CN-121981648-A - Container and equipment connectivity detection method based on topological relation in stereoscopic warehouse

CN121981648ACN 121981648 ACN121981648 ACN 121981648ACN-121981648-A

Abstract

The application relates to the technical field of intelligent warehouse management, in particular to a method, a device and a storage medium for detecting connectivity of a container and equipment based on a topological relation in a stereoscopic warehouse. According to the method, a library level topological sub-graph of a robot dimension and a lifter equipment topological sub-graph of a container dimension are respectively constructed, connectivity of the library level topological sub-graph is independently checked, then a global topological directed graph is generated through fusion, and overall connectivity judgment is carried out based on the graph. The scheme effectively solves the problem of connectivity misjudgment caused by neglecting Z-axis space division and equipment traffic capacity difference in the multi-layer stereoscopic warehouse in the prior art, not only improves the reliability of path planning, but also accurately positions the disconnection position when the connectivity verification fails, thereby providing accurate and reliable warehouse space topology data for a robot control system.

Inventors

QIU HAN
YI XINRUI
Peng Feilin
FANG YANG
CHEN TIEJUN

Assignees

中科云谷科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251230

Claims (10)

1. A method for detecting connectivity of a container and a device based on topological relation in a stereoscopic warehouse, which is characterized by comprising the following steps: obtaining modeling data of a stereoscopic warehouse, wherein the modeling data at least comprises map data, equipment data and space topology data; dividing and screening the map data according to the type, the reservoir area and the reservoir layer of the robot based on the map data, constructing robot topology subgraphs of all reservoir layers, checking the connectivity of the robot topology subgraphs, and determining a robot reservoir area topology map; Based on the equipment data and the space topology data, constructing vertical connecting edges of the hoisting equipment among nodes of different warehouse layers and horizontal connecting edges of the hoisting equipment among nodes of other equipment of the same warehouse layer by taking hoisting equipment as a node unit, forming a container topology subgraph, checking connectivity of the container topology subgraph, and determining a container warehouse area topology graph; Combining the robot reservoir region topological graph with the container reservoir region topological graph to generate a global topological directed graph of the stereoscopic warehouse; And carrying out global connectivity verification on the global topology directed graph, and judging whether the whole topology network of the stereoscopic warehouse is connected or not based on a verification result.
2. The method of claim 1, wherein the dividing and screening the map data based on the map data according to the robot type, the library area and the library layer, constructing a robot topology sub-graph of each library level, and verifying connectivity of the robot topology sub-graph, and determining a robot library area topology graph comprises: dividing the map data into a point table and an edge table, grouping the map data with a library layer based on the library region, and determining a grouping point set of the library region and the library layer and a grouping edge set of the library region and the library layer; Screening the grouping point set and the grouping edge set according to the robot type, and carrying out integrity check, and filtering points and edges which do not meet the condition of admitting the robot type, wherein the integrity check comprises point integrity and edge integrity; Constructing a directed graph based on the screened point set and the screened edge set to determine a topological sub-graph of the robot library layer; Verifying the strong connected components of the robot library layer topology subgraph based on a Tarjan algorithm, and determining that the connectivity of the robot library layer topology subgraph is normal when the progress strong connected components are 1; When the number of the strong connected component sets is not 1, locating non-connected nodes and attributes thereof in the robot library layer topology subgraph based on a Tarjan algorithm, and correcting the robot library layer topology subgraph; And under the same reservoir area, determining the robot reservoir area topological graph of the reservoir area according to a first formula based on a plurality of robot reservoir layer topological subgraphs passing connectivity verification.
3. The method of claim 2, wherein the first formula is: Wherein, the A robot pool topology for the pool, For the number of layers in the reservoir, Is the first And the layer passes through the robot library layer topology subgraph of connectivity verification.
4. The method of claim 1, wherein constructing a vertical connection edge of the hoisting machine device between nodes of different warehouse levels and a horizontal connection edge between the hoisting machine device and other nodes of the same warehouse level based on the device data and the space topology data to form a container topology subgraph and verify connectivity of the container topology subgraph, and determining the container warehouse area topology graph comprises: According to the equipment point location mapping and the reachable warehouse layer set of the elevator equipment, determining the foundation nodes and the connection nodes of the elevator equipment in each warehouse layer; determining vertical connection edges of the same lifting machine equipment among base nodes of different warehouse layers and horizontal connection edges of the same lifting machine equipment among base nodes and connection nodes of the same lifting machine equipment in the same warehouse layer according to the point table and the edge table in the space topology data; Determining horizontal connecting edges among hoisting machine equipment based on connection nodes of different hoisting machine equipment in the same warehouse; Forming a container library layer topology subgraph based on the constructed nodes and connecting edges, checking the connectivity of the container library layer topology subgraph according to a Tarjan algorithm, and determining that the connectivity of the container library layer topology subgraph is normal if and only if a strong connected component set is 1; and establishing a connection edge between the workstation and a connected lifting machine equipment foundation node, and determining a container warehouse area topological graph of the warehouse area according to a second formula under the same warehouse area according to a plurality of container warehouse layer topological subgraphs which pass through connectivity verification.
5. The method of claim 4, wherein the second formula is: Wherein, the In order to provide a topological map of the container warehouse area, For the number of layers in the reservoir, Is the first The container library layer topology subgraphs whose layers pass connectivity verification, The two-way connection between the work station and the base node of the connected hoisting machine equipment is realized.
6. The method of claim 1, wherein the merging the verified robotic pool area topology map with the container pool area topology map to generate a global topology map of a stereoscopic warehouse comprises: combining the robot warehouse area topological graph and the container warehouse area topological graph of a plurality of warehouse areas belonging to the same stereoscopic warehouse; Determining a cross-layer connection edge set based on vertical connection edges of the hoisting machine equipment on different warehouse layers and connection edges between the robot path network and hoisting machine connection points; And determining a global topological directed graph of the stereoscopic warehouse according to the cross-layer connection edge set and the merged topological graph.
7. The method of claim 1, wherein performing global connectivity verification on the global topology map, and determining whether the global topology network of the stereoscopic warehouse is connected based on a verification result comprises: Determining all strong connected components of the global topological directed graph according to a Tarjan algorithm; When the number of the strong connected components is 1, judging the whole topology network connection of the stereoscopic warehouse; And when the number of the strong connected components is not 1, judging that the whole topological network of the stereoscopic warehouse is not connected, and positioning the position of connectivity fracture based on the warehouse area, the warehouse layer and the equipment type attribute of the nodes in each strong connected component.
8. The method of claim 1, wherein the map data comprises a point table and an edge table, the point table defines basic attributes and extended attributes of all points in the vertical library, the edge table defines basic attributes and extended attributes of all edges in the vertical library, the device data comprises a device code, a device type, a set of reachable library layers and a device point location map, and the space topology data comprises three-dimensional coordinates and library layer marks contained in the point table, and point-to-point connection relations and robot admission rights contained in the edge table.
9. A container and device connectivity detection apparatus based on topological relationships in a stereoscopic warehouse, comprising: a memory configured to store instructions; A processor configured to invoke the instructions from the memory and when executing the instructions is capable of implementing a topology-based container and device connectivity detection method in a stereoscopic warehouse according to any one of claims 1 to 8.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of topological relation based container and device connectivity detection in a stereoscopic warehouse according to any one of claims 1 to 8.

Description

Container and equipment connectivity detection method based on topological relation in stereoscopic warehouse Technical Field The application relates to the technical field of intelligent warehouse management, in particular to a method, a device and a storage medium for detecting connectivity of a container and equipment based on a topological relation in a stereoscopic warehouse. Background In an intelligent warehouse system, a three-dimensional warehouse generally adopts a multi-warehouse-layer structure, containers are conveyed in a horizontal layer through robots, and vertical transfer of the containers among different warehouse layers is realized by means of elevator equipment, so that the operation tasks of warehouse entry, warehouse exit, warehouse allocation and the like are completed. In order to ensure the reliability and efficiency of task execution, the control system needs to verify the connectivity of the whole stereoscopic warehouse topology network before task planning, namely, ensuring that a feasible carrying path exists between any warehouse-in point and any warehouse-out point. However, in the connectivity detection method in the prior art, mostly, based on a single plane graph model, only a two-dimensional map is usually subjected to strong connectivity verification, and it is difficult to adapt to the physical segmentation characteristics of a library layer in a stereoscopic warehouse in the Z-axis direction. The method is easy to misjudge the cross-layer illegal connection, so that the subsequent path planning fails or the equipment scheduling conflicts are caused. In addition, the existing scheme often does not distinguish the traffic capacity of different equipment types, for example, whether a hoist allows a robot to pass or not, only uses the robot for container transfer and other business constraints, so that a path planning result is not matched with the actual equipment capacity. Furthermore, when connectivity verification fails, the traditional method can only output the whole connected component, lacks fine-granularity positioning capability on the disconnected position, and is difficult to distinguish whether the internal path of the library layer is disconnected or the cross-layer connection is lost, so that the problem investigation and map data correction efficiency are affected. Disclosure of Invention The embodiment of the application aims to provide a method, a device and a storage medium for detecting the connectivity of a container and equipment based on a topological relation in a stereoscopic warehouse, which are used for solving the problem of misjudgment of the connectivity caused by neglecting Z-axis physical segmentation and equipment traffic capacity difference in a multi-warehouse layered warehouse scene in the prior art, and improving the reliability of path planning. In order to achieve the above object, a first aspect of the present application provides a method for detecting connectivity of a container and a device based on a topological relation in a stereoscopic warehouse, including: Obtaining modeling data of a stereoscopic warehouse, wherein the modeling data at least comprises map data, equipment data and space topology data; based on map data, dividing and screening the map data according to the type of the robot, the library areas and the library layers, constructing robot topology subgraphs of all library layers, checking connectivity of the robot topology subgraphs, and determining a robot library area topology map; Based on the equipment data and the space topology data, using the lifting equipment as a node unit, constructing vertical connecting edges of the lifting equipment among nodes of different library layers and horizontal connecting edges of the lifting equipment among nodes of other equipment of the same library layer, forming a container topology subgraph, checking connectivity of the container topology subgraph, and determining a container library area topology graph; combining the robot reservoir region topological graph and the container reservoir region topological graph to generate a global topological directed graph of the stereoscopic warehouse; and carrying out global connectivity verification on the global topology directed graph, and judging whether the whole topology network of the stereoscopic warehouse is connected or not based on a verification result. In the embodiment of the application, map data are segmented and screened based on map data, the map data are segmented and screened according to robot types, library areas and library layers, a robot topological sub-graph of each library level is constructed, connectivity of the robot topological sub-graph is verified, the determination of the robot library area topological sub-graph comprises the steps of dividing the map data into point tables and side tables, grouping based on the library areas and the library layers, determining grouping point sets of the library area