CN113256025B

CN113256025B - Cargo transportation method, device, terminal and storage medium

Info

Publication number: CN113256025B
Application number: CN202110675064.1A
Authority: CN
Inventors: 田树超; 董志鹏; 黄海荣; 张涛
Original assignee: Shenzhen Yuanrong Intelligent Manufacturing Co ltd
Current assignee: Shenzhen Yuanrong Intelligent Manufacturing Co ltd
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2021-10-29
Anticipated expiration: 2041-06-18
Also published as: CN113256025A

Abstract

The application is applicable to the field of logistics and provides a cargo transportation method, a cargo transportation device, a cargo transportation terminal and a cargo transportation storage medium. Wherein, the cargo transportation method comprises the following steps: acquiring first article information, wherein the first article information comprises identification information of a second article and a transportation end point position of the first article to be transported by a transportation trolley, and the second article is an article which cannot be close to the first article; when a goods shelf in the warehouse or a stacker in the warehouse stores a second article, acquiring second article information, wherein the second article information comprises the stacker information of the stacker which stores the second article in the warehouse and/or roadway information of a roadway where the second article in the warehouse is located; determining a transportation path of the first article according to the information of the second article and the transportation end point position; and controlling the freight trolley and the stacker on the transport path to transport the first article according to the transport path. The embodiment of the application can guarantee the reliability of goods transportation.

Description

Cargo transportation method, device, terminal and storage medium

Technical Field

The application belongs to the field of logistics, and particularly relates to a cargo transportation method, a cargo transportation device, a cargo transportation terminal and a cargo transportation storage medium.

Background

In the automated warehouse management system, the central control end can control the rail, the freight trolley, the stacker and other equipment to realize automated cargo transportation, and specifically, the central control end can control the freight trolley and the stacker to walk on the rail and carry the cargo so as to transport the cargo to the designated position on the goods shelf or transport the cargo on the goods shelf to the outside of the warehouse.

However, when the existing cargo transportation method is adopted for cargo transportation, the cargo may deteriorate in the transportation process, even serious safety accidents are caused, and the reliability is low.

Disclosure of Invention

The embodiment of the application provides a cargo transportation method, a cargo transportation device, a cargo transportation terminal and a storage medium, and the reliability of cargo transportation can be improved.

In a first aspect, an embodiment of the present application provides a cargo transportation method, including:

acquiring first article information, wherein the first article information comprises identification information of a second article and a transportation end point position of a first article to be transported by a transportation trolley, and the second article is an article which cannot be close to the first article;

determining whether a shelf in a warehouse or a stacker in the warehouse stores the second item according to the identification information, and acquiring information of the second item when the shelf in the warehouse or the stacker in the warehouse stores the second item, wherein the warehouse is used for storing the first item, and the information of the second item comprises the stacker information of the stacker storing the second item in the warehouse and/or the tunnel information of a tunnel where the second item is located in the warehouse;

determining a transportation path of the first article according to the second article information and the transportation end point position;

and controlling the freight trolley and a stacker on the transportation path to transport the first article according to the transportation path so as to transport the first article to the transportation destination position.

A second aspect of the embodiments of the present application provides a cargo transportation device, including:

the system comprises a first article information acquisition unit, a second article information acquisition unit and a first article information processing unit, wherein the first article information acquisition unit is used for acquiring first article information, the first article information comprises identification information of a second article and a transportation end point position of the first article to be transported by a transportation trolley, and the second article is an article which cannot be close to the first article;

a second article information obtaining unit, configured to determine, according to the identification information, whether a shelf in a warehouse or a stacker in the warehouse stores the second article, and obtain second article information when the shelf in the warehouse or the stacker in the warehouse stores the second article, where the warehouse is a warehouse used for storing the first article, and the second article information includes information of the stacker storing the second article in the warehouse and/or information of a roadway in which the second article is located in the warehouse;

the transportation path determining unit is used for determining the transportation path of the first article according to the information of the second article and the transportation end position;

and the control unit is used for controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path so as to transport the first article to the transportation destination position.

A third aspect of the embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above method.

A fifth aspect of embodiments of the present application provides a computer program product, which when run on a terminal, causes the terminal to perform the steps of the method.

In the embodiment of the application, when a second article which cannot be close to the first article is stored on a shelf in a warehouse or a stacker in the warehouse, the transportation path of the first article is determined according to the information of the second article and the transportation destination position of the first article, and the transportation trolley and the stacker on the transportation path are controlled to transport the first article according to the transportation path, so that the tunnel information of a tunnel where the second article is stored in the warehouse and/or the stacker information of the stacker which stores the second article are/is considered during path planning, and the reliability of cargo transportation is improved while the first article is transported to the transportation destination position.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic diagram of a warehouse for storing first items provided by an embodiment of the present application;

fig. 2 is a schematic flow chart of an implementation of a cargo transportation method provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of a specific implementation of step S203 according to an embodiment of the present application;

fig. 4 is a schematic diagram of a first specific implementation process for determining whether a current shortest path meets an optimal path condition according to an embodiment of the present application;

fig. 5 is a schematic diagram of a current shortest path passing through a roadway where a second article is located according to an embodiment of the present application;

fig. 6 is a schematic diagram of a second specific implementation process for determining whether a current shortest path meets an optimal path condition according to an embodiment of the present application;

fig. 7 is a schematic view of a first article and a second article approaching at the roadway intersection as provided by an embodiment of the present application;

fig. 8 is a flowchart illustrating a specific implementation of a cargo transportation method when there is no secondary short path relative to the current shortest path according to an embodiment of the present application;

FIG. 9 is a schematic diagram of an embodiment of the present application providing control of movement of a stacker storing a third item;

fig. 10 is a schematic diagram of a stacker that controls a stacker associated with a lane where a rack storing a third article is located to move the third article according to an embodiment of the present application;

fig. 11 is a schematic flow chart illustrating a specific implementation of screening a target route from various routes for transporting a first item to a transportation destination according to an embodiment of the present application;

fig. 12 is a schematic flowchart illustrating a specific implementation of the control track switching device according to an embodiment of the present application;

FIG. 13 is a schematic structural view of a cargo transporter according to an embodiment of the present disclosure;

fig. 14 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall be protected by the present application.

The existing cargo transportation method generally determines a shortest path based on the current position and the transportation end position of the cargo, and controls corresponding cargo transporting trolleys and stackers to transport the cargo.

However, when goods are transported in this manner, the goods may deteriorate during transport.

For example, articles to be stored at low temperature (for example, seafood) are generally stored in a box in which an ice bag is placed, and if the articles that cannot be stored at low temperature are close to the articles to be stored at low temperature during transportation of the articles that cannot be stored at low temperature, the environment is cooled by the ice bag, which may cause the articles that cannot be stored at low temperature to deteriorate.

For another example, when transporting an article which is susceptible to a severe chemical reaction under high temperature conditions, if the article which is susceptible to a severe chemical reaction under high temperature conditions is close to an article to be stored at high temperature or close to an article which can release heat, the chemical reaction may occur, even causing a safety accident.

Based on the above, the application provides a cargo transportation method, which considers the correlation between the items on the shelves or the stacking machines in the warehouse and the currently transported first item in the process of path planning, avoids the contact between the first item and the second item which cannot be close to the first item when the first item is transported based on the transportation path, and improves the reliability of cargo transportation.

In order to explain the technical means of the present application, the following description will be given by way of specific examples.

Fig. 1 shows a schematic view of a warehouse for storing first articles provided by the present application, in which a trolley (shown as a solid circle) can move to any lane crossing (shown as a solid dot) along a track on a starting lane (shown as a dashed line where the trolley is located) after taking the first article, and the first article is received by a corresponding stacker (shown as a hexagon) at the corresponding lane crossing. Each stacker can run on a tunnel (shown by a horizontal dotted line) where the stacker is located, and when goods need to be handed over to other stackers, the stacker can run to a tunnel intersection along a common tunnel (shown by a vertical solid line) to hand over the goods.

Fig. 2 is a schematic diagram illustrating an implementation flow of a cargo transportation method provided in an embodiment of the present application, where the method may be applied to a terminal and may be applied to a situation where cargo transportation reliability needs to be improved.

The terminal can be a smart phone, a computer and other equipment, and the equipment can be a central control end in the warehousing management system.

Specifically, the cargo transportation method may include the following steps S201 to S204.

Step S201, first item information is acquired.

In an embodiment of the present application, the first item information may include identification information of a second item that is not accessible to the first item, and a transportation destination position of the first item.

Wherein, the first article refers to an article to be transported. In an embodiment of the application, the freight trolley is used for receiving the first article and transporting the first article to the stacker along the rail, and the stacker takes the first article and transports the first article to the corresponding shelf along the rail for storage.

Specifically, the second article refers to an article that cannot be separated from the first article by less than a preset distance threshold, for example, the second article may refer to an article that may cause the first article to deteriorate when the distance from the first article is less than the preset distance threshold. The identification information of the second article may be information for uniquely identifying the second article, such as a name, an identification code, a serial number, and the like of the second article.

In some embodiments of the present application, the first item information may further include information such as a priority of a task of transporting the first item, a weight of the first item, and the like.

It should be noted that, the present application does not limit the manner of obtaining the first article, and in some embodiments, the terminal may obtain the first article information from an information management module in the warehousing management system; or, an image obtained by shooting the freight trolley by a camera installed in the warehouse or a camera installed on the freight trolley may be acquired, and then the first article being transported by the freight trolley is identified based on an image identification technology, and the first article information of the first article is acquired.

Step S202, determining whether a shelf in the warehouse or a stacker in the warehouse stores a second article according to the identification information, and acquiring second article information of the second article when the shelf in the warehouse or the stacker stores the second article.

Wherein, the warehouse is used for storing the first article.

In embodiments of the present application, a second item may already be stored within the warehouse currently used to store the first item. In the case where a second item is already stored in the warehouse, the first item may be in close proximity to, or even in contact with, the second item during the transportation of the first item.

For example, a first item may pass through a roadway where a second item is located, or a stacker currently transporting the second item may receive a task instruction while transporting the first item and the second item; then the first item may be in close proximity to, or even in contact with, the second item, causing the second item to interfere with the transport of the first item.

In order to solve this problem, in the embodiment of the present application, if a second item is stored on a shelf or a stacker in a warehouse, the terminal may acquire second item information of the second item so as to consider the second item information in route planning.

The second article information may include stacker information of a stacker which stores the second article in the warehouse and/or roadway information of a roadway where the second article is located in the warehouse.

Specifically, in some embodiments of the present application, the stacker information may include a running speed of the stacker storing the second item, a current location, task information of a currently executed task, and the like.

In some embodiments of the application, the lane information of the lane where the second article is located may include a position of the lane where the second article is located, identification information of the lane where the second article is located, and the like. The lane where the second item is located may include a lane where a shelf where the second item is stored is located, and/or a lane associated with a stacker where the second item is stored.

Similarly, the application does not limit how to detect whether the second item is stored on the shelf or the stacker in the warehouse and how to acquire the information of the second item. In some embodiments, the terminal may also detect whether a second item is stored on a shelf or a stacker in the warehouse based on the information management module or based on image recognition, and when the second item is stored on the shelf or the stacker in the warehouse, obtain information of the second item through the information management module or based on image recognition.

Step S203, determining the transportation path of the first article according to the information of the second article and the transportation end position.

In the embodiment of the application, when the route planning is performed based on the transportation end position, the roadway information of the roadway where the second item is located and/or the stacker information of the stacker which stores the second item may be considered, so that the obtained transportation route refers to the position of the second item stored in the warehouse.

Specifically, in some embodiments of the present application, as shown in fig. 3, the determination of the transportation path may include the following steps S301 to S304.

Step S301, a current shortest path for transporting the first item to the transportation destination location is determined.

The current shortest path refers to a shortest path that can be reached from the current location of the first item to the transportation destination location of the first item.

It should be noted that the present application does not limit the determination method of the current shortest path. For example, in some embodiments of the present application, the terminal may store an electronic map of the warehouse, and the current shortest path may be determined based on the electronic map of the warehouse, the current location of the carriage (i.e., the starting location of the first item), and the transportation end location of the first item. Other path planning methods may also be applicable to the present application, and are not described herein again.

Step S302, according to the second article information, whether the current shortest path meets the optimal path condition is judged.

Wherein, the optimal path conditions are as follows: in the process of transporting the first item based on the current shortest path, the first distance between any second item and the first item is greater than or equal to a preset first distance threshold value.

Specifically, the first distance threshold is a farthest distance between the second article and the first article when the second article affects the first article, and a specific value of the first distance threshold may be adjusted by a worker according to an actual situation.

In some embodiments of the present application, when the first distance between the second item and the first item is greater than or equal to the preset first distance threshold, the first distance between the second item and the first item is far during transportation, and exceeds the farthest distance of the second item when the second item affects the first item, which indicates that the first item is not close to the second item, that is, the second item does not affect the first item during transportation.

On the contrary, when the first distance between any second article and the first article is smaller than the preset first distance threshold, in the transportation process, the first distance between the second article and the first article, where the first distance between the second article and the first article is smaller than the first distance threshold, is relatively close, and the second article is within the distance range capable of affecting the first article, which means that the first article and the second article are close to or even contact with each other, and the second article can affect the first article.

Therefore, in some embodiments of the present application, the terminal may determine whether the current shortest path meets an optimal path condition according to one or more information of the stacker information and the lane information, that is, determine that a first distance between any second article and a first article is greater than or equal to a preset first distance threshold in a process of transporting the first article based on the current shortest path, so as to determine whether the current shortest path may be used as a transportation path of the first article.

Step S303, if the current shortest path does not satisfy the optimal path condition, re-determining a secondary short path relative to the current shortest path, using the currently determined secondary short path as the current shortest path, and executing the step of judging whether the current shortest path satisfies the optimal path condition according to the second item information and the subsequent steps.

In some embodiments of the present application, if the current shortest path does not satisfy the optimal path condition, it indicates that when the first item is transported based on the current shortest path, the first item may be close to or even in contact with the second item, and therefore the current shortest path may not be used as the transportation path of the first item.

At this time, a secondary short path with respect to the current shortest path may be newly determined, and the secondary short path may be a shortest path reachable from the current location of the first item to the transportation destination location of the first item, in addition to the original current shortest path.

Then, the terminal may use the currently determined secondary short path as the current shortest path and execute a step of determining whether the current shortest path satisfies the optimal path condition according to one or more information of the stacker information and the tunnel information, and a subsequent step.

By analogy, the terminal can obtain the shortest current path meeting the optimal path condition.

Step S304, if the current shortest path meets the optimal path condition, determining the current shortest path as the transportation path of the first article.

In some embodiments of the present application, if the current shortest path satisfies the optimal path condition, it indicates that when the first item is transported based on the current shortest path, the first item is not close to the second item, and therefore the current shortest path may be used as the transportation path of the first item.

In the implementation mode of the application, whether the current shortest path meets the optimal path condition or not is judged iteratively, the optimal path condition can be determined to be met with the least calculation amount, the path capable of transporting the first object most efficiently serves as the transportation path, the first object is not close to or even contacts with the second object in the transportation process, the reliability of goods transportation is improved, and the operation efficiency of the terminal and the efficiency of goods transportation are improved.

And S204, controlling the freight trolley and the stacker on the transport path to transport the first article according to the transport path so as to transport the first article to the transport destination position.

In the embodiment of the application, after the transportation path of the first article is determined, the freight car can be controlled to advance along the track, and the stacker on the transportation path is controlled to transport the first article according to the transportation path so as to transport the first article to the transportation destination.

Specifically, in some embodiments of the present application, the time when the first article arrives at each lane intersection when the first article is transported based on the transportation path may be estimated, and the stacker corresponding to each lane intersection is controlled to move to the lane intersection at the corresponding time, and the first article is handed over with the delivery trolley or the stacker until the first article is taken by the last stacker in the direction of the transportation path, and the first article is transported to the transportation destination by the last stacker.

The cargo transportation method provided by the application is applied to cargo transportation of inflammable goods or explosive goods, and the safety of cargo transportation can be improved.

In practical application, the terminal can respectively judge whether the current shortest path meets the optimal path condition one by one according to the stacker information and the roadway information so as to judge whether the current shortest path can be used as a transport path of the first article.

Specifically, considering that in the process of transporting the first article, if the first article passes through the lane where the second article is located, the first article may approach or even contact the second article when being transported on the lane, so that the first article is affected by the second article and is sent to deteriorate, in some embodiments of the present application, when the second article information includes lane information of the lane where the second article is located in the warehouse, as shown in fig. 4, the determining whether the current shortest path meets the optimal path condition according to the second article information may include the following steps S401 to S402.

Step S401, according to the roadway information, whether the current shortest path passes through the roadway where the second article is located is determined.

The method for determining whether the current shortest path passes through the roadway where the second article is located is not limited. For example, in some embodiments of the present application, the terminal may detect whether the current shortest path passes through a roadway where the second item is located according to roadway information, a transportation path, and an electronic map of a warehouse.

And step S402, if the current shortest path passes through a roadway where a second article is located in the warehouse, determining that the current shortest path does not meet the optimal path condition.

In some embodiments of the present application, if the current shortest path passes through a lane where a second item is located in a warehouse, as shown in fig. 5, during transportation of the first item, the second item on the lane may be close to or even in contact with the first item, that is, during transportation of the first item based on the current shortest path, there is a case that a first distance between the second item and the first item is smaller than a preset first distance threshold, and based on this, the terminal may confirm that the current shortest path does not satisfy the optimal path condition.

Accordingly, in other embodiments of the present application, if the current shortest path does not pass through a lane where a second article is located in a warehouse, it indicates that the second article on the lane is not close to or even in contact with the first article in the process of transporting the first article, that is, in the process of transporting the first article based on the current shortest path, a first distance between any second article and the first article is greater than or equal to a preset first distance threshold, and based on this, the terminal may determine that the current shortest path meets the optimal path condition.

In the implementation mode of the application, when the current shortest path passes through a roadway where a second article is located in a warehouse, the current shortest path is determined not to meet the optimal path condition, so that the secondary short path relative to the current shortest path is determined again, and the like, the finally determined transportation path cannot pass through the roadway where the second article is located, the problem that in the process of transporting the first article, the first article is sent to deteriorate under the influence of the second article due to the fact that the first article and the second article are close to or even contact with each other is avoided, and the reliability of goods transportation is improved.

In practical applications, each stacker may be executing tasks, and during the process of the stacker executing the tasks, the stacker may move on the track of the associated lane. In some cases, the stacker with the second item stored thereon may move to the vicinity of a lane crossing in order to complete the task being performed, and if a delivery car or stacker that is transporting the first item comes to the lane crossing at this time, the first item and the second item may come close to or even touch.

In order to solve this problem, in some embodiments of the present application, the paths of the warehouse may be divided, and each lane corresponds to one sub-path. Since each stacker in the warehouse will move on a particular lane, a sub-path is also associated with each stacker in the warehouse. Accordingly, the current shortest path may contain at least one sub-path.

At this time, the terminal may determine whether the current shortest path satisfies the optimal path condition according to the stacker information of the stacker storing the second item in the warehouse.

Specifically, as shown in fig. 6, the above-mentioned determining whether the current shortest path meets the optimal path condition according to the stacker information of the stacker that stores the second item in the warehouse may include the following steps S601 to S604.

Step S601, determining the time when the first article is transported to each laneway intersection when the first article is transported based on the current shortest path.

In some embodiments of the present application, the movement speed of the freight car and the movement speed of the stacker in the warehouse are generally set in advance, and therefore, based on the transportation path, the movement speed of the freight car and the movement speed of the stacker, the time at which the first item is transported to each of the lane crossings based on the current shortest path can be determined.

Step S602, estimating a first position of a stacker, which stores a second article in a warehouse when the first article is transported to each laneway intersection, in the process of transporting the first article based on the current shortest path according to the stacker information.

Specifically, in some embodiments of the present application, the stacker information may include a task sequence of a stacker that stores the second item in the warehouse, an operation speed of the stacker that stores the second item in the warehouse, and the like. According to the task sequence of the stacker with the second article stored in the warehouse and the running speed of the stacker with the second article stored in the warehouse, the first position of each stacker with the second article stored in the warehouse when the first article is transported to each lane intersection can be calculated.

Step S603, calculating a second distance between a first position where a stacker of a second article is located and a lane intersection where the first article is located in the warehouse when the first article is transported to each lane intersection in the process of transporting the first article based on the current shortest path.

The second distance may approximately represent a distance between a first article arriving at the lane crossing and a second article on a stacker crane having the second article stored near the lane crossing.

In step S604, if any one of the second distances is smaller than the preset second distance threshold, it is determined that the current shortest path does not satisfy the optimal path condition.

Wherein, the second distance threshold is: under the condition that the second article and the first article are mutually influenced, the longest distance between the first position where the stacker storing the second article is located and the roadway intersection where the first article is located is stored, and the specific value of the second distance threshold value can be adjusted by a worker according to the actual condition.

In some embodiments of the present application, if any one of the second distances is smaller than the preset second distance threshold, it indicates that there is a stacker storing a second article near a lane intersection when the first article arrives at the lane intersection, that is, it indicates that the first article and the second article may approach or even contact at the lane intersection, which indicates that there is a case where the first distance between the second article and the first article is smaller than the preset first distance threshold in the process of transporting the first article based on the current shortest path. Based on this, the terminal may confirm that the current shortest path does not satisfy the optimal path condition.

For example, as shown in fig. 7, when a first article reaches a lane intersection, a stacker with a second article stored therein exists near the lane intersection, and then based on the above method, a second distance between the lane intersection and the corresponding stacker with the second article stored therein is smaller than a preset second distance threshold, which indicates that the first article and the second article may approach or even contact at the lane intersection.

Accordingly, in other embodiments of the present application, if the second distances are both greater than or equal to the preset second distance threshold, when the first article reaches a certain lane intersection, a stacker storing the second article does not appear near the lane intersection, that is, the first article and the second article do not approach or even contact at the lane intersection during transportation of the first article, which indicates that the first distance between any second article and the first article is greater than or equal to the preset first distance threshold during transportation of the first article based on the current shortest path. Based on this, the terminal can confirm that the current shortest path satisfies the optimal path condition.

In the embodiment of the application, in the process of transporting the first article based on the current shortest path through pre-estimation, the first position of the stacker storing the second article in the warehouse when the first article is transported to each roadway intersection is calculated, the second distance between the first position and the roadway intersection where the first article is located is calculated, when any second distance is smaller than a preset second distance threshold value, the current shortest path does not meet the optimal path condition, the secondary short path relative to the current shortest path is determined again, and so on, when the first article is transported based on the finally determined transport path, the condition that the first article is in contact with the second article at the roadway intersection cannot occur, and the reliability of cargo transportation is improved.

It should be noted that, when determining whether the current shortest path satisfies the optimal path condition, the terminal may sequentially adopt the method shown in fig. 4 and the method shown in fig. 6, and the present application does not limit the execution sequence of the method shown in fig. 4 and the method shown in fig. 6.

In addition, in some embodiments of the application, after the transportation path is determined, the storable space of each stacker on the transportation path may be obtained, and based on the storage space required by the first item and the storable space of each stacker on the transportation path, it is determined whether the transportation path needs to be rescreened.

It should be noted that, when the goods are transported based on the methods shown in fig. 2 to fig. 7, the work of other stackers other than the stacker on the transportation path is not disturbed, that is, the task progress and the work efficiency of other stackers are not affected, so that the reliability of the whole warehousing management system can be improved.

In consideration of the fact that in practical application, the current shortest path may not meet the optimal path condition and a secondary short path relative to the current shortest path does not exist, at this time, the terminal needs to control other stackers besides the stackers on the transportation path to cooperate with each other to transport the first item to the transportation destination.

Specifically, in some embodiments of the present application, as shown in fig. 8, after re-determining the secondary shortest path with respect to the current shortest path, the following steps S801 to S802 may be further included.

In step S801, if there is no secondary short path relative to the current shortest path, a path is screened out from the paths for transporting the first item to the transportation destination as a target path, and the target path is used as a transportation path.

In some embodiments of the present application, when there is no secondary short path with respect to the current shortest path, it indicates that none of the respective paths for transporting the first item to the transportation destination location satisfies the optimal path condition, and therefore, the terminal may newly screen a target path from the respective paths for transporting the first item to the transportation destination location, and use the target path as the transportation path to transport the first item to the transportation destination location according to the transportation path.

And S802, controlling the goods trolley and the stacker on the transport path to transport the first article according to the transport path, and controlling the stacker storing the third article to move, and/or controlling the goods trolley and the stacker on the transport path to transport the first article according to the transport path, and controlling the stacker associated with the roadway where the goods shelf storing the third article is located to move the third article, so that the first distance between the second article and the first article is smaller than a first distance threshold value in the process of transporting the first article based on the target path.

The third article refers to a second article, wherein the first distance between the third article and the first article is smaller than the first distance threshold value in the process of transporting the first article based on the target path.

Since the target path is one of the paths for transporting the first item to the transportation destination, the target path may not satisfy the optimal path condition, but in some embodiments of the present application, the terminal may control the stacker storing the third item to move while controlling the cart and the stacker on the transportation path to transport the first item according to the transportation path (i.e., the target path), and/or may control the stacker associated with the lane where the rack storing the third item is located to move the third item.

As shown in fig. 9, by controlling the movement of the stacker that stores the third article, the stacker that stores the third article can move in a direction away from the corresponding lane intersection when the first article is transported to the corresponding lane intersection, so that the first article does not contact the second article on the stacker at the corresponding lane intersection.

Similarly, as shown in fig. 10, by controlling the stacker associated with the lane where the rack storing the third article is located to move the third article, the third article does not appear on the lane where the third article is originally stored, and at this time, the first article may pass through the lane where the third article is originally stored.

In the embodiment of the application, when a secondary short path relative to the current shortest path does not exist, that is, when each path for transporting the first item to the transportation destination cannot meet the optimal path condition, the stacker storing the third item is controlled to move, and/or the stacker associated with the lane where the shelf storing the third item is located is controlled to move the third item, so that the position of the third item is changed, and further, in the process of transporting the first item based on the target path, the first distance between the second item and the first item is smaller than the first distance threshold, and therefore, the first item cannot be close to or even contact with the second item in the process of transporting the first item based on the target path, and the reliability of goods transportation is improved.

It should be noted that the present application does not limit the manner of screening the target route, and in some embodiments of the present application, the target route having the shortest route may be screened from the respective routes for transporting the first item to the transportation destination, in consideration of efficiency.

In other embodiments of the present application, based on energy consumption considerations, a target route that requires the lowest energy consumption may be screened from the various routes used to transport the first item to the transportation destination location.

Specifically, as shown in fig. 11, the screening of one route from the routes for transporting the first item to the transportation destination as the target route may include the following steps S1101 to S1102.

In step S1101, the sum of energy consumptions required for transporting the first item based on the respective routes for transporting the first item to the transportation destination position is calculated.

Wherein, the total energy consumption can be: the total of the energy consumption of the freight car, the energy consumption required by each stacker for transporting the first article, the energy consumption required for controlling the movement of the stacker in which the third article is stored, and the energy consumption required for controlling the movement of the third article by the stacker associated with the lane in which the shelf in which the third article is stored is located.

Step S1102, a route with the smallest sum of energy consumption is screened out from the routes for transporting the first item to the transportation destination as a target route.

In some embodiments of the present application, since it is necessary to control movement of the stacker storing the third item and/or control movement of the stacker associated with the lane where the rack storing the third item is located during transportation of the first item based on the target path; therefore, in the process of selecting the target path, in addition to the energy consumption of the cart, the energy consumption required for transporting each stacker for the first article, the energy consumption required for controlling the movement of the stacker in which the third article is stored, and the energy consumption required for controlling the movement of the third article by the stacker associated with the lane in which the rack in which the third article is stored is located are considered. Based on the energy consumption sum corresponding to each path for transporting the first item to the transportation destination, a path with the smallest energy consumption sum can be screened out from each path for transporting the first item to the transportation destination as a target path.

In the embodiment of the application, the path with the minimum total energy consumption is screened from the paths for transporting the first article to the transportation end position to serve as the target path, so that the reliability of cargo transportation is guaranteed, and meanwhile, the energy consumption of the cargo transportation is reduced.

In practical application, the terminal can also control the track switching device to switch the track according to the transportation path while controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path.

In order to estimate the energy consumption more accurately, the sum of the energy consumption may be: the energy consumption of the freight trolley, the energy consumption required by each stacker for transporting the first article, the energy consumption required by controlling the movement of the stacker storing the third article, the energy consumption required by controlling the movement of the third article of the stacker related to the roadway where the goods shelf storing the third article is located, and the energy consumption sum of the energy consumption required by switching the tracks.

Namely, the energy consumption required by the track switching device for switching the track is considered in the energy consumption sum, so that the calculated energy consumption sum is more accurate.

In addition, in practical application, each stacker may be executing tasks, and different stackers may have track conflicts on the tracks of the roadway intersections. There is therefore a need for a method to assist the above-described terminal-controlled track switching apparatus in scheduling the order of travel of a stacker.

Specifically, in some embodiments of the present application, if the priority of the task of transporting the first item is the first priority, as shown in fig. 12, the cargo transportation method may further include the following steps S1201 to S1202.

And step S1201, acquiring task information of the stacker located in a third distance threshold range of the roadway intersection when the freight car and the stacker on the transport path reach the roadway intersection.

The specific value of the third distance threshold can be adjusted according to the actual situation. When the goods transporting trolley or the stacker on the transportation path reaches the roadway intersection, if the stacker exists within the third distance threshold range of the roadway intersection, the stacker on the goods transporting trolley or the transportation path is considered to have track conflict at the roadway intersection. Based on this, when the terminal needs to acquire the truck and the stacker on the transportation path to reach the roadway intersection, the task information of the stacker located within the third distance threshold range of the roadway intersection can predict the specific time when the truck and the stacker on the transportation path reach each roadway intersection in some embodiments of the application. And based on the specific time, determining the pilers located in the third distance threshold range of the corresponding lane intersections at the corresponding specific time, and further acquiring the task information of the pilers located in the third distance threshold range of the corresponding lane intersections.

The task information can be acquired based on an information management module. The task information may specifically include a second priority of the task being processed by the stacker crane located within a third distance threshold range of the roadway intersection, and a path corresponding to the task being processed.

Step S1202, determining a track control strategy based on the first priority, the second priority, the transportation path and the path corresponding to the task being processed, and controlling the track switching device to switch the track according to the track control strategy.

In some embodiments of the present application, tasks with higher priorities need to be executed preferentially. Therefore, the terminal may compare the first priority with the second priority, and when the first priority is higher than the second priority, may use the first control policy as the track control policy, where the first control policy is: and controlling the track switching device to switch to the track trend corresponding to the transportation path of the first article, and then switching to the track trend corresponding to the path corresponding to the task being processed by the stacker crane within the range of the third distance threshold value of the roadway intersection.

Similarly, when the first priority is lower than the second priority, the second control strategy may be used as the track control strategy, where the second control strategy is: and controlling the track switching device to switch to the track trend corresponding to the path corresponding to the task being processed by the stacker crane within the third distance threshold range of the roadway intersection, and then switching to the track trend corresponding to the transportation path of the first article.

In the implementation mode of this application, when control the stacker on freight dolly and the transportation route transported first article according to the transportation route, carry out the track switching according to task priority control track auto-change over device for when guaranteeing goods transportation reliability, can satisfy the transportation demand of important goods transportation task preferentially, in the actual production application, improved whole storage management system's reliability phase-to-phase.

It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.

Fig. 13 is a schematic structural diagram of a cargo transporter 1300 according to an embodiment of the present disclosure, wherein the cargo transporter 1300 is configured on a terminal.

Specifically, the cargo transporter 1300 may include: a first item information acquisition unit 1301, a second item information acquisition unit 1302, a transportation path determination unit 1303, and a control unit 1304.

A first article information obtaining unit 1301, configured to obtain first article information, where the first article information includes identification information of a second article and a transportation end point position of a first article to be transported by a transportation cart, where the second article is an article that cannot be close to the first article;

a second article information obtaining unit 1302, configured to determine whether a shelf in a warehouse or a stacker in the warehouse stores the second article according to the identification information, and obtain second article information when the shelf in the warehouse or the stacker in the warehouse stores the second article, where the warehouse is a warehouse used for storing the first article, and the second article information includes information of the stacker which stores the second article in the warehouse and/or information of a roadway in which the second article is located in the warehouse;

a transportation path determining unit 1303, configured to determine a transportation path of the first item according to the second item information and the transportation end position;

and a control unit 1304 configured to control the freight car and the stacker on the transportation path to transport the first item according to the transportation path, so as to transport the first item to the transportation destination.

In some embodiments of the present application, the transportation path determining unit 1303 may be specifically configured to: determining a current shortest path for transporting the first item to the transportation destination location; and judging whether the current shortest path meets an optimal path condition or not according to the second article information, wherein the optimal path condition is as follows: in the process of transporting the first item based on the current shortest path, a first distance between any second item and the first item is greater than or equal to a preset first distance threshold value; if the current shortest path does not meet the optimal path condition, re-determining a secondary short path relative to the current shortest path, taking the currently determined secondary short path as the current shortest path, and executing the step of judging whether the current shortest path meets the optimal path condition or not according to the second article information and the subsequent steps; and if the current shortest path meets the optimal path condition, determining the current shortest path as the transportation path of the first article.

In some embodiments of the present application, each lane of the warehouse corresponds to one sub-path, the current shortest path includes at least one sub-path, and each stacker in the warehouse is associated with one sub-path respectively; the second article information comprises stacker information of a stacker which stores a second article in the warehouse; the transportation path determining unit 1303 may be specifically configured to: determining a time at which the first item was transported to each roadway intersection while transporting the first item based on the current shortest path; estimating a first position of a stacker, which is stored with the second article in the warehouse when the first article is transported to each lane intersection, in the process of transporting the first article based on the current shortest path according to the stacker information; calculating a second distance between a first position where a stacker of the second article is located and a roadway intersection where the first article is located when the first article is transported to each roadway intersection in the process of transporting the first article based on the current shortest path; and if any one of the second distances is smaller than a preset second distance threshold, determining that the current shortest path does not meet the optimal path condition.

In some embodiments of the present application, the second item information includes lane information of a lane where the second item is located in the warehouse; the transportation path determining unit 1303 may be specifically configured to: determining whether the current shortest path passes through the tunnel where the second article is located in the warehouse or not according to the tunnel information; and if the current shortest path passes through the roadway where the second article is located, determining that the current shortest path does not meet the optimal path condition.

In some embodiments of the present application, the second article information includes lane information of a lane where the second article is located; the control unit 1304 may be specifically configured to: if the secondary short path relative to the current shortest path does not exist, screening a path from the paths for transporting the first article to the transportation destination position as a target path, and taking the target path as the transportation path; controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path and controlling the stacker storing a third article to move, and/or controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path and controlling the stacker associated with a roadway where a shelf storing the third article is located to move the third article, so that in the process of transporting the first article based on the target path, first distances between the second article and the first article are smaller than the first distance threshold; wherein the third article refers to a second article whose first distance from the first article is less than the first distance threshold in the process of transporting the first article based on the target path.

In some embodiments of the present application, the control unit 1304 may be specifically configured to: calculating a sum of energy consumptions required for transporting the first item based on the respective paths for transporting the first item to the transportation end position; screening a path with the minimum sum of energy consumption from various paths for transporting the first article to the transportation destination position as the target path; wherein the sum of the energy consumption is: the energy consumption of the freight trolley, the energy consumption required by each stacker for transporting the first article, the energy consumption required by controlling the movement of the stacker in which the third article is stored, and the sum of the energy consumption required by controlling the movement of the third article by the stacker associated with the roadway in which the shelf in which the third article is stored is obtained.

In some embodiments of the present application, the priority of the task of transporting the first item is a first priority; the control unit 1304 may be specifically configured to: acquiring task information of the goods transporting trolley and the stacker on the transportation path, which is positioned in a third distance threshold range of a roadway intersection when the stacker arrives at the roadway intersection, wherein the task information comprises a second priority of a task being processed by the stacker positioned in the third distance threshold range of the roadway intersection and a path corresponding to the task being processed; and determining a track control strategy based on the first priority, the second priority, the transportation path and the path corresponding to the task being processed, and controlling a track switching device to switch the track according to the track control strategy.

It should be noted that, for convenience and brevity of description, the detailed working process of the cargo transporter 1300 may refer to the corresponding process of the method described in fig. 1 to fig. 12, and is not repeated herein.

Fig. 14 is a schematic diagram of a terminal according to an embodiment of the present application. The terminal 14 may include: a processor 140, a memory 141, and a computer program 142, such as a cargo transport program, stored in the memory 141 and operable on the processor 140. The processor 140 implements the steps in the various embodiments of the cargo transportation method described above, such as the steps S101 to S104 shown in fig. 1, when executing the computer program 142. Alternatively, the processor 140 implements the functions of the modules/units in the above-mentioned device embodiments when executing the computer program 142, for example, the first item information obtaining unit 1301, the second item information obtaining unit 1302, the transportation route determining unit 1303, and the control unit 1304 shown in fig. 13.

The computer program may be divided into one or more modules/units, which are stored in the memory 141 and executed by the processor 140 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the terminal.

For example, the computer program may be divided into: the system comprises a first article information acquisition unit, a second article information acquisition unit, a transportation path determination unit and a control unit.

The specific functions of each unit are as follows: the system comprises a first article information acquisition unit, a second article information acquisition unit and a first article information processing unit, wherein the first article information acquisition unit is used for acquiring first article information, the first article information comprises identification information of a second article and a transportation end point position of the first article to be transported by a transportation trolley, and the second article is an article which cannot be close to the first article; a second article information obtaining unit, configured to determine, according to the identification information, whether a shelf in a warehouse or a stacker in the warehouse stores the second article, and obtain second article information when the shelf in the warehouse or the stacker in the warehouse stores the second article, where the warehouse is a warehouse used for storing the first article, and the second article information includes information of the stacker storing the second article in the warehouse and/or information of a roadway in which the second article is located in the warehouse; the transportation path determining unit is used for determining the transportation path of the first article according to the information of the second article and the transportation end position; and the control unit is used for controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path so as to transport the first article to the transportation destination position.

The terminal may include, but is not limited to, a processor 140, a memory 141. Those skilled in the art will appreciate that fig. 14 is merely an example of a terminal and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., the terminal may also include input-output devices, network access devices, buses, etc.

The Processor 140 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 141 may be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 141 may also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal. Further, the memory 141 may also include both an internal storage unit and an external storage device of the terminal. The memory 141 is used for storing the computer program and other programs and data required by the terminal. The memory 141 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method of transporting cargo, comprising:

controlling the freight trolley and a stacker on the transportation path to transport the first article according to the transportation path so as to transport the first article to the transportation destination position;

the determining the transportation path of the first item according to the second item information and the transportation end position comprises:

determining a current shortest path for transporting the first item to the transportation destination location;

and judging whether the current shortest path meets an optimal path condition or not according to the second article information, wherein the optimal path condition is as follows: in the process of transporting the first item based on the current shortest path, a first distance between any second item and the first item is greater than or equal to a preset first distance threshold value;

if the current shortest path does not meet the optimal path condition, re-determining a secondary short path relative to the current shortest path, taking the currently determined secondary short path as the current shortest path, and executing the step of judging whether the current shortest path meets the optimal path condition or not according to the second article information and the subsequent steps;

if the current shortest path meets the optimal path condition, determining the current shortest path as the transportation path of the first article;

each roadway of the warehouse corresponds to one sub-path, the current shortest path comprises at least one sub-path, and each stacker in the warehouse is associated with one sub-path; the second article information comprises stacker information of a stacker which stores the second article in the warehouse;

the judging whether the current shortest path meets the optimal path condition according to the second article information includes:

determining a time at which the first item was transported to each roadway intersection while transporting the first item based on the current shortest path;

estimating a first position of a stacker, which is stored with the second article in the warehouse when the first article is transported to each lane intersection, in the process of transporting the first article based on the current shortest path according to the stacker information;

calculating a second distance between a first position where a stacker of the second article is located and a roadway intersection where the first article is located when the first article is transported to each roadway intersection in the process of transporting the first article based on the current shortest path;

and if any one of the second distances is smaller than a preset second distance threshold, determining that the current shortest path does not meet the optimal path condition.

2. The cargo transportation method according to claim 1, wherein the second item information includes lane information of a lane in the warehouse where the second item is located;

determining whether the current shortest path passes through the roadway where the second article is located or not according to the roadway information;

and if the current shortest path passes through the roadway where the second article is located in the warehouse, determining that the current shortest path does not meet the optimal path condition.

3. The method of cargo transportation of claim 1 or 2, wherein the re-determining a second shortest path relative to a current shortest path, thereafter further comprises:

if the secondary short path relative to the current shortest path does not exist, screening a path from the paths for transporting the first article to the transportation destination position as a target path, and taking the target path as the transportation path;

controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path and controlling the stacker storing a third article to move, and/or controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path and controlling the stacker associated with a roadway where a shelf storing the third article is located to move the third article, so that in the process of transporting the first article based on the target path, first distances between the second article and the first article are smaller than the first distance threshold; wherein the third article refers to a second article whose first distance from the first article is less than the first distance threshold in the process of transporting the first article based on the target path.

4. The method of transporting cargo of claim 3, wherein said screening a path from among the paths for transporting the first item to the transportation destination location as a target path comprises:

calculating a sum of energy consumptions required for transporting the first item based on the respective paths for transporting the first item to the transportation end position;

screening a path with the minimum sum of energy consumption from various paths for transporting the first article to the transportation destination position as the target path;

wherein the sum of the energy consumption is: the energy consumption of the freight trolley, the energy consumption required by each stacker for transporting the first article, the energy consumption required by controlling the movement of the stacker in which the third article is stored, and the sum of the energy consumption required by controlling the movement of the third article by the stacker associated with the roadway in which the shelf in which the third article is stored is obtained.

5. The cargo transportation method according to claim 1 or 2, wherein the priority of the task of transporting the first item is a first priority;

the cargo transportation method further comprises the following steps:

acquiring task information of the goods transporting trolley and the stacker on the transportation path, which is positioned in a third distance threshold range of a roadway intersection when the stacker arrives at the roadway intersection, wherein the task information comprises a second priority of a task being processed by the stacker positioned in the third distance threshold range of the roadway intersection and a path corresponding to the task being processed;

and determining a track control strategy based on the first priority, the second priority, the transportation path and the path corresponding to the task being processed, and controlling a track switching device to switch the track according to the track control strategy.

6. A cargo conveyance device, comprising:

the control unit is used for controlling the freight trolley and the stacker on the transportation path to transport the first article according to the transportation path so as to transport the first article to the transportation destination position;

the transport path determination unit is further configured to: determining a current shortest path for transporting the first item to the transportation destination location; and judging whether the current shortest path meets an optimal path condition or not according to the second article information, wherein the optimal path condition is as follows: in the process of transporting the first item based on the current shortest path, a first distance between any second item and the first item is greater than or equal to a preset first distance threshold value; if the current shortest path does not meet the optimal path condition, re-determining a secondary short path relative to the current shortest path, taking the currently determined secondary short path as the current shortest path, and executing the step of judging whether the current shortest path meets the optimal path condition or not according to the second article information and the subsequent steps; if the current shortest path meets the optimal path condition, determining the current shortest path as the transportation path of the first article;

the transport path determination unit is further configured to: determining a time at which the first item was transported to each roadway intersection while transporting the first item based on the current shortest path; estimating a first position of a stacker, which is stored with the second article in the warehouse when the first article is transported to each lane intersection, in the process of transporting the first article based on the current shortest path according to the stacker information; calculating a second distance between a first position where a stacker of the second article is located and a roadway intersection where the first article is located when the first article is transported to each roadway intersection in the process of transporting the first article based on the current shortest path; and if any one of the second distances is smaller than a preset second distance threshold, determining that the current shortest path does not meet the optimal path condition.

7. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.