimal backup path segment with the ending RFID anchor point of the target segment in the spatial path to complete the splicing. Check the path continuity between the first RFID anchor point of the optimal backup path segment at the splicing point and the adjacent path segment in the original warehousing operation path that is before the target segment. Check the path continuity between the last RFID anchor point of the optimal backup path segment and the adjacent path segment in the original warehousing operation path that is after the target segment. The path continuity check includes whether the RFID anchor points at the splicing point are consistent and whether the turning angle required when the splicing operation equipment changes from the travel direction of the adjacent path segment to the travel direction of the optimal backup path segment is within the range of the turning angle that the operation equipment can execute. When the RFID anchor points at the splicing point are consistent and the turning angle is within the executable range, the splicing is deemed to have passed the verification. If the verification fails, the current optimal backup path segment is removed from the candidate backup segment set and then re-selected.

9. The warehouse operation route optimization method based on RFID positioning according to claim 8, characterized in that, Based on the results of the splicing and combining, the original path segments and the backup path segments are combined sequentially to reconstruct the operation path sequence and determine the optimized warehousing operation path, including: All original path segments that were not marked as target segments in the original warehousing operation path are retained. These original path segments and the optimal backup path segments that have been spliced ​​together are arranged in the order of the operation direction. Adjacent path segments are connected by a shared RFID anchor point to form a reconstructed operation path sequence. Read the estimated travel time of the optimal backup path segment, calculate the difference between the estimated travel time of the optimal backup path segment and the estimated travel time of the original target segment, adjust the estimated arrival time of all work nodes after the target segment according to the difference, and update the timing information of each work node. The reconstructed job path sequence and the updated timing information of each job node are output to the warehouse scheduling system as the optimized warehouse job path.

10. A warehouse operation route optimization system based on RFID positioning is used to execute the warehouse operation route optimization method based on RFID positioning as described in any one of claims 1-9, characterized in that, include: Segmentation module: Obtain the original warehousing operation path, divide the original warehousing operation path into several independent path segments based on the RFID anchor points deployed throughout the area, and determine at least one backup path segment for each path segment. Status verification module: Based on the real-time data of the operating equipment tags collected from each RFID anchor point, it performs passage status verification of the path segments and determines the target segments with passage obstacles; Segment matching module: Based on the first and last RFID anchor points of the target segment, it selects matching backup path segments from the backup path segments and performs the splicing of the backup path segments. Path reconstruction module: Based on the results of the splicing and merging, the original path segments and the backup path segments are combined in sequence to reconstruct the operation path sequence and determine the optimized warehousing operation path.

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