CN110189068B - Warehouse rapid configuration method, equipment and storage medium - Google Patents
Warehouse rapid configuration method, equipment and storage medium Download PDFInfo
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Abstract
The application relates to a warehouse rapid configuration method, equipment and a storage medium, wherein the method comprises the following steps: after warehouse information of a warehouse is obtained, determining shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; after a plurality of groups of shelves are arranged in the warehouse according to the shelf layout information, drawing a warehouse map in the warehouse by using a robot; and establishing a corresponding relation between a preset storage position identifier of the storage position and each storage position in the storage map. The method can realize quick deployment of the goods shelves in the warehouse, the warehouse map can be quickly drawn after the goods shelves are deployed, and the deployed warehouse can finish robot picking by using the corresponding relation between the warehouse map and the storage position marks and storage positions only by putting goods into the storage positions of the goods shelves, so that the requirements of electronic commerce enterprises on the violently increased goods during activities can be quickly responded.
Description
Technical Field
The present application relates to the field of intelligent devices, and in particular, to a method, an apparatus, and a storage medium for rapidly configuring a warehouse.
Background
At present, electronic commerce is developed very rapidly, and the quantity of customer orders is increased rapidly. In order to improve the picking efficiency, the ever-increasing single-volume demand is met, and different types of equipment are respectively introduced by all logistics equipment manufacturers. Typically, the AGV (Automated Guided Vehicle ) and AS/RS (Automated Storage and Retrieval System, automated warehouse system) are basically consistent in principle, and the goods are placed in the bins, then the bins are pushed to the picking station by the robot, and then the pickers prompt to pick the corresponding goods according to the system interface.
Although the two equipment forms solve the problem of personnel walking in the picking process, the scheme has high input cost, the whole warehouse is changed greatly, and the common electronic commerce industry is hard to bear and push the wide-range use.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems described above, the present application provides a warehouse quick configuration method, a warehouse quick configuration device, and a storage medium.
In a first aspect, a method for quickly configuring a warehouse, the method comprising:
after warehouse information of a warehouse is obtained, determining shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; each set of the shelves includes a plurality of storage locations;
after a plurality of groups of shelves are arranged in the warehouse according to the shelf layout information, drawing a warehouse map in the warehouse by using a robot; the warehouse map comprises the following components: warehouse map, shelf location and storage location;
and establishing a corresponding relation between a preset storage position identifier of the storage position and each storage position in the storage map.
Optionally, the warehouse information includes: warehouse area, position of door in warehouse and warehouse size, preset warehouse deployment rules include: the working line, the spacing between shelves and the distance of the shelves from the warehouse wall.
Optionally, determining the shelf layout information in the warehouse according to the warehouse information and a preset warehouse deployment rule includes:
determining a goods shelf arrangement area in the warehouse according to the warehouse area, the position of a door in the warehouse, the warehouse size and the operation line;
determining the number of the shelves in the shelf arrangement area according to the distance between the shelves and the warehouse wall, and determining the shelf relative position of each shelf;
and determining the shelf layout area, the number of shelves and the relative positions of the shelves as the shelf layout information.
Optionally, the warehouse information further includes: the warehouse is intended to store demand information for goods,
the determining the shelf layout information in the warehouse according to the warehouse information and the preset warehouse deployment rule further comprises:
and determining the number of the shelves in the shelf arrangement area according to the distance between the shelves, the distance between the shelves and the warehouse wall and the demand information, and determining the shelf relative position of each shelf.
Optionally, the drawing the warehouse map by using a robot includes:
generating a warehouse map of the warehouse according to induction data acquired when a robot in the warehouse moves;
Acquiring the motion pose of the robot in real time, and acquiring the identification information of the identification on the goods shelf acquired by the image acquisition sensor on the robot; at least one shelf is arranged in the warehouse, each shelf is provided with at least one group of marks, and the outer contour surface of the shelf is provided with at least one mark;
determining an identification position of an identification in the warehouse map based on the motion pose and the identification information;
according to the preset storage position information of the goods shelf and the identification position, determining the goods shelf position of the goods shelf and the storage position of the storage position on the goods shelf in the warehouse map;
and determining the warehouse map of the warehouse according to the warehouse map, the goods shelf position and the storage position.
Optionally, the method further comprises:
generating at least one group of identifiers corresponding to each shelf, wherein each group of identifiers comprises at least one identifier;
and determining the fixed position of each identifier in the group of identifiers on the goods shelf, and establishing the corresponding relation between each identifier and the respective fixed position.
Optionally, the establishing a correspondence between the preset storage location identifier of the storage location and each storage location in the storage map includes:
and fixing the preset storage position identifiers on the respective corresponding storage positions.
Optionally, the method further comprises:
acquiring attribute information of goods placed on a storage position;
and establishing a corresponding relation between the attribute information of the commodity on the storage position and a preset storage position identifier of the storage position.
Optionally, when the robot picks up goods by using the warehouse map, a robot positioning system is used for collecting the positioning position of the robot moving in the warehouse;
acquiring identification information of a robot on a goods shelf acquired at the positioning position, and calculating the calculation position of the robot according to the identification position corresponding to the identification information;
calculating a positional deviation between the calculated position and the positioning position;
and calibrating the positioning position by using the position deviation.
In a second aspect, the present application provides an electronic device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the warehouse quick configuration method as described in any of the first aspects when the program is executed by the processor.
In a third aspect, the present application provides a storage medium, wherein the storage medium stores one or more programs executable by one or more processors to implement the warehouse quick configuration method according to any one of the first aspects.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the method provided by the embodiment of the application, when the warehouse is deployed, the shelf layout information corresponding to the warehouse can be quickly generated only by inputting the warehouse information, and after the shelf layout is completed, the warehouse map of the warehouse can be quickly created, and the corresponding relation between the preset storage position identification of the storage position and each storage position in the warehouse map is also established. The deployment and the construction of the warehouse can be completed automatically and quickly, and the deployed warehouse can finish robot picking by using the corresponding relation between the warehouse map and the storage position mark as well as the storage position only by putting the commodity into the storage position of the goods shelf, so that the demand of the e-commerce enterprise for the commodity in the process of the activity can be responded quickly.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a quick-deployment warehouse provided in an embodiment of the present application;
FIG. 2 is a schematic view of a shelf structure according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a warehouse quick configuration method according to an embodiment of the present application;
FIG. 4 is a detailed flowchart of step S101 shown in FIG. 3;
fig. 5 is another flow chart of a warehouse quick configuration method according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a warehouse quick configuration method according to an embodiment of the present application;
FIG. 7 is a detailed flowchart of step S102 in FIG. 3;
FIG. 8 is a schematic diagram of a shelf and a logo according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of coordinates in a warehouse according to an embodiment of the present application;
fig. 10 is a schematic flow chart of a warehouse quick configuration method according to an embodiment of the present application;
FIG. 11 is a detailed flowchart of step S1021 in FIG. 7;
FIG. 12 is a detailed flowchart of step S1023 in FIG. 7;
FIG. 13 is a detailed flowchart of step S1023 in FIG. 7;
FIG. 14 is a detailed flowchart of step S1024 in FIG. 7;
fig. 15 is a schematic flow chart of a warehouse quick configuration method according to an embodiment of the present application;
Fig. 16 is a schematic structural diagram of a warehouse quick configuration device according to an embodiment of the present application;
fig. 17 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 is a schematic diagram of a quick-deployment warehouse according to an embodiment of the present application, fig. 1 is a top view of the warehouse, and as shown in fig. 1, the warehouse 100 may include: the drawings include: the goods shelves 10, the packing area and the binding container area, wherein only the robot 20 is arranged in the warehouse, and the robot can move in a channel between the goods shelves 10 to put goods into the goods shelves or take the goods out of the goods shelves to the packing area. In the embodiment of the present application, the shelf 10 may include at least one, and the robot 20 may include at least one, and in actual use, the number of the shelf 10 and the robots may be configured according to actual needs, which is not limited to the present application.
As shown in fig. 1 and 2, the shelf 10 includes: the storage box 1 and four corner posts 2, wherein can dismantle the connection through dismantling connection structure between the adjacent storage box 1, each storage box 1 constitutes the storage position of a placed object, and as shown in fig. 2, the connection structure is dismantled to the drawing includes bolt 12 and the slot that corresponds each other, and bolt 12 sets up in the top of storage box 1, and the slot sets up in the bottom of storage box 1. When the storage box is used, the storage boxes 1 can be longitudinally stacked, and the two storage boxes 1 are firmly connected through the mutual matching of the bolts 12 and the slots. Meanwhile, the detachable connection structure provided by the embodiment is simple in structure, can be quickly disassembled and assembled, and improves the working efficiency.
In the embodiment of the application, at least one group of marks is also arranged on each goods shelf, and at least one mark is arranged on the outer contour surface of the goods shelf. In the embodiment of the application, the function of the mark is to identify the outer contour surface of the goods shelf, and the position of the outer contour surface of the goods shelf can be detected by detecting the position of the mark. In one embodiment, for a facade where the outer contour surface is perpendicular to the ground, the position of the outer contour surface may be a projection line of the outer contour surface on the ground.
In addition, the arrangement of a group of identifiers on the shelves means that the identifiers of different shelves are different, but the identifiers of the same shelf have an association relationship, so that the shelf identified by the group of identifiers can be determined by determining the group of identifiers.
In addition, in the embodiment of the application, in order to facilitate rapid shelf identification, two marks are optionally arranged at the wiring positions of two adjacent outer contour surfaces on the shelf, so that the corner positions of the shelf can be determined through the two marks. In one embodiment of the application, the identification may be fixed to a shelf, for example: is fixed on the outer surface of the storage box 1 shown in fig. 2. In an embodiment of the present application, as shown in fig. 2, in order to increase the stability of the storage box 1, corner posts 2 are further disposed at four corners of the storage rack, and in this embodiment, the corner posts 2 include a first plate 21, a second plate 22, a base 23 and a supporting portion, and details of the corner posts 2 can be found in the application documents of the storage rack filed on the same day as the present application, and are not described herein. As shown in fig. 2, a sign 24 is further disposed on the corner post 2, and a sign 24 is disposed on the first plate 21 and the second plate 22 of the corner post, respectively, for identifying two outer contour surfaces of the shelf where the corner post is located. Referring to fig. 2, the pallet 10 further includes a supporting frame 3, the supporting frame 3 is disposed below the cargo box, and the plurality of corner posts 2 are disposed around the supporting frame 3. The support frame 3 can make the bottom surface of packing box, can share the pressure that corner post 2 undertaken, makes the goods shelves more firm. And the supporting frame 3 can isolate the container from the ground, thereby playing a role in damp proofing.
Fig. 3 is a flow chart of a warehouse quick configuration method according to an embodiment of the present application. The method may include the steps of:
s101, after warehouse information of a warehouse is obtained, determining shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules.
In an embodiment of the present application, the warehouse information includes: warehouse area, location of doors in the warehouse, and warehouse size, in other embodiments, warehouse information may be added as needed, such as: the height of the warehouse, or fire requirements of the aisles in the warehouse, etc.
In the embodiment of the application, the preset warehouse deployment rule comprises: the working line, the spacing between shelves and the distance of the shelves from the warehouse wall.
The operation line refers to a mode of arranging shelves in the warehouse, and can be arranged on one side, namely the packing area is positioned on one side of the shelf area, or can be arranged on two sides, namely the packing area is positioned on two sides of the shelf area, and the operation line is arranged on one side as shown in fig. 1.
In the embodiment of the application, the corresponding relation between different warehouse information and the preset warehouse deployment rules can be established in a list form, so that after the warehouse information is input, the corresponding deployment rules can be determined, and the shelf layout information in the warehouse can be determined according to the deployment rules.
In addition, when the shelves in the warehouse are arranged, the information of the demands on the commodities in the warehouse can be further obtained according to the information, such as: the number of commodity SKUs may be increased by increasing the number of shelves or by increasing the number of layers of shelves when the number of commodity SKUs is large. But in any event increases, must be within safe limits.
S102, after a plurality of groups of shelves are arranged in the warehouse according to the shelf layout information, drawing a warehouse map in the warehouse by using a robot.
In the embodiment of the application, when the step is executed, the robot can be directly controlled to move in the warehouse, and the warehouse map in the warehouse is drawn by utilizing the data acquired by the sensor on the robot.
The storage map obtained by drawing comprises a goods shelf position and a storage position.
S103, establishing a corresponding relation between a preset storage position identifier of the storage position and each storage position in the storage map.
A preset storage position identifier is pre-configured for each storage position, and after the storage map is determined, the preset storage position identifier can be associated with the storage position in the storage map, so that the position of the corresponding storage position can be found according to the storage position identifier. In this embodiment of the present application, this step may be to directly fix the preset storage location identifier on the respective corresponding storage location, as shown in fig. 2, where the preset storage location identifier is 11.
According to the method provided by the embodiment of the application, when the warehouse is deployed, the shelf layout information corresponding to the warehouse can be quickly generated only by inputting the warehouse information, and after the shelf layout is completed, the warehouse map of the warehouse can be quickly created, and the corresponding relation between the preset storage position identification of the storage position and each storage position in the warehouse map is also established. The method can realize quick deployment of the goods shelves in the warehouse, and after the goods shelves are deployed, a warehouse map can be quickly drawn, and the deployed warehouse can finish robot picking by using the storage map and the corresponding relation between the storage identification and the storage only by putting goods into the storage of the goods shelves, so that the demand of electronic commerce enterprises for short-time sudden increase of the goods during the activity can be quickly responded.
In one embodiment of the present application, as shown in fig. 4, the aforementioned step S101 may include the steps of:
s201, determining a goods shelf layout area in the warehouse according to the warehouse area, the position of a door in the warehouse, the warehouse size and a working line.
In the embodiment of the application, a priori knowledge base of warehouse arrangement can be established in advance, and the corresponding relation among the warehouse area, the position of a door in the warehouse, the warehouse size and the operation line is established, so that the shelf arrangement area in the warehouse can be determined by utilizing the preset corresponding relation in the step. As shown in fig. 1, the shelf layout area is located below the warehouse in the picture.
S202, determining the number of the shelves in the shelf arrangement area according to the distance between the shelves and the warehouse wall, and determining the shelf relative position of each shelf.
In consideration of recycling warehouses, the maximum number of shelves that can be accommodated may be determined in the warehouse arrangement area, and then the shelf relative position of each shelf is determined according to the number of shelves.
And S203, determining the shelf layout area, the number of shelves and the relative positions of the shelves as the shelf layout information.
In the foregoing embodiment, the arrangement of the shelves is based on fully utilizing the warehouse, and in actual situations, when the warehouse is deployed, the merchant will give the information about the needs of the warehouse, for example: the SKU number of the commodity is stored in the warehouse, and for this purpose, in one embodiment of the present application, the warehouse information further includes: the warehouse is intended to store demand information for the commodity, i.e., the number of commodity SKUs.
In one embodiment of the present application, on the basis of fig. 3, as shown in fig. 5, the warehouse rapid configuration method further includes the following steps:
s301, acquiring attribute information of commodities placed on a storage location.
The attribute information of the commodity may include: the name, number, manufacturer, package size, etc. of the commodity, and the attribute information of the commodity is used for identifying the commodity.
S302, establishing a corresponding relation between attribute information of the commodity on the storage position and a preset storage position identifier of the storage position.
Through establishing the corresponding relation, when a user places an order through a platform of an electronic commerce, the attribute information of the commodity placed by the user can be obtained, and then the target storage identification can be determined through the corresponding relation between the attribute information and the preset storage identification.
In one embodiment of the present application, the step S102 may include the following steps based on fig. 4:
and determining the number of the shelves in the shelf arrangement area according to the distance between the shelves, the distance between the shelves and the warehouse wall and the demand information, and determining the shelf relative position of each shelf.
Due to the increased demand information, when shelves are arranged in the warehouse, the maximum shelf quantity is not set in the warehouse any more, but is reasonably set according to the demand. When the number of shelves in the warehouse is small, the shelf relative position of each shelf can be determined by using preset shelf setting rules, for example: as shown in fig. 1, the shelf setting rules are set from the packing area to the bottom in sequence, or, after all the left shelves are set, the right side below the packing area is set.
As shown in fig. 6, in one embodiment of the present application, the method may further include the steps of:
s401, generating at least one group of identifiers corresponding to each shelf, wherein each group of identifiers comprises at least one identifier;
s402, determining the fixed position of each identifier in the group of identifiers on the goods shelf, and establishing a corresponding relation between each identifier and the respective fixed position.
Referring to fig. 1 and 2, in the method, by generating a mark and fixing the mark with a corresponding position on a shelf, a subsequent use of a robot to locate a storage location in the shelf according to the mark is facilitated.
In one embodiment of the present application, as shown in fig. 7, the aforementioned step S102 may include the following steps:
s1021, generating a warehouse map of the warehouse according to the induction data acquired during the movement of the robot in the warehouse.
After the racks 10 are detachably installed in the warehouse in the manner shown in fig. 1 and 2, a robot for transporting goods in the warehouse may be used to move in the warehouse, and information in the warehouse is collected by using a sensor provided on the robot while the robot moves, so that the warehouse map is restored using the information.
When the warehouse map is restored, the position, shape, size and the like of objects (including shelves, obstacles and the like) in the warehouse are required to be known, so the sensing data refer to data for detecting the objects in the warehouse, and in the embodiment of the application, the sensing data can be obtained through radar detection. From the warehouse map, it is only possible to know which locations in the warehouse have objects and which locations are channels, which is a rough map for the warehouse.
S1022, acquiring the motion pose of the robot in real time, and acquiring the identification information of the identification on the goods shelf acquired by the image acquisition sensor on the robot.
The robot is further provided with an image acquisition sensor, and when moving in the warehouse, the image acquisition sensor simultaneously acquires image information, and detailed information of objects in the warehouse is processed through the image information, for example: and distinguishing the shelves or distinguishing storage positions on the shelves.
In an embodiment of the present application, the motion pose includes: the robot comprises a motion position and a gesture of the image acquisition sensor on the motion position, wherein the motion position is used for positioning the robot, and the gesture is used for determining the angle and the azimuth of the image acquisition sensor on the robot when acquiring image information.
In the embodiment of the application, the identifier on the shelf is used for positioning the position where the identifier is located, and the identifier may be a graphic code with a preset arrangement rule, for example: two-dimensional codes, apriltag tags, etc., the identification may also be an image, such as: the image containing a plurality of points, or alternatively, the identification code may also be a character, such as: numbers or letters, etc. In the embodiment of the application, the identification is optionally a graphic code, and the graphic code is optionally a two-dimensional code.
In this step, the acquired motion pose and the identification information are corresponding, that is, the motion pose and the identification information are acquired simultaneously, for example: when the robot moves to the position B, the motion pose of the position B is acquired, and the identification information of the identification acquired when the position B is acquired, so that the motion position acquired by the position A corresponds to the identification information acquired by the position A.
S1023, determining the identification position of the identification in the warehouse map based on the motion pose and the identification information.
The position of the robot in the warehouse can be determined through the movement position in the movement pose, the relative position of the mark relative to the robot can be determined through the pose in the movement pose and the mark information, and the mark position of the mark can be determined further through the position and the relative position of the robot.
S1024, determining the shelf position of the shelf and the storage position of the storage position on the shelf in the warehouse map according to the preset storage position information and the identification position of the shelf.
Since the mark is positioned on the outer contour surface of the shelf, the shelf area of the outer contour of the shelf can be determined by the position of the mark, but the information about the interior of the shelf is not available. In the embodiment of the application, the preset storage position information refers to the size of storage boxes in the goods shelf, the number of the storage boxes, the number of layers of the storage boxes in the goods shelf and the like.
As shown in fig. 8, according to the positions of the 8 marks a, b, c, d, e, f, g and h, the specific coordinates of the eight marks on the warehouse floor are obtained, and meanwhile, the linear distances between the four corners of the corresponding shelf can be calculated. For example, the distance between (a, b) and (c, d) is 4 meters, and the distance between (a, b) and (g, h) is 1.6 meters. The preset storage information on the shelf is the size of the storage box in the shelf, for example: the storage box has a width of 0.5 m and a length of 0.8 m. As shown in fig. 9, if the warehouse floor is regarded as a two-dimensional coordinate system, it is possible to automatically calculate that the rack has 8 storage boxes in the X-axis direction and two storage boxes in the Y-axis direction. The three-dimensional coordinates of the storage box, namely the storage position, can be obtained by adding the height information of each layer aiming at different layer structures on the goods shelf.
Therefore, the three-dimensional structure and details of the goods shelf can be restored according to the identification information and the preset storage position information, and therefore the storage position of each storage position in the goods shelf can be determined.
S1025, determining the warehouse map of the warehouse according to the warehouse map, the goods shelf position and the storage position.
In the step, the goods shelf position and the storage position are marked in the warehouse map, so that the warehouse map of the warehouse can be obtained, and the goods shelf and the storage position are arranged in the warehouse map, so that the warehouse map can be used as a robot map, and when goods are put in warehouse, the corresponding relation between the goods and the storage position is only established, and the position of the goods can be automatically found by directly using the warehouse map when the robot is used for picking the goods.
The method may be performed by a robot processor in the robot shown in fig. 1, or may be performed by a warehouse server or a warehouse processor corresponding to the warehouse, which is not limited to the present application. When executed by a warehouse server or warehouse processor, the robots need to collect data and transmit it to the warehouse server or warehouse processor.
According to the method provided by the embodiment of the application, aiming at the warehouse with the shelves arranged, when the robot moves in the warehouse, the sensing data in the warehouse is collected by the robot to determine the warehouse map, then the identification information of the identification arranged on the shelf is collected by the image collecting sensor on the robot, then the shelf position of the shelf and the storage position of the storage position on the shelf are determined by the identification information, and finally the warehouse map of the warehouse is automatically generated.
Because the method is based on the identification information on the shelf to assist in creating the warehouse map, the speed of creating the warehouse map for the warehouse can be greatly improved, and in the process of creating the warehouse map, the error problem caused by manual calibration can be reduced because of no manual participation. Therefore, when the warehouse is intelligently configured, the warehouse map in the warehouse can be quickly created, and the position accuracy of the storage position in the warehouse map is high.
In one embodiment of the present application, after step S1025 in fig. 7, the method may further include:
s1026, establishing a corresponding relation between the preset storage position identification of the storage position and the corresponding storage position.
The preset storage position identifiers are used for identifying storage positions on the storage shelves, and referring to fig. 2, each storage box 1 in the drawing is further provided with a preset storage position identifier 11, and the preset storage position identifiers 11 and the storage boxes 1 are in one-to-one correspondence, that is, each storage box only has a unique storage position identifier 11.
In the embodiment of the present application, this step may be to directly fix the storage location identifier on the respective corresponding storage location, as shown in fig. 2.
In the embodiment of the application, the preset storage bit identifier may be a two-dimensional code, a bar code or a character string, for example: letter strings or number strings. No matter what form the preset storage position identification is, the purpose is to find the storage position, so in the embodiment of the application, after the storage position is determined, the corresponding relation between the preset storage position identification and the storage position is also needed to be established, so that the storage position can be quickly searched through the corresponding relation.
In one embodiment of the present application, before step S1021 shown in fig. 7, as shown in fig. 10, the method may further include the steps of:
S1001, determining an origin in the warehouse.
In the embodiment of the application, the origin can be any point in the warehouse, and in practical application, the origin can be selected by a technician at will. But to facilitate subsequent positioning of racks and storage locations in the warehouse, a point in the area of one corner in the warehouse is typically selected as the origin. As shown in fig. 5, a point in the area of the corner of the upper left corner is selected as the origin in the drawing.
When determining the origin, the initial position of the robot can be used as the origin, an origin mark can be paved at the origin position, and the origin is determined by identifying the origin mark, wherein the origin mark can be a two-dimensional code, a bar code and the like.
S1002, creating a warehouse coordinate system of the warehouse based on the origin.
After determining the origin, a warehouse coordinate system corresponding to the warehouse ground may be established on the basis of the origin, the warehouse coordinate system may be a two-dimensional plane coordinate system, and the warehouse map, the motion pose, the identification position, the shelf position and the storage position described in the step shown in fig. 7 are all in the warehouse coordinate system. As shown in fig. 9, the warehouse coordinate system may cover the entire warehouse. In one embodiment of the application, the x-axis and y-axis of the warehouse coordinate system may be parallel to the outside of the warehouse.
The built warehouse coordinate system can be a plane coordinate system, and if the z-axis on the height of the warehouse is added on the plane coordinate system, the stereoscopic coordinate system corresponding to the warehouse can be formed.
In one embodiment of the present application, as shown in fig. 11, the aforementioned step S1021 may include the steps of:
s10211, acquiring profile data of the objects in the warehouse scanned by the radar on the robot.
In the embodiment of the application, the object in the warehouse is determined by utilizing the reflection signal of the radar wave, so the profile data refers to the position and distance of the object relative to the radar, namely the position and distance relative to the robot, calculated according to the reflection signal of the radar wave.
The advantage of using radar for scanning is simplicity and convenience, since there may be a variety of objects in the warehouse, there may be stacks of goods, obstacles, etc. in addition to the racks. The radar scanning is adopted without concern about detailed information of the object, and only the outline of the object is determined.
S10212, drawing morphological data of the objects in the warehouse according to the outline data.
In the embodiment of the application, the morphological data is used for indicating the outline of the object in the warehouse, and in a plane coordinate system, the morphological data can be also expressed as lines on a plane.
S10213, creating a warehouse map of the warehouse in the warehouse coordinate system according to the morphological data.
And projecting the shape of the object into a warehouse coordinate system according to the form data, and obtaining a warehouse map of the warehouse.
In one embodiment of the present application, the identifier includes an identifier code, the identifier information includes image information of the identifier code, and when the identifier is located, the location is performed by using a triangulation method, and accordingly, data of the robot at two different positions need to be acquired, for example: when the robot is at the point A, the gesture of the corresponding image acquisition sensor is a first motion gesture, and a first image of the identification code is acquired; and when the robot is at the point B, the gesture of the corresponding image acquisition sensor is a second motion gesture, and second image information of the identification code is acquired.
On the basis of the embodiment shown in fig. 6, as shown in fig. 12, step S1023 shown in fig. 7 may include the steps of:
s10231, determining a first reference three-dimensional coordinate of a vertex in the identification code in the warehouse coordinate system according to the first motion pose, the first image information and the focal length of the image acquisition equipment.
In the present application, referring to the description of S1002 above, the three-dimensional coordinates refer to the warehouse coordinate system as coordinates in the stereoscopic coordinate system. The three-dimensional coordinates of the points are calculated based on pose and image information and focal distance, which are common ways in the field of image recognition and will not be described here.
S10232, determining a second reference three-dimensional coordinate of a vertex in the identification code in the warehouse coordinate system according to a second motion pose, second image information and a focal length of the image acquisition equipment;
the foregoing step S10231 and step S10232 may collect the identification information of the same identification from the point a and the point B, respectively, and determine different three-dimensional reference coordinates.
S10233, calculating a first reference three-dimensional coordinate and a second reference three-dimensional coordinate by using a triangulation method to obtain a three-dimensional coordinate of a vertex in the identification code in the warehouse coordinate system;
and obtaining the target three-dimensional coordinates of each vertex in the identification code based on a triangulation method.
S10234, calculating plane coordinates of the identification codes in the warehouse coordinate system according to the three-dimensional coordinates of the targets of the vertexes of the identification codes in the warehouse coordinate system, and taking the plane coordinates as the identification positions.
In one embodiment of the application, the identification comprises an identification code and the identification information comprises image information of the identification code, which is performed by means of depth information of an image acquisition sensor on the robot when positioning the identification.
As shown in fig. 13, step S1023 shown in fig. 7 may include the steps of:
S10235, calculating a third reference three-dimensional coordinate of the vertex of the identification code in the coordinate system of the image acquisition sensor by using the depth information of the image acquisition sensor and the image information.
Based on the image information, the coordinates (u, v) of the vertices of the identification code in the image can be determined, assuming that the three-dimensional coordinates pc= (Xc, yc, zc) of the vertices in the identification code in relation to the coordinate system of the image acquisition sensor, where Zc is depth information, the corresponding Pc can be calculated by:
Xc＝Zc*u/f
Yc＝Zc*v/f
where f is the focal length value of the camera.
S10236, converting the third reference three-dimensional coordinate of the vertex into a target three-dimensional coordinate in the warehouse coordinate system according to the motion pose.
In the embodiment of the present application, the pose of the image sensor is T, and then the three-dimensional coordinate pw=t×pc of the target is calculated to obtain the target pose.
Since the three-dimensional coordinate Pc is in the coordinate system of the image acquisition sensor, the three-dimensional coordinate of the target can be obtained by conversion according to the motion gesture of the image acquisition sensor.
S10237, calculating plane coordinates of the identification code as the identification position according to the three-dimensional coordinates of the target.
In one embodiment of the present application, as shown in fig. 14, the aforementioned step S1024 may further include the steps of:
S10241, determining the position area of the goods shelf corresponding to the same group identifier according to the identifier position belonging to the same group identifier.
Referring to fig. 9, since the marks on each shelf are the same group of marks, the location area of the shelf can be determined according to the obtained mark information, and in fig. 9, after four corners of the shelf are determined, the area surrounded by the four corners is the location area of the shelf.
S10242, according to the single-layer storage number in the preset storage information, carrying out area division on the position area to obtain the plane coordinate of each layer of storage.
For each shelf, as shown in fig. 8, specific coordinates of eight marks on the warehouse floor are obtained according to positions of 8 marks a, b, c, d, e, f, g and h, and meanwhile, linear distances among four corners of the corresponding shelf can be calculated. For example, the distance between (a, b) and (c, d) is 4 meters, and the distance between (a, b) and (g, h) is 1.6 meters. Assuming that the preset storage position information is that the storage boxes are 0.5 m in width and 0.8 m in length, 8 storage boxes can be automatically calculated on the shelf in the X-axis direction, and two storage boxes are arranged in the Y-axis direction. The plane coordinates are coordinates in the plane coordinate system composed of xy in fig. 9.
And S10243, taking the plane coordinates of the storage position as the storage position.
In the foregoing embodiment, the identifier disposed on the shelf may be used to locate the identifier position, the shelf position and the storage position, and after the storage map is created, the robot may operate according to the storage map, but in the actual operation process of the robot, along with the accumulation of the operation time, some deviation may occur in the location of the position, and because the identifier position is determined at this time, the identifier disposed on the shelf may also be used to calibrate the position of the robot in the movement process of the robot.
As shown in fig. 15, the method may further include the steps of:
s1301, when the robot utilizes the warehouse map to pick up goods, a robot positioning system is utilized to collect the positioning position of the robot moving in the warehouse.
In the embodiment of the application, the robot can perform positioning calibration at intervals according to the set time interval, and in addition, the robot can perform position calibration when position errors occur during picking.
During calibration, the positioning position acquired by the robot by using the self positioning system is needed to be acquired first and used as a basis for calibration.
S1302, acquiring the identification information of the robot on the goods shelf acquired at the positioning position, and calculating the calculated position of the robot according to the identification position corresponding to the identification information.
In contrast, when the identified position of the identifier is known, the calculated position of the current robot may be calculated in the reverse direction. The calculation process of the position is not described in detail herein, and reference is made to the foregoing description.
S1303, calculating a positional deviation between the calculated position and the positioning position.
And S1304, calibrating the positioning position by using the position deviation.
In the embodiment of the application, calibration can be performed when deviation occurs, and in addition, the tolerance of the position deviation can be set according to the requirement, so long as the calibration is performed when the position deviation is larger than a preset value.
Fig. 16 is a schematic structural diagram of a warehouse quick configuration device according to an embodiment of the present application, as shown in fig. 16, where the device specifically includes:
the layout information determining module 001 is used for determining shelf layout information in a warehouse according to the warehouse information and a preset warehouse deployment rule after the warehouse information of the warehouse is acquired; each set of the shelves includes a plurality of storage locations;
A map drawing module 002 for drawing a warehouse map in the warehouse using a robot after arranging a plurality of sets of shelves in the warehouse according to the shelf layout information; the warehouse map comprises the following components: a shelf position and a storage position;
the corresponding relation establishing module 003 is configured to establish a corresponding relation between a preset storage location identifier of a storage location and each storage location in the storage map.
The quick warehouse configuration device provided in this embodiment may perform all steps of the quick warehouse configuration method, so as to achieve the technical effects of the quick warehouse configuration method, and refer to the related description of the quick warehouse configuration method specifically, and for brevity, details are not repeated here.
Fig. 17 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 17, where the electronic device specifically includes:
a processor 1310, a memory 1320, and a transceiver 1330.
The processor 1310 may be a graphics processor GPU, a central processing unit (central processing unit, CPU), or a combination of CPU and hardware chips. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), general-purpose array logic (generic array logic, GAL), or any combination thereof.
Memory 1320 is used to store various applications, operating systems, and data. Memory 1320 may transfer stored data to processor 1310. The memory 1320 may include volatile memory, nonvolatile dynamic random access memory (nonvolatile random access memory, NVRAM), phase change RAM (PRAM), magnetoresistive Random Access Memory (MRAM), etc., such as at least one magnetic disk storage device, electrically erasable programmable read only memory (electrically erasable programmable read-only memory), flash memory device, such as flash memory (NOR) or flash memory (NAND), semiconductor device, such as Solid State Disk (SSD), etc. Memory 1320 may also include combinations of the above types of memory.
A transceiver 1330 for transmitting and/or receiving data, the transceiver 1330 may be an antenna or the like.
The working process of each device is as follows:
the processor 1310 is configured to determine shelf layout information in the warehouse according to the warehouse information and a preset warehouse deployment rule after the warehouse information of the warehouse is acquired; each set of the shelves includes a plurality of storage locations; after a plurality of groups of shelves are arranged in the warehouse according to the shelf layout information, drawing a warehouse map in the warehouse by using a robot; the warehouse map comprises the following components: warehouse map, shelf location and storage location; and establishing a corresponding relation between a preset storage position identifier of the storage position and each storage position in the storage map.
The electronic device provided in this embodiment may perform all steps of the foregoing warehouse quick configuration method, so as to achieve the technical effects of the foregoing warehouse quick configuration method, and refer to the foregoing description related to the warehouse quick configuration method specifically, and for brevity, details are not repeated herein.
The embodiment of the application also provides a storage medium (computer readable storage medium). The storage medium here stores one or more programs. Wherein the storage medium may comprise volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid state disk; the memory may also comprise a combination of the above types of memories.
The one or more programs, when executed in the storage medium, are executable by the one or more processors to implement the warehouse quick configuration method described above that is performed on the detection device side of the target object based on real-time ground detection.
The processor is used for executing a detection program of the warehouse quick configuration method stored in the memory so as to realize the following steps of the warehouse quick configuration method executed on a warehouse quick configuration equipment side: after warehouse information of a warehouse is obtained, determining shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; each set of the shelves includes a plurality of storage locations; after a plurality of groups of shelves are arranged in the warehouse according to the shelf layout information, drawing a warehouse map in the warehouse by using a robot; the warehouse map comprises the following components: a shelf position and a storage position; and establishing a corresponding relation between a preset storage position identifier of the storage position and each storage position in the storage map.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A warehouse quick configuration method, the method comprising:
after warehouse information of a warehouse is obtained, determining shelf layout information in the warehouse according to the warehouse information and preset warehouse deployment rules; each set of the racks includes a plurality of storage locations, wherein the warehouse information includes: warehouse area, position of door in warehouse, warehouse size and the demand information of commodity is expected to be stored in the warehouse, preset warehouse deployment rule includes: the operation line, the distance between shelves and the warehouse wall, wherein the determining the shelf layout information in the warehouse according to the warehouse information and the preset warehouse deployment rule comprises the following steps: determining a goods shelf arrangement area in the warehouse according to the warehouse area, the position of a door in the warehouse, the warehouse size and the operation line; according to the distance between the shelves, the distance between the shelves and the warehouse wall and the demand information, determining the number of the shelves in a shelf arrangement area, and determining the shelf relative position of each shelf; determining the shelf arrangement area, the number of shelves and the relative positions of the shelves as the shelf layout information;
after at least one group of shelves is arranged in the warehouse according to the shelf layout information, controlling a robot to move in the warehouse, and drawing a warehouse map in the warehouse by using the robot, wherein the method specifically comprises the following steps of: generating a warehouse map of the warehouse according to induction data acquired when a robot in the warehouse moves; acquiring the motion pose of the robot in real time, and acquiring the identification information of the identification on the goods shelf acquired by the image acquisition sensor on the robot; wherein, the motion pose and the identification information are acquired simultaneously; at least one shelf is arranged in the warehouse, each shelf is provided with at least one group of marks, and the outer contour surface of the shelf is provided with at least one mark; determining an identification position of an identification in the warehouse map based on the motion pose and the identification information; according to the preset storage position information of the goods shelf and the identification position, determining the goods shelf position of the goods shelf and the storage position of the storage position on the goods shelf in the warehouse map; determining a warehouse map of the warehouse according to the warehouse map, the shelf position and the storage position; the warehouse map comprises the following components: warehouse map, shelf location and storage location;
And establishing a corresponding relation between a preset storage position identifier of the storage position and each storage position in the storage map.
2. The method according to claim 1, wherein the method further comprises:
generating at least one group of identifiers corresponding to each shelf, wherein each group of identifiers comprises at least one identifier;
and determining the fixed position of each identifier in the group of identifiers on the goods shelf, and establishing the corresponding relation between each identifier and the respective fixed position.
3. The method of claim 2, wherein establishing a correspondence between the preset bin identifier of the bin and each bin in the warehouse map comprises:
and fixing the preset storage position identifiers on the respective corresponding storage positions.
4. A method according to any one of claims 1-3, wherein the method further comprises:
acquiring attribute information of goods placed on a storage position;
and establishing a corresponding relation between the attribute information of the commodity on the storage position and a preset storage position identifier of the storage position.
5. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the warehouse quick configuration method as claimed in any one of claims 1 to 4 when the program is executed by the processor.
6. A storage medium storing one or more programs executable by one or more processors to implement the warehouse quick configuration method of any of claims 1-4.
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| CN201910296685.1A CN110189068B (en) | 2019-04-14 | 2019-04-14 | Warehouse rapid configuration method, equipment and storage medium |
| PCT/CN2020/078047 WO2020211565A1 (en) | 2019-04-14 | 2020-03-05 | Rapid warehouse configuration method, apparatus, and storage medium |
| JP2020072112A JP6746819B1 (en) | 2019-04-14 | 2020-04-14 | High-speed warehouse placement method, equipment and storage medium |
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| CN110189068A (en) | 2019-08-30 |
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| JP2020172400A (en) | 2020-10-22 |
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