Map generation method, control method, and warehouse system, electronic device, and medium

Abstract

Embodiments of the present disclosure provide a map generation method, a control method, a warehouse system, an electronic device and a medium, and relate to the field of intelligent warehousing. The method comprises: determining a connectivity relationship between any two cells in a current map based on attribute information of each cell in the current map; generating a target map according to the connectivity relationship, the target map comprising at least one connected component, the connected component being used to reflect the connectivity relationship between the at least two cells; and sending the target map to a management system, so that the management system plans a target path for a target carrying device to perform a target task according to the target map. The method provided by the present disclosure can realize real-time and rapid connectivity detection, so as to improve the real-time response speed of task allocation and path planning, and further improve the overall work efficiency of the warehouse system.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent warehousing technology, and in particular to a map generation method, control method, warehousing system, electronic device, and medium. Background Technology

[0002] In smart warehousing, the management system needs to frequently check the connectivity between cells in the current map when assigning tasks and planning routes to handling equipment. The current connectivity needs to be determined through real-time detection, which will consume some of the system's computing power and take a long time, resulting in a decrease in the overall efficiency of route planning. Summary of the Invention

[0003] This disclosure provides a map generation method, a control method, a warehousing system, an electronic device, and a medium. The following technical solutions are disclosed in this disclosure:

[0004] A first aspect of this disclosure provides a map generation method, comprising: determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map; generating a target map based on the connectivity relationship, the target map including at least one connected component, the connected component being used to reflect the connectivity relationship between at least two cells; and sending the target map to a management system for the management system to plan a target path for a target transport device to perform a target task based on the target map.

[0005] In some embodiments, determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map includes: traversing all first cells in the current map and determining the parent node of each first cell; and determining the connectivity relationship between any two first cells in the current map by recursive path compression based on the parent node of each first cell.

[0006] In some embodiments, based on the parent node of each first cell, the connectivity relationship between any two first cells in the current map is determined by recursive path compression, including: determining the second cell in the current map as the first node based on a first rule, wherein the first rule indicates the attribute conditions of the connected components in the target map; taking the parent node of the first node as the second node, determining the parent node of the second node based on the first rule, and recursively searching until the parent node of the third node is the third node, thereby determining that the first node, the second node, and the third node belong to a connected component.

[0007] In some embodiments, determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map includes: traversing all third cells in the current map, determining the first information of each third cell, the first information including a first value and a second value, the first value being used to represent the current traversal order of the third cell, and the second value being used to represent the minimum traversal order of the cells that the third cell can reach; and determining the connectivity relationship between any two third cells in the current map based on the first information.

[0008] In some embodiments, traversing all third cells in the current map and determining the first information of each third cell includes: traversing all third cells in the current map, determining a directed graph based on the line segment between any two third cells; determining the first value and the second value of the third cell in the current map based on the directed graph, and storing the first value and the second value of the third cell in the first information corresponding to the third cell.

[0009] In some embodiments, determining the connectivity relationship between any two third cells in the current map based on first information includes: traversing the first information corresponding to each third cell until the first value of the fourth cell is equal to the second value of the fourth cell to obtain a first connected component, the first connected component including the fourth cell and at least one third cell connected to the fourth cell; determining the connectivity relationship between any two third cells in the current map based on at least one cell in the first connected component and a first rule, the first rule indicating the attribute conditions of the connected component in the target map.

[0010] In some embodiments, the method further includes: if there are cells in the target map that satisfy the first condition, obtaining the updated attribute information of each cell in the target map; updating the target map based on the updated attribute information of each cell in the target map; and sending the updated target map to the management system.

[0011] In some embodiments, the first condition includes at least one of the following: any cell in the target map is locked for a first duration; any cell in the target map is unlocked for a second duration; at least one cell in the target map is in a congested state.

[0012] In the above embodiments, based on the attribute information of each cell in the current map, the connectivity relationship between any two cells can be obtained in different ways. Furthermore, at least one connected component can be obtained, realizing fast and real-time connectivity detection, achieving real-time performance and reliability, and achieving the goal of improving the overall operating efficiency of the warehousing system.

[0013] A second aspect of this disclosure provides a control method executed by a management system, comprising: acquiring a target map, the target map being determined based on attribute information of each cell in a current map, the target map including at least one connected component, the connected component being used to reflect the connectivity relationship between at least two cells; and planning a target path for a target handling device to perform a target task based on the target map.

[0014] In some embodiments, planning a target path for a target handling device to perform a target task based on a target map includes: obtaining the current position coordinates of the target handling device and the starting point coordinates and ending point coordinates of the target task; determining a first connectivity relationship between the current position coordinates and the starting point coordinates, and a second connectivity relationship between the starting point coordinates and the ending point coordinates, based on the target map; and generating a target path based on the first connectivity relationship and the second connectivity relationship.

[0015] In some embodiments, generating a target path based on a first connectivity relationship and a second connectivity relationship includes: determining a first path for the target transport device based on the current location coordinates and the coordinates of at least one cell in the first connected component, wherein the first connected component reflects the first connectivity relationship of at least one cell between the current location coordinates and the starting coordinates of the target task; and determining a second path for the target transport device based on the starting coordinates of the target task and the coordinates of at least one cell in the second connected component, wherein the second connected component reflects the second connectivity relationship of at least one cell between the starting coordinates of the target task and the ending coordinates of the target task, wherein the target path includes the first path and the second path.

[0016] In some embodiments, the method further includes: obtaining the start coordinates and end coordinates of at least one order task; determining a third connectivity relationship between the start coordinates and the end coordinates of the first order task based on a target map; and determining a target task in the at least one order task based on the third connectivity relationship.

[0017] In some embodiments, the method further includes: acquiring status information of at least one transport device; and determining a target transport device among the at least one transport device based on the starting coordinates of the target task and the status information of the at least one transport device, through at least one connected component in the target map.

[0018] In the above embodiments, the management system obtains the target map and, based on at least one connected component in the target map, performs processes such as creating target tasks, assigning target handling equipment to target tasks, and planning target paths for target handling equipment to execute target tasks. This achieves real-time rapid response, improves work efficiency, and further meets the requirements of improving the overall operating efficiency and real-time performance of the warehousing system.

[0019] A third aspect of this disclosure provides a map generation apparatus, comprising: a determining module, configured to determine the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map; a generating module, configured to generate a target map according to the connectivity relationship, the target map including at least one connected component, the connected component being used to reflect the connectivity relationship between at least two cells; and a sending module, configured to send the target map to a management system, so that the management system can plan a target path for a target transport device to perform a target task based on the target map.

[0020] A fourth aspect of this disclosure provides a control device, comprising: an acquisition module for acquiring a target map, the target map being determined based on attribute information of each cell in a current map, the target map including at least one connected component, the connected component being used to reflect the connectivity relationship between at least two cells; and a control module for planning a target path for a target handling device to perform a target task based on the target map.

[0021] A fifth aspect of this disclosure provides a warehousing system, including: a map generation module and a management system. The map generation module is configured to perform the method in any embodiment of the first aspect of this disclosure, and the management system is configured to perform the method in any embodiment of the second aspect of this disclosure.

[0022] A sixth aspect of this disclosure provides an electronic device, including: a processor and a memory; the memory for storing computer-executable instructions; and the processor for reading instructions from the memory and executing the instructions to implement the method in any of the implementations of the first or second aspect.

[0023] A seventh aspect of this disclosure provides a computer-readable storage medium storing computer instructions configured to cause the computer to perform the method in any of the implementations of the first or second aspect described above.

[0024] An eighth aspect of this disclosure provides a computer program product including a computing program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the method in any of the implementations of the first or second aspect described above.

[0025] The map generation method, control method, and apparatus provided in this disclosure determine at least one connected component in the target map by analyzing the attribute information of each cell in the current map. The management system can then plan target paths for the target handling equipment to perform target tasks based on the connected components in the target map, thereby achieving real-time and rapid connectivity detection and improving the real-time response speed of task allocation and path planning. Attached Figure Description

[0026] Figure 1 A schematic diagram of a warehousing system provided in an embodiment of this disclosure is shown;

[0027] Figure 2 This is a schematic flowchart of a map generation method proposed in an embodiment of this disclosure;

[0028] Figure 3 This is a flowchart of the method for determining connectivity relationships proposed in the embodiments of this disclosure;

[0029] Figure 4 This is a flowchart of the method for determining connectivity relationships proposed in the embodiments of this disclosure.

[0030] Figure 5 This is a flowchart of the control method proposed in the embodiments of this disclosure.

[0031] Figure 6A This is a schematic diagram of connectivity relationships.

[0032] Figure 6B This is a schematic diagram for disjoint-set data structure detection.

[0033] Figure 6C This is a schematic diagram of Tarjan's detection.

[0034] Figure 6D A schematic diagram of connected components;

[0035] Figure 6E This is a schematic diagram of connectivity detection.

[0036] Figure 7 This is a schematic diagram of the structure of a map generation device 700 according to an embodiment of the present disclosure;

[0037] Figure 8 This is a schematic diagram of the structure of a control device 800 according to an embodiment of the present disclosure;

[0038] Figure 9 This is a schematic diagram of the structure of an electronic device 900 for implementing the above-described map generation method and control method, according to an exemplary embodiment. Detailed Implementation

[0039] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0040] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0041] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0042] This disclosure provides a control method, and also relates to a control system, an electronic device, a computer program product, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0043] The following describes the solutions of the embodiments of this disclosure with reference to examples.

[0044] Figure 1 This is a schematic diagram of a warehousing system provided in an embodiment of the present disclosure. The warehousing system includes a management system 101, a map generation module 102, and handling equipment 103. The management system can be a robot management system, such as an RMS (Robot Management System), and the map generation module can be part of the management system or a module independent of the management system.

[0045] In some embodiments, the map generation module can determine the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map, and generate a target map containing at least one connected component and send it to the management system.

[0046] In some embodiments, the map generation module may be a connectivity detection module, a connectivity map generation module, a map module, or a first module, and the name of the map generation module is not limited in this disclosure.

[0047] In some embodiments, at least one handling device can report status information to the map generation module and the management system in real time. The status information includes the status of the handling device, its current location coordinates, whether it is performing a task, and its no-load status.

[0048] In some embodiments, the management system can determine the target handling equipment based on the target map sent by the map generation module and the status information of at least one handling equipment, and assign target tasks to the target handling equipment and plan the target path for executing the target tasks.

[0049] In the embodiments of this disclosure, the warehousing system can set different scenarios, such as setting a first rule, which indicates the attribute conditions of connected components in the map. Specifically, the map generation module can generate target maps based on different scenarios for the management system to create target tasks, assign target tasks to target handling equipment, and plan target paths.

[0050] Figure 2 This is a flowchart illustrating a map generation method proposed in an embodiment of this disclosure, applied to a map generation module. For example... Figure 2 As shown, the method includes the following steps:

[0051] Step 201: Based on the attribute information of each cell in the current map, determine the connectivity relationship between any two cells in the current map.

[0052] In some embodiments, connectivity is used to indicate whether there is a path between any two cells, in other words, whether any two cells can be reached directly.

[0053] In some embodiments, the cell's attribute information includes at least one of the following: cell's position coordinates, cell's parent node information, cell's child node information, empty load information, vehicle type matching information, and right-of-way matching information.

[0054] In some embodiments, the parent node information in the attribute information may include the cell identifier of one parent node, or it may include the cell identifiers of multiple parent nodes. The parent node may represent the previous cell that can be connected to the cell, or it may be the nearest starting cell with a walking path to the cell. When a cell has no previous cell connected to it, or the cell is the starting cell of the walking path, then the parent node of that cell is itself.

[0055] In some embodiments, the current map includes multiple cells, each cell including cell attribute information. The multiple cells in the current map may or may not have a connectivity relationship. A connectivity relationship means that there is a connecting path between two cells, that is, the transport device can directly reach the next cell from the current cell, or reach the next cell from the current cell through other cells.

[0056] In some embodiments, determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map can be based on the parent node information of the cells, determining whether any two cells are parent-child nodes of each other, thereby determining the connectivity relationship between any two cells.

[0057] In some embodiments, determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map can be based on the parent node information and empty load information of the cells. It can be determined whether any two cells that meet the empty load condition are parent and child nodes of each other, thereby determining the connectivity relationship between any two cells.

[0058] In some embodiments, determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map can be based on the parent node information and right-of-way matching information of the cells, determining whether any two cells that meet the right-of-way matching conditions are parent and child nodes of each other, thereby determining the connectivity relationship between any two cells.

[0059] In some embodiments, determining the connectivity between any two cells in the current map based on the attribute information of each cell in the current map can be based on the parent node information of the cells. It can be determined whether the parent nodes of any two cells are the same. If they are the same, then the two cells are connected.

[0060] Step 202: Generate the target map based on connectivity relationships.

[0061] In some embodiments, the target map includes at least one connected component, which is used to reflect the connectivity relationship between at least two cells.

[0062] In some embodiments, a connected component can represent a connectable region, meaning that a cell in a connected component can reach any other cell in that connected component.

[0063] In some embodiments, the target map may be a map containing a connectivity graph, which reflects the connectivity between cells in the map.

[0064] In some embodiments, the connected component may also be a connected vector, a connected region, a connected range, etc., and this disclosure does not limit this.

[0065] In some embodiments, the connectivity relationship between at least two cells can be a unidirectional connectivity relationship or a bidirectional connectivity relationship. A unidirectional connectivity relationship means that the parent nodes of the two cells are the same, that is, the two cells are in the same connected component. If the parent nodes of multiple cells are the same, then the multiple cells are in the same connected component. A bidirectional connectivity relationship means that in a connected component, the first and last cells are set to be connected to each other, then all cells are in a bidirectional connectivity relationship or a strong connectivity relationship. A connected component with a unidirectional connectivity relationship is a unidirectional connected component, and a connected component with a bidirectional connectivity relationship is a bidirectional connected component or a strong connected component.

[0066] In some embodiments, generating a target map based on the connectivity relationship between any two cells can be achieved by storing the connectivity relationships between multiple sets of cells as a set in the target map, where multiple sets of cells constitute a connected component, and the connectivity relationship between each set of cells is obtained in step 201.

[0067] In some embodiments, generating a target map based on the connectivity relationship between any two cells can be achieved by storing the information of cells belonging to a connected component in the attribute information of the connected component based on the connectivity relationship between any two cells. That is, the generated target map includes at least one connected component, and the attribute information of each connected component includes the connectivity relationship between any two cells and the connectivity relationship between at least two cells.

[0068] In some embodiments, generating a target map based on connectivity relationships can be achieved by dividing the current map into different regions, each region being a connected component. Different rules can be set between different regions to allow the handling equipment to move between different regions or not move between different regions.

[0069] Step 203: Send the target map to the management system. The target map is used by the management system to plan the target path for the target handling equipment to perform the target task.

[0070] In some embodiments, sending the target map to the management system can be used by the management system to create target tasks.

[0071] In some embodiments, sending the target map to the management system can be used by the management system to assign target handling equipment to the target task.

[0072] In some embodiments, sending the target map to the management system can be used by the management system to plan the target path for the target handling equipment to perform the target task.

[0073] In some embodiments, the method further includes: if there are cells in the target map that satisfy the first condition, obtaining the updated attribute information of each cell in the target map; updating the target map based on the updated attribute information of each cell in the target map; and sending the updated target map to the management system.

[0074] In some embodiments, the first condition includes at least one of the following: any cell in the target map is locked for a first duration; any cell in the target map is unlocked for a second duration; at least one cell in the target map is in a congested state.

[0075] In some embodiments, the first condition is used to determine whether the target map needs to be updated. In other words, if there are no cells in the target map that have been triggered to lock or unlock or are congested, the target map does not need to be updated. The management system can use the current target map to perform at least one of the following: task creation, equipment allocation, and route planning. When the first condition is met, the map generation module will be triggered to update the target map.

[0076] In some embodiments, the first duration and the second duration can be pre-configured time values. The values ​​of the first duration and the second duration can be the same or different, and this disclosure does not limit this. For example, both the first duration and the second duration are 5 seconds.

[0077] In some embodiments, cell locking may be triggered when a handling device stops at the cell's location due to a malfunction, thus triggering cell locking; cell unlocking may be triggered when the malfunctioning handling device is removed, and the worker triggers cell unlocking.

[0078] In some embodiments, cell locking may be triggered due to scenario limitations, where staff lock cells at fixed locations to prevent moving equipment from reaching or passing through the locked cells, thereby triggering an update of the target map; cell unlocking may be triggered by staff unlocking cells at fixed locations, thereby triggering an update of the target map.

[0079] In some embodiments, cell congestion means that the cell is included in the walking paths of multiple handling devices, causing the cell to need to queue. In this case, the target map will be updated to prevent the management system from still treating the cell as a plannable cell based on the initial target map, which would cause even greater congestion.

[0080] For example, the connectivity graph is divided into static data and dynamic data. The connectivity detection module triggers a data refresh 5 seconds after a cell is locked or unlocked, that is, it provides dynamic data to RMS.

[0081] For example, such as Figure 6A As shown in the diagram, as in 1.1, after a cell is locked, a new connectivity test is performed based on the separate connected regions determined by the locked cell to determine the connected regions; as shown in 1.2, after a congested cell appears, a new connectivity test is triggered to determine the connected regions.

[0082] In some embodiments, the map generation module may update the target map by: obtaining the update attribute information of each cell in the target map; and updating the target map based on the update attribute information of each cell in the target map.

[0083] In some embodiments, the updated attribute information of each cell in the target map is the real-time attribute information of each cell when the update is triggered, wherein the parameters of each attribute may be the same as or different from the previous parameters.

[0084] In some embodiments, updating the target map based on the updated attribute information of each cell in the target map can be achieved by determining the connectivity relationship between any two cells in the target map based on the updated attribute information of each cell in the target map; and updating the target map according to the connectivity relationship to obtain the updated target map. The method for determining the connectivity relationship between any two cells in the target map is the same as the specific implementation of determining the connectivity relationship between any two cells in the current map in step 201, and will not be elaborated here.

[0085] For example, the connectivity detection module sends the connectivity graph to the RMS as static data. After a cell is locked or unlocked for 5 seconds, the connectivity detection module refreshes the data to obtain the latest connectivity graph. The connectivity detection module then sends the latest connectivity graph to the RMS as dynamic data for use by other modules in the RMS, such as the task creation module for task creation, the robot allocation module for allocating robots based on the created tasks, and the path planning module for planning paths for robots to perform tasks.

[0086] In summary, based on the attribute information of each cell in the current map, the connectivity relationship between any two cells can be determined, thereby obtaining at least one connected component in the target map to generate the target map, providing a basis for the management system to create tasks, allocate moving equipment, and plan routes.

[0087] Figure 3 This is a flowchart of the method for determining connectivity relationships provided in this disclosure, based on... Figure 2 The embodiment shown, Figure 3 right Figure 2 Step 201 in the text will be described in further detail, such as... Figure 3As shown, it includes the following steps:

[0088] Step 301: Traverse all first cells in the current map and determine the parent node of each first cell.

[0089] In some embodiments, traversing all first cells in the current map can involve obtaining the attribute information of each first cell and determining the parent node of the first cell.

[0090] In some embodiments, if the parent node information in the attribute information of the first cell is empty, then the parent node of the first cell is the first cell itself.

[0091] In some embodiments, if the parent node information of the first cell is the second cell, then the parent node of the first cell is the second cell.

[0092] In some embodiments, if the parent node information in the attribute information of the first cell includes multiple second cells, then the parent node of the first cell is any one of the multiple second cells.

[0093] For example, based on disjoint-set data structure detection, traverse all cells in the map once, such as... Figure 6B As shown in the diagram, when traversing to C, we determine that C is the parent node of C; when traversing to D, we determine that D is the parent node of C; when traversing to E, we determine that E is the parent node of D; when traversing to H, we determine that H is the parent node of E, and so on, to obtain the parent node of each cell.

[0094] Step 302: Based on the parent node of each first cell, determine the connectivity relationship between any two first cells in the current map through recursive path compression.

[0095] In some embodiments, based on the parent node of each first cell, the connectivity between any two first cells in the current map is determined by recursive path compression. This can be done by grouping the first cells that are parent-child nodes together for each first cell's parent node, and continuing to find the parent node of any cell in this group, adding the first cells that are parent-child nodes together, until the parent node of the traversed first cell is itself. Path compression is then performed on all the first cells grouped together, meaning that the first cells in this group all have a common parent node, thus obtaining the connectivity between any two first cells.

[0096] In some embodiments, the common parent node is not fixed and is related to the order of cell traversal, and can be randomly selected.

[0097] In some embodiments, determining the connectivity relationship between any two first cells in the current map by recursive path compression based on the parent node of each first cell can be as follows: based on a first rule, determine the second cell in the current map as the first node, where the first rule indicates the attribute conditions of the connected components in the target map; with the parent node of the first node as the second node, determine the parent node of the second node based on the first rule, and recursively search until the parent node of the third node is the third node, thus determining that the first node, the second node, and the third node belong to a connected component.

[0098] In some embodiments, the first rule may be a pre-defined attribute condition of the connected components in the target map, such as the connected components needing to meet the requirement of being passable when unloaded or not passable when loaded.

[0099] In some embodiments, the first rule may be that the cells of the connected components in the target map need to meet the vehicle type requirements, such as only the first type of vehicle can pass, or only the second type of vehicle cannot pass.

[0100] In some embodiments, the first rule may be that the cells of the connected components in the target map need to meet the requirements of right-of-way matching. For example, all connected components need to meet the first right-of-way condition, which is the device model supported by the cell.

[0101] In some embodiments, the first rule may be that the cells of the connected components in the target map need to meet spatial requirements. For example, the overall range of all cells in the connected components can not exceed a first range, which can be a pre-defined number of cells or the size of the connected component region.

[0102] In some embodiments, the first rule may be to set one-way connectivity to no connectivity.

[0103] In some embodiments, the first rule may be to set unidirectional connectivity as connectivity, that is, under the premise that multiple connected components can be connected, the first and last cells are set to be mutually connected.

[0104] In some embodiments, the first rule may be set or canceled according to business needs, and this disclosure does not limit this.

[0105] In some embodiments, based on the first rule, the second cell in the current map is determined as the first node. This can be done by identifying the second cell among all first cells in the current map that satisfy the first rule, and using the second cell as the first node, which is the first node / head node from which the recursive search begins.

[0106] In some embodiments, the parent node of the first node is taken as the second node. Based on the first rule, the parent node of the second node is determined. This can be done by determining the second node from all the parent nodes of the first node, the second node satisfying the first rule, and then determining the node that satisfies the first rule from all the parent nodes of the second node as the third node. This process is repeated recursively until the parent node of the third node is itself. In other words, the first node, the second node, and all the third nodes in the recursive search process can be regarded as a connected component. In this connected component, the parent node of all nodes can be the third node, thus obtaining the connectivity relationship between any node and the third node in this connected component.

[0107] For example, based on disjoint-set data structure detection, after traversing all cells, path compression is performed, such as... Figure 6B The diagram shown uses node H as an example. Since the parent node of H is E, and the parent node of E is not equal to itself, compression is required. Continue to search for the parent node through node E until you find node C, whose parent node is equal to itself. Then, update the parent node of all cells D, E, and H encountered along the way to node C. These cells eventually all point to the same parent node C, indicating that they are all in the same connected component and are considered to be interconnected.

[0108] In some embodiments, determining the connectivity relationship between any two cells in the current map can yield at least one connected component, that is, each connected component contains at least two cells, and the two cells have a unidirectional or bidirectional connectivity relationship.

[0109] In the above embodiment, by traversing all first cells in the current map and determining the parent node of the first cell, recursively compressing all first cells according to the principle of determining the parent node, so as to find at least two first cells with the same parent node, thereby obtaining the connectivity relationship between any two first cells, which improves the real-time efficiency of connectivity detection.

[0110] Figure 4 This is a flowchart of the method for determining connectivity relationships provided in this disclosure, based on... Figure 2 The embodiment shown is for Figure 2 Step 201 in the document will be further explained, such as... Figure 4 As shown, it includes the following steps:

[0111] Step 401: Traverse all third cells in the current map and determine the first information of each third cell.

[0112] In some embodiments, the first information includes a first value and a second value, wherein the first value represents the current traversal order of the third cell, and the second value represents the minimum traversal order of the cells that the third cell can reach.

[0113] In some embodiments, the first information may be stored in the form of a stack, which includes a first value and a second value. The first value may be the number of times the current cell is visited during the traversal process, i.e., the traversal order. The second value may be the smallest first value among all cells that can be reached during the traversal process starting from the current cell, i.e., the minimum value of the traversal order.

[0114] In some embodiments, determining the first information may involve: traversing all third cells in the current map, determining a directed graph based on the line segment between any two third cells; determining the first and second values ​​of the third cells in the current map based on the directed graph, and storing the first and second values ​​of the third cells in the first information corresponding to the third cells.

[0115] In some embodiments, traversing all third cells in the current map can be achieved by traversing the attribute information of all cells in the current map. The attribute information of each cell stores connection relationships, such as key-value pairs.<id,id> This refers to the connectivity between two adjacent cells; this information will not be updated.

[0116] In some embodiments, a directed graph is determined based on the line segment between any two third cells. This can be achieved by determining the directed relationship between any two third cells based on whether there is a connection between them, thereby constructing a directed graph where the nodes represent third cells.

[0117] In some embodiments, a directed graph reflects the nodes that can be reached from any node in the current map.

[0118] For example, the Tarjan algorithm is used to traverse all cells in the current map and obtain a directed graph by the line segments between the cells.

[0119] like Figure 6C The diagram shown is based on key-value pairs.<a,b> ,<b,c> ,<c,a> We can obtain the directed connection relationship between a, b, and c, and so on, we can obtain... Figure 6C The directed graph shown.

[0120] In some embodiments, based on a directed graph, determining the first and second values ​​of the third cell in the current map can be achieved by performing a Depth-First Search (DFS) traversal starting from any node in the directed graph, recording the number of times each node is visited and the minimum visited order among all nodes reachable from each node, in order to obtain the first information.

[0121] In some embodiments, storing the first and second values ​​of the third cell in the first information corresponding to the third cell can be achieved by storing the first and second values ​​of all accessed nodes in the same stack.

[0122] In some embodiments, the first value can be the order in which the cells are traversed, pointing to itself and not being updated; the second value can be the earliest node that can be traced during the cell traversal process. During the first traversal, the second value points to itself, and after traversing to an earlier node, the second value will be updated.

[0123] For example, a DFS traversal is performed on a directed graph, recording the timestamp dfn and low value low for each node. Here, dfn[u] indicates how many times node u is visited, and low[u] indicates the minimum dfn value among all nodes reachable from u. A stack is used to store the nodes on the current path during the DFS process.

[0124] For example, such as Figure 6C The diagram illustrates that in the resulting directed graph, the first traversed node is `a`, and `a`'s stack is (0, 0). Traversing forward, the second node is `b`, and `b`'s stack is (1, 1). The third node is `c`, and `c`'s stack is (2, 2). Traversing `c` back to `a`, `b`'s stack is updated to (1, 0), and `c`'s stack is updated to (2, 0), and so on, until the stacks of all nodes in the directed graph are obtained. Since `e` and `f` are starting nodes and there is no reachable node with the smallest dfn value, their stacks are not updated.

[0125] In some embodiments, the first and second values ​​can be positive integers greater than or equal to 0. For example, the first value of the first visited node is 0.

[0126] Step 402: Based on the first information, determine the connectivity relationship between any two third cells in the current map.

[0127] In some embodiments, determining the connectivity relationship between any two third cells in the current map based on the first information may involve: traversing the first information of each third cell until the first value of the fourth cell is equal to the second value of the fourth cell, to obtain a first connected component, the first connected component including the fourth cell and at least one third cell connected to the fourth cell; and determining the connectivity relationship between any two third cells in the current map based on at least one cell in the first connected component and a first rule, the first rule indicating the attribute conditions of the connected component in the target map.

[0128] In some embodiments, the first information corresponding to each third cell is traversed, that is, all stacks in the current map are traversed, including the first value and the second value. The first value of each cell may be equal or unequal, the second value may be equal or unequal, and the first value and the second value may be equal or unequal.

[0129] In some embodiments, the first information is traversed until the first value of the fourth cell is equal to the second value of the fourth cell, that is, all child nodes rooted at the fourth cell cannot find a node that was visited earlier than the fourth cell. Then, all child nodes rooted at the fourth cell belong to the first connected component. In other words, the first connected component includes the fourth cell and at least one third cell that is connected to the fourth cell.

[0130] For example, during the DFS process, a stack is used to store the nodes on the current path. When dfn[u] = low[u], all nodes in the subtree rooted at u cannot find a node that was visited earlier than u. These nodes form a closed ring structure and can reach each other. Popping all nodes in this component from the stack will form a strongly connected component.

[0131] For example, such as Figure 6C As shown in the diagram, if the dfn and low values ​​of node a are both 0, then nodes a, b, c, and d form a bidirectional connected component, while nodes e and f are unidirectional connected components. In some embodiments, determining the connectivity between any two third cells in the current map based on at least one cell in the first connected component and a first rule can be achieved by identifying cells in the first connected component that satisfy the first rule, thereby determining the connectivity between any two third cells in the target map.

[0132] In some embodiments, the first rule may be a pre-defined attribute condition of the connected components in the target map, such as the requirement that cells in the connected components must meet the requirement of being passable when empty or impassable when loaded.

[0133] In some embodiments, the first rule may be that the cells in the connected component need to meet the vehicle type requirements, such as only the first type of vehicle can pass, or only the second type of vehicle cannot pass.

[0134] In some embodiments, the first rule may be that cells in a connected component need to meet the requirements of right-of-way matching, for example, cells in a connected component need to meet the first right-of-way condition, where the first right-of-way condition is the device model supported by the cell.

[0135] In some embodiments, the first rule may be that the cells in the connected component need to meet space requirements. For example, the overall range of all cells in the connected component may be set to not exceed a first range, which may be a pre-defined number of cells or the overall coverage of the connected component.

[0136] In some embodiments, the first rule may be to set one-way connectivity to no connectivity.

[0137] For example, such as Figure 6C The diagram shows that, under the condition that one-way connectivity is not connected, nodes a, b, c, and d form a bidirectional connected component, while nodes e and f are each a one-way connected component.

[0138] For example, such as Figure 6D The schematic diagram shown shows that, under the condition that one-way connectivity is not connected, multiple connected components can be obtained as shown in (2), that is, it is assumed that A can reach I, but I cannot reach A.

[0139] In some embodiments, the first rule may be to set unidirectional connectivity as connectivity, that is, under the premise that multiple connected components can be connected, the first and last cells are set to be mutually connected.

[0140] For example, such as Figure 6C The diagram shown illustrates that, under the condition of unidirectional connectivity, nodes a, b, c, d, e, and f form a single connected component.

[0141] For example, such as Figure 6D The schematic diagram shown shows a connected component as shown in (3) under the condition that one-way connectivity is connected. That is, it is assumed that A can reach I and I can also reach A.

[0142] In some embodiments, the first rule can be customized according to business needs, or the setting of the first rule can be cancelled, and this disclosure does not restrict this.

[0143] In the above embodiment, by determining the directed graph in the current map, the directed graph is traversed to obtain the first and second values ​​of each cell. Based on the first and second values, the connectivity relationship between any two third cells can be obtained, compared to... Figure 3 The method shown can obtain bidirectional connectivity relationships and enable rapid connectivity detection, further improving the efficiency of the warehousing system.

[0144] In the above embodiments, by Figure 3 and Figure 4 The two different methods shown in the embodiments can obtain the connectivity relationship between any two cells in the current map, that is, obtain at least one connected component. Based on the obtained connectivity relationship, a target map can be obtained, which includes all the obtained connected components, for use by the management system to create tasks, allocate handling equipment and plan routes.

[0145] Figure 5 The flowchart of the control method provided in this disclosure is based on Figures 2-4 The illustrated embodiment is executed by the management system, such as... Figure 5 As shown, it includes the following steps:

[0146] Step 501: Obtain the target map.

[0147] In some embodiments, the target map is determined based on the attribute information of each cell in the current map, and the target map includes at least one connected component, which is used to reflect the connectivity relationship between at least two cells.

[0148] In some embodiments, the management system may obtain a target map in the initial stage. The target map is determined by the map generation module based on the attribute information of each cell in the initial map (or the current map).

[0149] In some embodiments, if there are cells in the target map that meet the first condition, the management system can obtain the updated target map determined by the map generation module based on the updated attribute information of each cell in the target map.

[0150] In some embodiments, the management system obtains the updated target map when any cell is triggered to lock for a first duration and / or any cell is triggered to unlock for a second duration.

[0151] In some embodiments, the management system obtains an updated target map when at least one cell is congested.

[0152] Step 502: Based on the target map, plan the target path for the target handling equipment to perform the target task.

[0153] In some embodiments, planning a target path for a target handling device to perform a target task based on a target map includes at least one of creating a target task, assigning a target handling device to the target task, and planning a target path for the target handling device to perform the target task.

[0154] In some embodiments, the management system creates a target task by: obtaining the start coordinates and end coordinates of at least one order task; determining a third connectivity relationship between the start coordinates and the end coordinates of the first order task based on a target map; and determining the target task in the at least one order task based on the third connectivity relationship.

[0155] In some embodiments, the management system can obtain the start coordinates and end coordinates of each order task based on the order tasks in the current system, and determine whether the cell of the start coordinates and the cell of the end coordinates belong to a connected component through at least one connected component in the target map. If they belong to a connected component, the order can be created; if they do not belong to a connected component, the order cannot be created.

[0156] In some embodiments, the management system assigns a target transport device to a target task by: acquiring the status information of at least one transport device; and determining the target transport device among the at least one transport device based on the starting coordinates of the target task and the status information of at least one transport device, through at least one connected component in the target map.

[0157] In some embodiments, the status information of the handling equipment includes the current location coordinates of the handling equipment, its no-load status, and whether it is performing a task.

[0158] In some embodiments, the management system can determine the target handling device for performing the target task from at least one handling device by using at least one connected component in the target map, based on the starting coordinates of the target task and the status information of at least one handling device in the current warehousing system.

[0159] In some embodiments, if the current position coordinates of the transport device and the starting coordinates of the target task are in a connected component, then the transport device can be identified as the target transport device.

[0160] In some embodiments, if the current position coordinates of the transport device and the starting coordinates of the target task are not in the same connected component, but the transport device is in an unloaded state, then the transport device can be identified as the target transport device.

[0161] In some embodiments, among the at least one transport device that can be identified as the target transport device, the target transport device can be further identified based on the attribute conditions of the connected components in the target map, such as vehicle type matching conditions, right-of-way matching conditions, etc.

[0162] For example, such as Figure 6E The diagram shows that, under load, the transport equipment cannot move between cells of two connected components, and under no-load conditions, the transport equipment can move between cells of two originally disconnected connected components.

[0163] In some embodiments, the management system may plan a target path for the target handling equipment to perform a target task by: obtaining the current position coordinates of the target handling equipment and the starting coordinates and ending coordinates of the target task; determining a first connectivity relationship between the current position coordinates and the starting coordinates, and a second connectivity relationship between the starting coordinates and the ending coordinates, based on the target map; and generating a target path based on the first connectivity relationship and the second connectivity relationship.

[0164] In some embodiments, the management system may plan the target path for the target handling equipment to perform the target handling task by first planning the path from the target handling equipment to the starting point coordinates, and then planning the path from the starting point coordinates to the ending point coordinates to obtain the target path.

[0165] In some embodiments, determining the first connectivity relationship between the current location coordinates and the starting point coordinates based on the target map can be done by determining information about at least one cell that needs to be traversed to reach the starting point coordinates from the cell at the current location coordinates. In other words, it can be done by determining the first connectivity relationship, which is the information about the connectable cells from the current location coordinates to the starting point coordinates.

[0166] In some embodiments, when the target handling device is in an unloaded state, the first connectivity relation may include cells from multiple connected components; when the target handling device is in a loaded state, the first connectivity relation consists of cells from one connected component.

[0167] In some embodiments, based on the target map, determining the second connectivity relationship between the start-point coordinates and the end-point coordinates can be done by determining information about at least one cell that needs to be traversed to reach the end-point coordinates from the cell at the start-point coordinates. In other words, it can be about determining the second connectivity relationship, which is the information about the connectable cells from the start-point coordinates to the end-point coordinates.

[0168] In some embodiments, the target transport device is a cell of a connected component in the second connectivity relationship from the starting point coordinates to the ending point coordinates.

[0169] In some embodiments, when the current position coordinates of the target handling device are the same as the starting point coordinates, the management system can plan the target path by planning a path from the starting point coordinates to the ending point coordinates to obtain the target path. Therefore, the first connectivity relationship between the current position coordinates and the starting point coordinates can include only the cell containing either the starting point coordinates or the cell containing the current position coordinates.

[0170] In some embodiments, the first connected component and the second connected component can be the same connected component or different connected components. For example, when the current position coordinates of the conveying device are the same as the starting point coordinates, the first connected component and the second connected component are the same.

[0171] In some embodiments, generating a target path based on a first connectivity relationship and a second connectivity relationship may involve: determining a first path for the target transport device based on the current location coordinates and the coordinates of at least one cell in the first connected component, wherein the first connected component reflects the first connectivity relationship between the current location coordinates and the starting coordinates of the target task; and determining a second path for the target transport device based on the starting coordinates of the target task and the coordinates of at least one cell in the second connected component, wherein the second connected component reflects the second connectivity relationship between the starting coordinates of the target task and the ending coordinates of the target task, wherein the target path includes the first path and the second path.

[0172] In some embodiments, based on the current position coordinates and the coordinates of at least one cell in the first connected component, a first path can be determined from the current position coordinates to the starting coordinates of the target transport device. The at least one cell in the first connected component is a cell that has a connectivity relationship between the current position coordinates and the starting coordinates.

[0173] In some embodiments, a second path from the starting point coordinates to the ending point coordinates of the target transport device can be determined based on the coordinates of at least one cell in the starting point coordinates and the second connected component. The cells in the second connected component are cells that have a connectivity relationship between the starting point coordinates and the ending point coordinates.

[0174] In summary, the map generation and control methods proposed in this disclosure can determine the connectivity relationship between any two cells based on cell attribute information, thereby obtaining at least one connected component. The management system can obtain information about at least one connected component and use it for task creation, allocation of handling equipment, and route planning. This achieves real-time and rapid connectivity detection, enhancing the system's real-time performance and reliability, and ultimately improving the overall efficiency of the warehousing system.

[0175] The following is a connectivity detection method based on disjoint-set data structure or Tarjan's algorithm, and its specific implementation:

[0176] like Figure 6A The diagram shown illustrates the connectivity graph, which is divided into static and dynamic data. When a cell is locked or unlocked for 5 seconds, the connectivity graph needs to be redefined; or when cell congestion occurs, the connectivity graph needs to be redefined.

[0177] The following are the specific methods for performing connectivity testing:

[0178] 1. Connectivity detection based on disjoint-set data structure or Tarjan's algorithm:

[0179] (1) Disjoint-set data structure (DFT) detection only requires traversing all cells in the map once, using a DFT data structure for recursive path compression. For example... Figure 6B The diagram shown illustrates the disjoint-set data structure detection:

[0180] The disjoint-set data structure first traverses to C. The parent node of C is C, and the parent node is the previous node before C. When C has no previous node, its parent node is itself.

[0181] When traversing to D, the parent node of D is C;

[0182] When traversing to E, the parent node of E is D;

[0183] When traversing to H, H's parent node is E;

[0184] Following this pattern, after traversing all cells, path compression is performed. Taking node H as an example, since H's parent node is E, and E's parent node is not equal to itself, compression is needed: continue searching for the parent node through E until C is found, whose parent node is equal to itself. Then, the parent nodes of cells D, E, and H encountered along the way will all be updated to C. Thus, these cells eventually all point to the same parent node C, indicating that they are all in the same connected component and are considered to be interconnected.

[0185] The parent node is not fixed and is selected randomly depending on the order in which the cells are traversed.

[0186] (2) Tarjan's algorithm has the same space complexity as the disjoint-set data structure, but its time complexity is slightly higher because it needs to traverse the cells once to obtain the directed graph through the connecting lines between the cells, and then perform data calculations once. However, it still has a linear time complexity of O(V+E). The running time of the algorithm is linearly related to the input size (i.e., the number of vertices V and the number of edges E). Its calculation logic is as follows:

[0187] like Figure 6CThe diagram illustrates Tarjan's algorithm. A Depth-First Search (DFS) traversal is performed on the map, recording the timestamp (dfn) and low value (low) for each node. `dfn[u]` represents the nth time node u was visited, and `low[u]` represents the minimum `dfn` value among all nodes reachable from u. A stack is used during DFS to store nodes on the current path. When `dfn[u] == low[u]`, all nodes in the subtree rooted at u cannot find a node visited earlier than u. This means these nodes form a closed ring structure, reachable from each other. Popping all nodes from this ring from the stack forms a strongly connected component. If u has no reachable nodes (u is the root node), or u has reachable nodes whose `dfn` values ​​are the same as u's, then u has no reachable nodes (u is the root node).

[0188] 2. How to use connectivity:

[0189] The rules for using unidirectional connectivity are extremely simple: determine whether two cells are in the same connected component (i.e., connected) by checking if their parent nodes are the same. Connectivity between multiple cells is similar.

[0190] The rules for using bidirectional connectivity are more complex:

[0191] If a map has N cells, and we want to determine the path from A to B, and from B to A, by using connected components, each cell essentially needs to traverse all its surrounding connected components before determining the direction between A and B. To achieve this, we need to perform N*N*2 path planning iterations and record N*N*2 (no load) data points. Figure 6D The diagram shows the connected components. To determine whether A can reach I, we need to plan ABC [CDMN is considered a connected component]-EF [FGOP is considered a connected component]-HI, that is, unidirectional connectivity is not connected. If we set unidirectional connectivity to be connected, that is, A to I is reachable and I to A is reachable, we can further improve the real-time efficiency of using the connectivity graph for subsequent processes.

[0192] The advantage of Tarjan's algorithm over disjoint-set data structures is that it can compute bidirectional connectivity.

[0193] By implementing the above technical solution, rapid real-time connectivity detection can be achieved, significantly improving the real-time response rate of task allocation and path planning in logistics and warehousing systems. The above technical solution has the following beneficial effects:

[0194] 1. Real-time and fast response: The average time complexity of a single detection is close to O(α(n)), where α is the inverse Ackerman function, which grows extremely slowly, and for the value of n in practical applications, it is almost a constant.

[0195] 2. The data structure is simple and easy to use: it only needs to store the parent node information and rank information of each element, so the overall space complexity is O(n). Whether two cells are connected can be determined by whether the parent node information is consistent, and the time complexity of querying connectivity is O(1).

[0196] 3. Facilitates the expansion of business rules: Methods such as parent node relationship updates and path compression involve fixed calculations, while methods for determining whether two nodes have a connectivity relationship can be expanded with different rules, such as no-load, vehicle type, and right-of-way. Different business scenarios can obtain the connectivity relationship of the corresponding view according to different rules. Figure 6E The schematic diagram of connectivity detection shown can be set as follows: 1.1 Under load, the transport equipment cannot pass through two separate connected regions; 1.2 Under no-load, the transport equipment can pass through two connected regions, that is, two connected regions can be merged into one connected region.

[0197] In summary, this technical solution not only enables rapid detection and acquisition of connectivity between cells, but also enhances the real-time performance and reliability of the system, thereby bringing significant economic and technical benefits to automated logistics and warehousing systems.

[0198] Figure 7 This is a schematic diagram of the structure of a map generation device 700 according to an embodiment of this disclosure, as shown below. Figure 7 As shown, the device includes:

[0199] The determination module 710 is used to determine the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map.

[0200] The generation module 720 is used to generate a target map based on connectivity relationships. The target map includes at least one connected component, which reflects the connectivity relationship between at least two cells.

[0201] The sending module 730 is used to send the target map to the management system, so that the management system can plan the target path for the target handling equipment to perform the target task based on the target map.

[0202] In some embodiments, the determining module is further configured to traverse all first cells in the current map, determine the parent node of each first cell, and determine the connectivity relationship between any two first cells in the current map by recursive path compression based on the parent node of each first cell.

[0203] In some embodiments, the determining module is further configured to determine the second cell in the current map as the first node based on the first rule, the first rule indicating the attribute conditions of the connected components in the target map; take the parent node of the first node as the second node, determine the parent node of the second node based on the first rule, and recursively search until the parent node of the third node is the third node, and determine that the first node, the second node, and the third node belong to a connected component.

[0204] In some embodiments, the determining module is further configured to traverse all third cells in the current map, determine first information for each third cell, the first information including a first value and a second value, the first value representing the current traversal order of the third cell, and the second value representing the minimum traversal order of the cells that the third cell can reach; and based on the first information, determine the connectivity relationship between any two third cells in the current map.

[0205] In some embodiments, the determining module is further configured to traverse all third cells in the current map, determine a directed graph based on the line segment between any two third cells, determine the first and second values ​​of the third cells in the current map based on the directed graph, and store the first and second values ​​of the third cells in the first information corresponding to the third cells.

[0206] In some embodiments, the determining module is further configured to traverse the first information corresponding to each third cell until the first value of the fourth cell is equal to the second value of the fourth cell, thereby obtaining a first connected component. The first connected component includes the fourth cell and at least one third cell that is connected to the fourth cell. Based on at least one cell in the first connected component and a first rule, the connectivity relationship between any two third cells in the current map is determined. The first rule indicates the attribute conditions of the connected components in the target map.

[0207] In some embodiments, the determining module is further configured to, if there are cells in the target map that satisfy the first condition, obtain the updated attribute information of each cell in the target map; update the target map based on the updated attribute information of each cell in the target map; and send the updated target map to the management system.

[0208] In some embodiments, the first condition includes at least one of the following: any cell in the target map is locked for a first duration; any cell in the target map is unlocked for a second duration; at least one cell in the target map is in a congested state.

[0209] In the above embodiments, the map generation device can determine the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map, thereby obtaining at least one connected component. Based on the obtained connectivity relationship, a target map can be obtained, which includes all the obtained connected components, for use by the management system to create tasks, allocate handling equipment, and plan routes.

[0210] Figure 8 This is a schematic diagram of the structure of a control device 800 according to an embodiment of the present disclosure, as shown below. Figure 8 As shown, the device includes:

[0211] The acquisition module 810 is used to acquire a target map, which is determined based on the attribute information of each cell in the current map. The target map includes at least one connected component, which is used to reflect the connectivity relationship between at least two cells.

[0212] The control module 820 is used to plan the target path for the target handling equipment to perform the target task based on the target map.

[0213] In some embodiments, the control module is further configured to acquire the current position coordinates of the target handling equipment and the starting coordinates and ending coordinates of the target task; based on the target map, determine the first connectivity relationship between the current position coordinates and the starting coordinates, and the second connectivity relationship between the starting coordinates and the ending coordinates; and generate the target path based on the first connectivity relationship and the second connectivity relationship.

[0214] In some embodiments, the control module is further configured to determine a first path of the target transport device based on the current position coordinates and the coordinates of at least one cell in the first connected component, wherein the first connected component reflects a first connectivity relationship between the current position coordinates and the starting coordinates of the target task; and to determine a second path of the target transport device based on the starting coordinates of the target task and the coordinates of at least one cell in the second connected component, wherein the second connected component reflects a second connectivity relationship between the starting coordinates of the target task and the ending coordinates of the target task, wherein the target path includes the first path and the second path.

[0215] In some embodiments, the control module is further configured to obtain the start coordinates and end coordinates of at least one order task; determine a third connectivity relationship between the start coordinates and the end coordinates of the first order task based on the target map; and determine the target task in the at least one order task based on the third connectivity relationship.

[0216] In some embodiments, the control module is further configured to acquire status information of at least one handling device;

[0217] Based on the starting coordinates of the target task and the status information of at least one transport device, the target transport device is determined from at least one transport device through at least one connected component in the target map.

[0218] In the above embodiments, the control device can plan a target path for the target handling equipment to perform target tasks based on at least one connected component in the acquired target map, thereby improving the execution efficiency of the control device, and thus improving the real-time performance and reliability of the system, achieving the goal of improving the overall efficiency of the warehousing system.

[0219] Figure 9 This is a schematic diagram illustrating the structure of an electronic device 900 for implementing the above-described map generation and control methods, according to an exemplary embodiment. The components of the electronic device 900 include, but are not limited to, a memory 910 and a processor 920. The processor 920 is connected to the memory 910 via a bus 930, and a database 950 is used to store data.

[0220] Electronic device 900 also includes access device 940, which enables electronic device 900 to communicate via one or more networks 960. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. Access device 940 may include one or more of any type of wired or wireless network interface (e.g., network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0221] In one embodiment of this disclosure, the above-described components of the electronic device 900 and Figure 9 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 9The illustrated electronic device block diagram is for illustrative purposes only and is not intended to limit the scope of this disclosure. Those skilled in the art can add or replace other components as needed.

[0222] Electronic device 900 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). Electronic device 900 can also be a mobile or stationary server.

[0223] The processor 920 executes the computer instructions to implement the steps of the map generation method or control method.

[0224] The above is an illustrative scheme of an electronic device according to this embodiment. It should be noted that the technical solution of this electronic device and the technical solution of the control method described above belong to the same concept. For details not described in detail in the technical solution of the computing electronic device, please refer to the description of the technical solutions of the map generation method and the control method described above.

[0225] Embodiments of this disclosure also propose a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the map generation method or control method described in the above embodiments of this disclosure.

[0226] Embodiments of this disclosure also provide a computer program product, including a computer program that is executed by a processor using the map generation method or control method described in the above embodiments of this disclosure.

[0227] The foregoing has described specific embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0228] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0229] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, because according to this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this disclosure.

[0230] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0231] The preferred embodiments disclosed above are merely illustrative of this disclosure. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this disclosure. These embodiments are selected and specifically described in this disclosure to better explain the principles and practical applications of this disclosure, thereby enabling those skilled in the art to better understand and utilize this disclosure. This disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A map generation method, characterized in that, The method includes: Based on the attribute information of each cell in the current map, determine the connectivity relationship between any two cells in the current map; Based on the connectivity relationship, a target map is generated, which includes at least one connected component, and the connected component is used to reflect the connectivity relationship between at least two cells; The target map is sent to the management system so that the management system can plan the target path for the target handling equipment to perform the target task based on the target map.

2. The method according to claim 1, characterized in that, Determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map includes: Traverse all first cells in the current map and determine the parent node of each first cell; Based on the parent node of each first cell, the connectivity relationship between any two first cells in the current map is determined through recursive path compression.

3. The method according to claim 2, characterized in that, The process of determining the connectivity between any two first cells in the current map based on the parent node of each first cell through recursive path compression includes: Based on the first rule, the second cell in the current map is determined as the first node, and the first rule indicates the attribute conditions of the connected components in the target map; Using the parent node of the first node as the second node, and based on the first rule, determine the parent node of the second node. Through recursive search, continue until the parent node of the third node is the third node, and determine that the first node, the second node, and the third node belong to a connected component.

4. The method according to claim 1, characterized in that, Determining the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map includes: Traverse all third cells in the current map and determine the first information of each third cell. The first information includes a first value and a second value. The first value is used to represent the current traversal order of the third cell, and the second value is used to represent the minimum traversal order of the cells that the third cell can reach. Based on the first information, the connectivity relationship between any two third cells in the current map is determined.

5. The method according to claim 4, characterized in that, The process of traversing all third cells in the current map and determining the first information of each third cell includes: Traverse all the third cells in the current map and determine a directed graph based on the line segment between any two third cells; Based on the directed graph, the first value and the second value of the third cell in the current map are determined, and the first value and the second value of the third cell are stored in the first information corresponding to the third cell.

6. The method according to claim 5, characterized in that, Determining the connectivity relationship between any two third cells in the current map based on the first information includes: Traverse the first information corresponding to each third cell until the first value of the fourth cell is equal to the second value of the fourth cell, and obtain the first connected component. The first connected component includes the fourth cell and at least one third cell that is connected to the fourth cell. Based on at least one cell in the first connected component and a first rule, the connectivity relationship between any two third cells in the current map is determined, wherein the first rule indicates the attribute conditions of the connected components in the target map.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If there is a cell in the target map that satisfies the first condition, obtain the updated attribute information of each cell in the target map; Update the target map based on the update attribute information of each cell in the target map; The updated target map is sent to the management system.

8. The method according to claim 7, characterized in that, The first condition includes at least one of the following: Once any cell in the target map is locked, a first duration is reached. The second duration is reached after any cell in the target map is triggered to unlock. At least one cell in the target map is in a congested state.

9. A control method, characterized in that, The method is executed by the management system, and the method includes: Obtain a target map, which is determined based on the attribute information of each cell in the current map. The target map includes at least one connected component, which is used to reflect the connectivity relationship between at least two cells. Based on the target map, a target path is planned for the target handling equipment to perform the target task.

10. The method according to claim 9, characterized in that, The step of planning a target path for the target handling equipment to perform the target task based on the target map includes: Obtain the current position coordinates of the target handling equipment, as well as the start and end coordinates of the target task; Based on the target map, determine the first connectivity relationship between the current location coordinates and the starting point coordinates, and the second connectivity relationship between the starting point coordinates and the ending point coordinates. The target path is generated based on the first connectivity relationship and the second connectivity relationship.

11. The method according to claim 10, characterized in that, The step of generating the target path based on the first connectivity relationship and the second connectivity relationship includes: Based on the current location coordinates and the coordinates of at least one cell in the first connected component, a first path for the target handling device is determined, wherein the first connected component reflects the first connectivity relationship of at least one cell between the current location coordinates and the starting coordinates of the target task; Based on the coordinates of at least one cell in the starting coordinates and the second connected component of the target task, a second path of the target transport device is determined. The second connected component reflects the second connectivity relationship between the starting coordinates and the ending coordinates of the target task, and the target path includes the first path and the second path.

12. The method according to any one of claims 9 to 11, characterized in that, The method further includes: Obtain the start and end coordinates of at least one order task; Based on the target map, a third connectivity relationship is determined between the starting coordinates of the first order task and the ending coordinates of the first order task; The target task is determined in the at least one order task based on the third connectivity relationship.

13. The method according to claim 12, characterized in that, The method further includes: Obtain the status information of at least one handling device; Based on the starting coordinates of the target task and the status information of the at least one transport device, the target transport device is determined among the at least one transport device through at least one connected component in the target map.

14. A map generation apparatus, characterized in that, include: The determination module is used to determine the connectivity relationship between any two cells in the current map based on the attribute information of each cell in the current map; A generation module is used to generate a target map based on the connectivity relationship, wherein the target map includes at least one connected component, and the connected component is used to reflect the connectivity relationship between at least two cells; The sending module is used to send the target map to the management system, so that the management system can plan the target path for the target handling equipment to perform the target task based on the target map.

15. A control device, characterized in that, include: The acquisition module is used to acquire a target map, which is determined based on the attribute information of each cell in the current map. The target map includes at least one connected component, which is used to reflect the connectivity relationship between at least two cells. The control module is used to plan a target path for the target handling equipment to perform target tasks based on the target map.

16. A warehousing system, characterized in that, Includes map generation module and management system: The map generation module is configured to perform the method as described in any one of claims 1 to 8; The management system is configured to perform the method as described in any one of claims 9 to 13.

17. An electronic device comprising: A processor and a memory, wherein the memory is used to store computer-executable instructions; The processor is configured to read the instructions from the memory and execute the instructions to implement the method as described in any one of claims 1 to 8 or 9 to 13.

18. A computer-readable storage medium, wherein, The storage medium stores computer program instructions, which, when read by a computer, execute the method as described in any one of claims 1 to 8 or 9 to 13.

19. A computer program product comprising a computer program, wherein, When executed by a processor, the computer program implements the method of any one of claims 1 to 8 or 9 to 13.

Images