CN109765915A - A kind of storage transfer robot task scheduling system based on computerized algorithm - Google Patents
A kind of storage transfer robot task scheduling system based on computerized algorithm Download PDFInfo
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- CN109765915A CN109765915A CN201910187310.1A CN201910187310A CN109765915A CN 109765915 A CN109765915 A CN 109765915A CN 201910187310 A CN201910187310 A CN 201910187310A CN 109765915 A CN109765915 A CN 109765915A
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Abstract
The invention discloses a kind of storage transfer robot task scheduling system based on computerized algorithm, including dispatching system, and it is distributed in the storage rack in storage region, transfer robot, the storage region includes subregion one, subregion two, subregion three and subregion four, and storage rack and transfer robot engaged therewith are provided in each subregion, storage rack and conveying robot carry number per capita, zone location module is provided on storage rack, storage rack includes several warehousing regions, and pressure sensor and number bar code are provided in each warehousing region；Acquisition module, identification module and control module interconnected are carried on the transfer robot, obtain speed, position and the status information of each transfer robot of module, and status information includes state to be planned and execution state.The high region of Congestion Level SPCC is appeared in simultaneously the invention avoids multiple robots and causes to collide, to reduce maintenance cost.
Description
Technical field
The present invention relates to computerized algorithm and storage scheduling field, specially a kind of storage based on computerized algorithm is carried
Robot task dispatches system.
Background technique
Computerized algorithm be in such a way that a step connects a step be described in detail computer how to convert input to it is required
Output process, in other words, algorithm is the specific descriptions to the calculating process executed on computer.With computer network skill
Art, automatic technology, artificial intelligence technology etc. develop at a gallop, and new stage, machine have also been stepped into the correlative study of robot
People has the advantages of mankind can not reach in many aspects, can be in complexity, many necks
Domain is widely used.For in the research of robot the relevant technologies, one of them very important aspect is path rule
The problem of drawing, by the research that deepens continuously to path planning, so that mobile robot is preferably applied for various aspects, really
Daily life is incorporated, better contribution is made in the development of progress and science and technology to human society.
Storage robot (AGV) is a kind of automatic guided vehicle in essence, is commonly used for cargo in warehouse and carries, earliest
It is just had already appeared in nineteen fifties, the navigation mode of AGV substantially shows its historical development train of thought.Early stage
AGV is guided by electromagnetic induction method, uses tape guidance instead thereafter, the guide mode of mainstream has las er-guidance, inertia to lead at present
Boat, vision guided navigation.Storage robot be often used in electric business place an order delivery sort in cargo carry, with substitute manually sort into
And improve and sort efficiency, reduce cost of labor.The prior art has the disadvantage in that
1, the paths planning method of the prior art is not able to satisfy multirobot situation just in single machine device human feelings condition
It is required that the practicability of method is low；
2, it because of situations such as robbing occupied road and collision, be easy to cause the Congestion Level SPCC of some regions higher, system is caused to be transported
The row time is long, low efficiency, and resource allocation is unreasonable.
Summary of the invention
The purpose of the present invention is to provide a kind of storage transfer robot task scheduling system based on computerized algorithm, with
Solve the problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme: a kind of storage carrying implement based on computerized algorithm
Device people's task scheduling system, including scheduling system, and the storage rack, the transfer robot that are distributed in storage region, it is described
Storage region includes subregion one, subregion two, subregion three and subregion four, and storage goods engaged therewith is provided in each subregion
Frame and transfer robot, storage rack and conveying robot carry number per capita, and zone location module is provided on storage rack,
Storage rack includes several warehousing regions, and is provided with pressure sensor and number bar code in each warehousing region；It is described to remove
Acquisition module, identification module and control module interconnected are carried in fortune robot, obtains each transfer robot of module
Speed, position and status information, and status information includes state to be planned and execution state.
Preferably, scheduling system is connect with module communication is obtained, and scheduling system plans carrying for updating shelf location
The original execution path of robot comprising storage part, which is searched, obtains module, path prediction module and scheduler module.
Preferably, storage part search obtain module be used for obtains to be carried store up part location information, with control module and
Prediction module connection in path sends storage part location information to control module.
Preferably, the original execution path of transfer robot is predefined paths, that is, passes through storage part location information and predetermined road
Path search algorithm is that each transfer robot searches for several paths on a preset condition based, and the path searched is as corresponding conveying robot
The optional path of people, predefined paths searching algorithm are based on A-Star, Dijkstra, BFS and DFS algorithm.
Preferably, path prediction module is based on storage part position and beginning execution route carries out path congestion analysis and predicts, builds
Vertical congestion map is simultaneously handled congestion map rasterizing, optimizes place to grating map according to the size of transfer robot
Reason, and the numerical value in each grid is obtained, which is to predict congestion probability.
Preferably, scheduler module is carried out according to the speed of prediction congestion probability and transfer robot, position and status information
The path of each transfer robot is staggered analysis, and analysis result is sent to control module.
Preferably, control module is connect with identification module and scheduler module, analysis knot of the control module based on scheduler module
Fruit carries out state to be planned and executes state control, and control module starts identification module when execution state is carried out, and identifies mould
Number bar code in block and each warehousing region cooperates.
Preferably, obtaining module includes gyro unit, odometer unit and positioning unit.
Compared with prior art, the beneficial effects of the present invention are:
The present invention meets the requirement of more storage robot running environment, improves practicability, is searched for and calculated by predefined paths
Method carry out transfer robot optional path selection, while using path prediction module be based on storage part position and beginning execution route into
The prediction of walking along the street diameter congestion analysis establishes congestion map and handles congestion map rasterizing, according to the big of transfer robot
It is small that processing is optimized to grating map, using scheduler module according to speed, the position of prediction congestion probability and transfer robot
The path for carrying out each transfer robot with status information is staggered analysis, and by control module based on the analysis result of scheduler module into
Row state to be planned and execution state control, avoid multiple robots while appearing in the high region of Congestion Level SPCC and causing to send out
Raw collision to reduce maintenance cost, while reducing system congestion degree and shortening runing time and improve operation
Efficiency reduces the useless movement and energy consumption of robot, improves resource utilization and reasonable distribution resource.
Detailed description of the invention
Fig. 1 is application drawing of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of storage transfer robot based on computerized algorithm times
Business scheduling system, including scheduling system, and the storage rack, the transfer robot that are distributed in storage region, the warehouse district
Domain includes subregion one, subregion two, subregion three and subregion four, and is provided with storage rack engaged therewith in each subregion and removes
Robot is transported, storage rack and conveying robot carry number per capita, and zone location module is provided on storage rack, goods of storing in a warehouse
Frame includes several warehousing regions, and is provided with pressure sensor and number bar code in each warehousing region；The conveying robot
Acquisition module, identification module and control module interconnected are carried on people, obtain speed, the position of each transfer robot of module
It sets and status information, and status information includes state to be planned and execution state.
Scheduling system is connect with module communication is obtained, and scheduling system plans transfer robot for updating shelf location
Original execution path comprising storage part, which is searched, obtains module, path prediction module and scheduler module.
Storage part, which is searched, obtains module for obtaining the location information to be carried storage part, predicts with control module and path
Module connection sends storage part location information to control module.
The original execution path of transfer robot is predefined paths, i.e., is calculated by storage part location information and predefined paths search
Method is that each transfer robot searches for several paths on a preset condition based, and the path searched is optional as corresponding transfer robot
Path, predefined paths searching algorithm are based on A-Star, Dijkstra, BFS and DFS algorithm.
Path prediction module is based on storage part position and beginning execution route carries out path congestion analysis and predicts, with establishing congestion
Scheme and handle congestion map rasterizing, processing is optimized to grating map according to the size of transfer robot, and obtain
Numerical value in each grid, the numerical value are to predict congestion probability.
Scheduler module carries out each carrying implement according to the speed of prediction congestion probability and transfer robot, position and status information
The path of device people is staggered analysis, and analysis result is sent to control module.
Control module is connect with identification module and scheduler module, control module based on the analysis result of scheduler module carry out to
Planning state and execute state control, control module starts identification module when execution state is carried out, and identification module with it is each
Number bar code cooperation in warehousing region.
Obtaining module includes gyro unit, odometer unit and positioning unit.
The present invention meets the requirement of more storage robot running environment, improves practicability, is searched for and calculated by predefined paths
Method carry out transfer robot optional path selection, while using path prediction module be based on storage part position and beginning execution route into
The prediction of walking along the street diameter congestion analysis establishes congestion map and handles congestion map rasterizing, according to the big of transfer robot
It is small that processing is optimized to grating map, using scheduler module according to speed, the position of prediction congestion probability and transfer robot
The path for carrying out each transfer robot with status information is staggered analysis, and by control module based on the analysis result of scheduler module into
Row state to be planned and execution state control, avoid multiple robots while appearing in the high region of Congestion Level SPCC and causing to send out
Raw collision to reduce maintenance cost, while reducing system congestion degree and shortening runing time and improve operation
Efficiency reduces the useless movement and energy consumption of robot, improves resource utilization and reasonable distribution resource.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of storage transfer robot task scheduling system based on computerized algorithm, which is characterized in that including dispatching system,
And it is distributed in storage rack, transfer robot in storage region, the storage region includes subregion one, subregion two, subregion
Three with subregion four, and be provided with storage rack and transfer robot engaged therewith in each subregion, storage rack and carry
Machine carries number per capita, and zone location module is provided on storage rack, and storage rack includes several warehousing regions, and every
Pressure sensor and number bar code are provided in one warehousing region；Acquisition interconnected is carried on the transfer robot
Module, identification module and control module obtain speed, position and the status information of each transfer robot of module, and status information
Including state to be planned and execute state.
2. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 1, special
Sign is: the scheduling system is connect with module communication is obtained, and scheduling system plans conveying robot for updating shelf location
The original execution path of people comprising storage part, which is searched, obtains module, path prediction module and scheduler module.
3. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 2, special
Sign is: the storage part, which is searched, obtains module for obtaining the location information to be carried storage part, with control module and path
Prediction module connection sends storage part location information to control module.
4. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 2, special
Sign is: the original execution path of the transfer robot is predefined paths, i.e., is searched by storage part location information with predefined paths
Rope algorithm is that each transfer robot searches for several paths on a preset condition based, and the path searched is as corresponding transfer robot
Optional path, predefined paths searching algorithm are based on A-Star, Dijkstra, BFS and DFS algorithm.
5. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 3, special
Sign is: the path prediction module is based on storage part position and beginning execution route carries out path congestion analysis and predicts that foundation is gathered around
It fills in map and handles congestion map rasterizing, processing is optimized to grating map according to the size of transfer robot, and
The numerical value in each grid is obtained, which is to predict congestion probability.
6. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 2, special
Sign is: the scheduler module is respectively removed according to speed, position and the status information of prediction congestion probability and transfer robot
The path of fortune robot is staggered analysis, and is sent to control module for result is analyzed.
7. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 6, special
Sign is: the control module is connect with identification module and scheduler module, control module based on the analysis result of scheduler module into
Row state to be planned and execute state control, control module starts identification module when execution state is carried out, and identification module with
Number bar code cooperation in each warehousing region.
8. a kind of storage transfer robot task scheduling system based on computerized algorithm according to claim 1, special
Sign is: the acquisition module includes gyro unit, odometer unit and positioning unit.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405756A (en) * | 2019-06-28 | 2019-11-05 | 炬星科技（深圳）有限公司 | A kind of method for scheduling task, device, system, electronic equipment and storage medium |
| CN112099484A (en) * | 2019-05-28 | 2020-12-18 | 村田机械株式会社 | Conveyance control device |
| CN112223301A (en) * | 2020-12-17 | 2021-01-15 | 广州赛特智能科技有限公司 | Robot path planning and scheduling method |
| CN112348433A (en) * | 2020-10-28 | 2021-02-09 | 北京京东乾石科技有限公司 | Exception handling method and system and scheduling system under storage system operation mode |
| CN112987708A (en) * | 2019-11-29 | 2021-06-18 | 杭州海康机器人技术有限公司 | Dispatching method and device for automatic guided transport vehicle |
| CN113253736A (en) * | 2021-06-17 | 2021-08-13 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| WO2022032444A1 (en) * | 2020-08-10 | 2022-02-17 | 深圳技术大学 | Obstacle avoidance method and system for multiple intelligent agents, and computer-readable storage medium |
| CN115293711A (en) * | 2022-10-08 | 2022-11-04 | 南通海隼信息科技有限公司 | Optimization method for intelligent warehousing |
| CN117550273A (en) * | 2024-01-10 | 2024-02-13 | 成都电科星拓科技有限公司 | Multi-transfer robot cooperation method based on bee colony algorithm and transfer robot |
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2019
- 2019-03-13 CN CN201910187310.1A patent/CN109765915A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112099484A (en) * | 2019-05-28 | 2020-12-18 | 村田机械株式会社 | Conveyance control device |
| CN112099484B (en) * | 2019-05-28 | 2024-02-23 | 村田机械株式会社 | Conveyance control device |
| CN110405756A (en) * | 2019-06-28 | 2019-11-05 | 炬星科技（深圳）有限公司 | A kind of method for scheduling task, device, system, electronic equipment and storage medium |
| CN112987708A (en) * | 2019-11-29 | 2021-06-18 | 杭州海康机器人技术有限公司 | Dispatching method and device for automatic guided transport vehicle |
| CN112987708B (en) * | 2019-11-29 | 2024-01-19 | 杭州海康机器人股份有限公司 | Dispatching method and device for automatic guided transport vehicle |
| WO2022032444A1 (en) * | 2020-08-10 | 2022-02-17 | 深圳技术大学 | Obstacle avoidance method and system for multiple intelligent agents, and computer-readable storage medium |
| CN112348433A (en) * | 2020-10-28 | 2021-02-09 | 北京京东乾石科技有限公司 | Exception handling method and system and scheduling system under storage system operation mode |
| CN112223301A (en) * | 2020-12-17 | 2021-01-15 | 广州赛特智能科技有限公司 | Robot path planning and scheduling method |
| CN113253736B (en) * | 2021-06-17 | 2021-11-09 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| CN113253736A (en) * | 2021-06-17 | 2021-08-13 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| CN115293711A (en) * | 2022-10-08 | 2022-11-04 | 南通海隼信息科技有限公司 | Optimization method for intelligent warehousing |
| CN117550273A (en) * | 2024-01-10 | 2024-02-13 | 成都电科星拓科技有限公司 | Multi-transfer robot cooperation method based on bee colony algorithm and transfer robot |
| CN117550273B (en) * | 2024-01-10 | 2024-04-05 | 成都电科星拓科技有限公司 | Multi-transfer robot cooperation method based on bee colony algorithm |
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