WO2019154445A2 - 用于货架阵列的出入库控制方法和搬运*** - Google Patents
用于货架阵列的出入库控制方法和搬运*** Download PDFInfo
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- WO2019154445A2 WO2019154445A2 PCT/CN2019/087333 CN2019087333W WO2019154445A2 WO 2019154445 A2 WO2019154445 A2 WO 2019154445A2 CN 2019087333 W CN2019087333 W CN 2019087333W WO 2019154445 A2 WO2019154445 A2 WO 2019154445A2
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- shelf
- target
- task
- removal
- outbound
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Definitions
- the invention relates to the field of intelligent warehousing, in particular to a method and a control system for transporting in and out of a densely arranged shelf, and a storage system and a storage medium.
- a parcel sorting system consisting of sorting robots has emerged. This system guarantees the efficient sorting of parcels and has instant Responsive and distributed flexibility.
- AAV automatic guided vehicles
- the automated guided vehicle can automatically receive the item handling task, under the control of the program, arrive at the first position, obtain the item, then walk to the second position, remove the item, and continue to perform other tasks.
- the present invention provides a method for controlling an inbound and outbound storage of a shelf array, comprising: receiving an outbound task of a target shelf; determining a handling strategy according to a location of the target shelf in the shelf array, wherein The handling strategy includes: if the target shelf does not have a blocking shelf or obstacle in at least one of the directions, directly moving the target shelf; otherwise, determining a removal path of the target shelf, and when the target shelf When there are multiple removal paths, a removal path is selected from which the barrier shelves on the removal path are removed, and then the target shelf is removed; and the transportation strategy is executed to remove the target shelf.
- the step of moving the target shelf comprises: moving the target shelf out using an automated guided vehicle.
- the inbound and outbound control method further includes: determining a target position of the blocking shelf on the removal path, and transporting the blocking shelf on the removal path to a corresponding target position.
- the determining the removal position of the blocking shelf on the removal path comprises selecting the target position of the blocking shelf based on one or more of the following conditions: the target position does not block the outbound task; the deepest selection is selected Empty storage location; select the empty storage location closest to yourself.
- the step of selecting a removal path includes calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting the removal path with the smallest integrated removal load.
- the removal load includes a weighted sum of blocking the number of shelves, moving distance, and number of turns.
- the method for controlling the inbound and outbound storage further comprises: taking out an outbound task from the task queue in a certain order, and determining the order factors of the task includes: a priority of the outbound task, and a waiting time of the outbound task.
- the method for controlling inbound and outbound further comprises: after determining a handling strategy, generating a task group, the task group comprising moving out of the blocking shelf on the removal path and removing the target shelf;
- the task group assigns an automated guided vehicle.
- the target position of the at least two blocking shelves is in a one-way channel
- the target position is set as the entrance of the one-way channel for the at least two blocking shelves, and according to the arrival The order of the entrances is filled to the deepest position of the one-way channel.
- the invention also relates to a scheduling device for a shelf array, comprising: a target shelf determining unit, configured to receive a destination shelf outbound task and determine a location of the target shelf in the shelf array; and a handling strategy formulating unit configured to Determining a handling strategy of the target shelf in the shelf array, wherein the handling strategy comprises: if the target shelf does not have a blocking shelf or obstacle in at least one of the directions, directly moving the target shelf Coming out; otherwise, determining a removal path of the target shelf, and when the target shelf has a plurality of removal paths, selecting a removal path from which to remove the blocking shelf on the removal path; and executing the unit, and
- the handling strategy formulation unit is coupled and configured to control the automated guided vehicle in accordance with the handling strategy.
- the handling strategy formulation unit is configured to determine a removal position of the blocking shelf on the removal path and to transport the blocking shelf on the removal path to a corresponding removal position, wherein the selection
- the step of removing the path includes: calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting a removal path with the smallest integrated removal load, the removal load including a weighted sum of the movement distance and the number of turns.
- the invention also relates to a handling system comprising: a shelf array comprising a plurality of shelves; a control system receiving an outbound task of the target shelf and determining a location of the target shelf in the shelf array, and wherein said target shelf is in said Positioning in the shelf array, determining a handling strategy, wherein the handling strategy includes: if the target shelf does not have a blocking shelf or obstacle in one of the directions, directly moving the target shelf from the direction; otherwise, Determining a removal path of the target shelf, and when the target shelf has a plurality of removal paths, selecting an optimal one removal path, moving the blocking shelf on the removal path; one or more automatic guided vehicles, Coupling with the control system and receiving the handling strategy, performing a handling task in accordance with the handling strategy.
- the invention further relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method as described above.
- the present invention also relates to an inbound and outbound control method for a shelf array, comprising: receiving a storage task of a target shelf; acquiring an available storage location in the shelf array; determining the target according to the type of the available storage location a target location of the shelf; and transporting the target shelf to the target location.
- the types of available storage devices include four categories: a first type of available storage locations with shelves and/or obstacles on three sides, and a second type of available storage with shelves and/or obstacles on both sides. Location, the third category is available storage locations with shelves and/or obstacles on one side, and the fourth category is available storage locations with no shelves and/or obstacles around.
- the determining the target location of the target shelf comprises: selecting an available storage location according to the following priorities: a first class, a second class, a third class, a fourth class, wherein when there is a same class When there are multiple available storage locations, select the available storage location with the shortest distance as the target location for the target shelf.
- the step of transporting the target rack to the target position includes transporting the target rack to the target position by controlling the automated guided vehicle.
- the inbound and outbound control method further includes: selecting an automated guided vehicle that is closest to the target shelf, and transporting the target shelf to the target location.
- the method for controlling the inbound and outbound further comprises: taking out an inbound task from the task queue according to a certain priority, and determining a priority factor of the task: a priority of the task itself, a task creation time, and/or Or have waited for time to execute complexity.
- the present invention also relates to an inbound and outbound control device for a shelf array, comprising: an inbound task receiving unit for receiving an inbound task of a target shelf; and a handling strategy formulating unit configured to: obtain an available in the shelf array Storing a location, and determining a target location of the target shelf based on the type of available storage location; and automatically guiding the vehicle, configured to carry the target shelf to the target location.
- the types of available storage devices include four categories: a first type of available storage locations with shelves and/or obstacles on three sides, and a second type with shelves and/or obstacles on both sides. Available storage locations, the third category is an available storage location with shelves and/or obstacles, and the fourth category is available storage locations with no shelves and/or obstacles around.
- the determining the target location of the target shelf comprises: selecting an available storage location according to the following priorities: a first class, a second class, a third class, a fourth class, wherein when there is a same class When there are multiple available storage locations, select the available storage location with the shortest distance as the target location for the target shelf.
- the invention further relates to a handling system comprising: a shelf array comprising a plurality of shelves; a control system for receiving a warehousing task of the target shelf, and obtaining available storage locations in the shelf array, and A type of storage location that determines a target location of the target shelf; one or more automated guided vehicles coupled to the control system configured to carry the target shelf to the target location.
- the invention further relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method as described above.
- the present invention also relates to an inbound and outbound scheduling method for a shelf array, comprising: receiving at least two scheduling tasks, determining whether the scheduling task is an outbound task or an inbound task, wherein each scheduling task includes shelf information and priority. Assigning an automated guided vehicle to the at least two scheduled tasks; planning an execution path of the at least two scheduled tasks; performing the at least two scheduled tasks by using the automated guided vehicle, wherein if the scheduled task is outbound If the priority is higher than the priority of the inbound scheduling task, the target location of the inbound task avoids the execution path of the inbound library task.
- the step of planning an execution path of at least two scheduled tasks comprises selecting an available storage location according to a deepest depth principle for the inbound task.
- the inbound and outbound scheduling method further includes: after the automatic guided vehicle completes the inbound task, checking whether there is a deeper available storage location around the target location, and if so, utilizing The automated guided vehicle transports the rack corresponding to the inbound task to the deeper available storage location.
- the step of planning an execution path of at least two scheduled tasks comprises: determining a handling strategy for the outbound task, wherein the handling strategy comprises: if the target shelf is not in at least one of the directions When the shelf or obstacle is blocked, the target shelf is directly transported; otherwise, the removal path of the target shelf is determined, and when the target shelf has multiple removal paths, a removal path is selected from the The blocking shelf on the removal path is removed.
- the step of planning an execution path of the at least two scheduling tasks further comprises: determining a removal position of the blocking shelf on the removal path, and transporting the blocking shelf on the removal path to a corresponding Move out of position.
- the determining the removal position of the blocking shelf on the removal path comprises selecting the removal position based on: blocking the shelf from selecting an empty storage location that hinders the removal of the path; and blocking the shelf to preferentially select the deepest empty storage. Location; Block the shelf to preferentially choose the empty storage location closest to itself.
- the step of selecting a removal path includes calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting the removal path with the smallest integrated removal load.
- the removal load includes a weighted sum of the moving distance and the number of turns.
- the method for controlling the inbound and outbound further comprises: taking a scheduling task from a task queue according to a certain priority, and determining a priority factor of the task: a priority of the task itself, a task creation time, and/or Waiting time, shelf location, execution complexity.
- the invention also relates to a handling system comprising: a shelf array comprising a plurality of shelves; one or more automated guided vehicles; a control system receiving at least two scheduling tasks, determining whether the scheduled tasks are outbound tasks or inbound a task, wherein each of the scheduled tasks includes shelf information and a priority; assigning an automated guided vehicle to the at least two scheduled tasks; planning an execution path of the at least two scheduled tasks; performing the at least using the automated guided vehicle Two scheduling tasks, wherein if the priority of the outbound scheduling task is higher than the priority of the inbound scheduling task, the target location of the inbound task cannot be located on the execution path of the outbound task, wherein the control system and The automated guided vehicle is coupled, the automated guided vehicle receives the handling strategy, and performs a handling task in accordance with the handling strategy.
- the invention further relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method as described above.
- FIG. 1 shows a framework of a storage system structure and an application scenario according to an embodiment of the present invention
- FIG. 2 illustrates an array arrangement of shelves/trays in accordance with an embodiment of the present invention
- FIG. 3 illustrates an inbound and outbound control method for a shelf array in accordance with a first aspect of the present invention
- Figure 4 illustrates an inbound and outbound control method in accordance with a preferred embodiment of the first aspect of the present invention
- Figure 5 illustrates a method of determining a handling strategy in accordance with the first aspect of the present invention
- Figure 6 illustrates an embodiment of calculating a blocked shelf target point
- Figure 7 illustrates a scheduling device for a shelf array in accordance with one embodiment of the first aspect of the present invention
- FIG. 8 shows an inbound and outbound control method for a shelf array according to a second aspect of the present invention
- Figure 9 illustrates an inbound and outbound control method in accordance with a preferred embodiment
- Figure 10 illustrates an inbound and outbound control device for a shelf array in accordance with an embodiment of the second aspect of the present invention
- FIG. 11 shows an inbound and outbound scheduling method for a shelf array according to a third aspect of the present invention.
- Figure 12 illustrates a preferred embodiment in accordance with the present invention.
- first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” or “second” may include one or more of the described features, either explicitly or implicitly.
- the meaning of “plurality” is two or more unless specifically and specifically defined.
- connection or integral connection: it can be mechanical connection, electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal connection of two elements or the interaction of two elements. relationship.
- intermediate medium can be the internal connection of two elements or the interaction of two elements. relationship.
- the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise explicitly defined and defined. It is not in direct contact but through additional features between them.
- the first feature “above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
- the first feature “below”, “below” and “below” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is less than the second feature.
- the storage system includes a customer's upstream management system 1, a shelf/pallet scheduling system 2, a robot control system 3 and message middleware, a warehouse shelf/tray 4, a handling automatic guided vehicle 5, a database server 6, and the like.
- Common shelves/trays include, for example, a plurality of compartments and legs, each of which can be used to place an item or container (usually a bin). There is a gap between the legs at the bottom for the automatic guided vehicle 5 to travel and carry.
- the shelves/tray 4 can generally be arranged in an array, such as shown in FIG.
- the Automated Guided Vehicle (AGV) 5 is a self-contained robot that can navigate autonomously on the warehouse floor based on operations or handling instructions.
- the automatic guided vehicle is equipped with a battery, a motor and a wheel, and is capable of various movement operations such as forward, backward, and cornering.
- the automatic guided vehicle 5 and has a lifting mechanism capable of traveling to the bottom of the rack/tray 4, lifting the rack/tray 4 entirely by the lifting mechanism, and then transporting it to a desired position (for example, the working point 7 in Fig. 1) , perform appropriate operations, such as sorting and other operations.
- the automated guided vehicle 5 has a camera capable of capturing textures or two-dimensional codes of the ground so that navigation operations can be performed.
- the robot control system 3 may be a system that is independent of the automated guided vehicle 5 or integrated into the automated guided vehicle 5.
- the user generates the outbound task through the management system 1 and delivers it to the scheduling system 2.
- the scheduling system 2 puts the task into the task pool, and the scheduling system schedules the task according to the task priority order, generates a shelf/tray scheduling sequence, and sends the task.
- the drive automatic guided vehicle 5 is executed in the sequence of the shelf/tray 2, and the task of the warehouse to the work point 7 is generated.
- the delivery task releases the automatic guided vehicle.
- the user After the task is completed, the user generates the inbound task through the management system 1.
- the scheduling system starts scheduling and sends it to the robot control system 3.
- the robot control system drives the automatic guided vehicle to the shelf/tray to be stored. 2 Perform the warehousing operation, and the automatic guided vehicle 5 is released after the task is put into storage.
- the shelf/tray scheduling system communicates with the robot control system through message middleware to achieve message production and consumption.
- the basic data of the warehouse, the dispatching system and the running data of the robot control system are all stored in the database server 6 to achieve the purpose of data persistence and prevent data loss during the running of the system.
- FIG. 2 is a warehouse shelf arrangement layout as an example.
- the warehouse is divided into storage areas, and the shelves in the storage area can be placed, for example, in a dense arrangement (for example, including two rows of horizontal and/or vertical and two or more rows).
- a dense arrangement for example, including two rows of horizontal and/or vertical and two or more rows.
- the dense arrangement of warehouse shelves increases the storage rate of warehouse items and saves the waste of warehouse area. At the same time, it can also meet the normal operation of the warehouse.
- outbound means that the rack is transported away from the position in the shelf array itself
- inbound refers to the position where the rack is transported back into the shelf array
- a first aspect of the invention relates to an inbound and outbound control method 100 for a shelf array.
- the inbound and outbound control method 100 includes:
- step S101 an outbound task of the target shelf is received.
- the outbound task can be directly sent from the task of the upstream management system, or it can be selected from the task pool of the scheduling system. These are all within the scope of the invention.
- a handling strategy is determined according to the location of the target shelf in the shelf array.
- the handling strategy includes: if the target shelf does not have a blocking shelf or obstacle in at least one of the directions, directly moving the target shelf; otherwise, determining a removal path of the target shelf, and When there are multiple removal paths of the target shelf, a removal path is selected therefrom, the blocking shelf on the removal path is removed, and then the target shelf is removed.
- the shelves 1-8 and the shelves 9, 17, 25, 33, 41 do not have blocked shelves or obstacles in at least one direction (for example, warehouse boundaries, walls, Or other types of obstacles). Therefore, if the target shelf is one of 1-8, 9, 17, 25, 33, 41, the handling strategy can be direct handling. If the target shelf is other shelves, it cannot be directly transported, and the removal path needs to be determined, and if necessary, an optimal removal path needs to be determined among the plurality of removal paths. At this time, the transportation strategy includes: removing the blocking shelf on the adopted removal path, and then moving the target shelf out.
- the scheduling system can query the location distribution or distribution map of the current shelf in the warehouse in real time to make corresponding judgments, and details are not described herein.
- the "target shelf” refers to a shelf directly targeted by a handling task
- the "blocking shelf” refers to a shelf that blocks the target shelf from being removed.
- step S103 the handling strategy is executed to move the target shelf out, for example, by moving the target shelf by the automated guided vehicle AGV5.
- the handling strategy involves moving the blocking shelf away, the blocking shelf can also be removed by the automated guided vehicle AGV.
- step S201 when the upstream system (for example, the customer management system 1 in FIG. 1) needs to carry the target shelf from the shelf array to the job site for access operation, the upstream system needs to be sent as a task.
- the scheduling system 2 outbound scheduling task
- the scheduling system receives the tasks and puts them into the task pool uniformly to facilitate subsequent scheduling.
- a task can include, for example, task number, shelf code, priority, etc., and other information can be added as needed.
- the scheduling system comprehensively calculates the priority order of the tasks according to the specific information of the tasks, and takes an appropriate task from the task pool to schedule.
- the scheduling system can sort the tasks in the task pool according to the priority of the task, the task creation time or the waiting time, the shelf location (for example, can be queried by the shelf code), the execution complexity, and the like, or select from the tasks in the task pool.
- a task to schedule execution can be performed.
- the scheduling system may select the next task to be executed from the task pool according to the priority, and the high priority usually means to execute first. In addition, some priorities may mean that the task needs to be executed immediately, then the task with that priority will have to be checked out from the task pool immediately and scheduled for execution.
- the scheduling system may select the next task to be executed from the task pool by referring to the waiting time, for example, selecting the task that has been waiting for the longest time from the task pool, and then scheduling the execution, so that a task can be avoided in the task pool. It was stored for too long and was not executed.
- the scheduling system can determine the next task to be performed based on the location of the shelf and/or the complexity of the execution.
- an outbound scheduling task it is possible to first schedule the tasks corresponding to those shelves that can be directly handled.
- both shelves 5 and 21 require an outbound operation, then depending on the location of the shelf and/or the complexity of the outbound (which can be assessed by having or without blocking the shelf), it may be decided to perform first.
- the outbound of the shelf 5 is then executed for the outbound task of the shelf 21.
- those skilled in the art can also conceive, combine the above factors, and select the next task to be executed from the task pool according to certain constraints.
- an optimal handling strategy is determined.
- the optimal handling strategy is described below. For example, for a task to be out of the warehouse, if the target shelf is not blocked by other shelves, the handling strategy is to directly move the target shelf out of the library without calculating the moving path of the task. If the target shelf is blocked by other blocked shelves, the optimal moving path of the task needs to be calculated as the optimal handling strategy.
- the optimal moving path of the computing task mainly considers the number of blocked target shelves in all directions, and calculates the number of blocked shelves in which the target target shelf exists in four directions, and the number of blocked shelves is the smallest. The path is the optimal path.
- the breadth-first search can be combined with the number of shelf barriers and the shelf handling strategy to determine an optimal movement path. If there are multiple movable paths, it is necessary to evaluate each moving path and select an optimal moving path. For example, the sum of the removal loads of the respective blocked shelves on each of the removal paths can be calculated, and the removal path with the smallest integrated removal load is selected.
- the removal load may be, for example, a weighted sum of the number of blocked shelves, the moving distance of moving away from the blocking shelf, and the number of turns of moving away from the blocking shelf, or only one factor or a combination of factors may be considered.
- the corresponding evaluation indicators can be selected according to the needs of specific occasions. An embodiment of calculating an optimal movement path will be given later with reference to FIG.
- step S204 after the optimal movement path of the delivery task is determined, it is necessary to calculate a target point of the blocking shelf (if any) for temporarily storing the blocking shelf when performing the delivery task.
- a target point of the blocking shelf it is necessary to consider: blocking the starting distance from the starting point of the shelf to the target point; blocking the target point of the shelf does not block the path of the outbound task; the target point of the shelf is the deepest and does not produce hollow; the nearest distance is preferred.
- Target An embodiment of calculating a blocking shelf target point will be given later with reference to FIG.
- the above conditions are applied in the following order: firstly filtering out the free storage points that do not block the outbound task path; then selecting the deepest free storage points, and then determining an empty storage point by the shortest distance.
- “hollow” means that in the storage area, a position in four directions of an empty storage position not near the path position has a shelf.
- the empty storage location is barely available, thus reducing the shelf storage density of the warehouse. Therefore, it is necessary to avoid creating a hollow storage location.
- step S205 after the target point of the blocking shelf is determined, an optimal moving path determined by the outbound task exists in the form of a task group, and the task group includes: moving the blocking shelf to the target point of the blocking shelf, and moving out of the target shelf.
- the execution of the task group requires the selection of one or more free guided vehicles AGV to perform rack handling.
- the factors to be considered in selecting the idle automatic guided vehicle AGV may include: the distance of the automatic guided vehicle, the idle state, the number of task group tasks, and the number of tasks being executed.
- step S206 after the transport trolley of the delivery task group is determined, the transport of the rack is started, and after the rack is transported to the target position, the transport trolley of the group of tasks is released. At the same time, the upstream system is reported to the task completion status.
- step S203 A method of determining a moving path of a target shelf according to a preferred embodiment will be described below with reference to FIG. 5 (step S203).
- the No. 28 shelf is delivered as a target shelf in a mission manner. It was calculated that the No. 28 shelf was blocked by other shelves.
- the blocking cost of calculating the four-direction path of the No. 28 shelf is: (upper, right, lower, left)
- the number of blocking in the four directions is (3, 4, 2, 3);
- the right side and the bottom are walls, and the corresponding optional path is removed.
- the remaining optional paths are: (upper, left), and the blocking cost is (3, 3) respectively.
- the replacement price is the smallest.
- Direction: above or to the left, the corresponding shelf number is: 20 or 27;
- the blocking cost for calculating the four-direction path of the No. 20 shelf is: (upper, right, lower, left)
- the number of blocking in the four directions is (2, 4, 3, 3);
- the right side and the bottom are walls, and the corresponding optional path is removed.
- the remaining optional paths are: (upper, left), and the blocking cost is (2, 3) respectively.
- the replacement price is the smallest.
- the blocking cost of calculating the four-direction path of the No. 27 shelf is: (upper, right, lower, left)
- the number of blocking in the four directions is (3, 5, 2, 2);
- the right side and the bottom are walls, and the corresponding optional path is removed.
- the remaining optional paths are: (upper, left), and the blocking cost is (3, 2) respectively.
- the replacement price is the smallest.
- the blocking cost of calculating the four-direction path of the 26th shelf is: (upper, right, lower, left) the number of blocking in the four directions is (3, 6, 2, 1);
- the optimal The moving path is: 25->26->27->28.
- a plurality of factors can also be considered when evaluating the moving cost of the two paths, such as the number of turns required to move away from the blocking shelf, and the distance from the blocking shelf. I will not repeat them here.
- Figure 6 illustrates one embodiment of determining a target point to block a shelf.
- the barrier shelf 32 needs to be moved out to other empty storage locations in the storage area, and the shelf 10 is moved as a target shelf to the job site, and the barrier shelf 9 needs to be moved out to other empty storage locations in the storage area.
- the target point location needs to be found for blocking shelves 32 and 9.
- the filter obstructs the path of the shelf 40 moving to the designated working point: (8, 16, 24), and the remaining feasible empty storage locations: (41, 42, 43, 44);
- the target position assigned to the shelf 32 is: 44; the target position assigned to the shelf 9 is: 43.
- the shelf 32 cannot reach the storage location 44, and the target positions of the shelf 32 and the shelf 9 are: 41;
- the shelf 32 first reaches the storage location 41, then the shelf 32 continues to the target location 44, the shelf 9 reaches the storage location 41, and the shelf 9 continues to the target location 43;
- the shelf 9 first reaches the storage location 41, then the shelf 9 continues to the target location 44, the shelf 32 reaches the storage location 41, and the shelf 32 continues to the target location 43.
- the target position of the at least two blocking shelves is set as the entrance of the unidirectional channel for the at least two blocking shelves, and according to the order of arrival at the entrance Filled into the deepest position of the unidirectional channel, respectively.
- the "unidirectional passage” is a shelf position passage indicating that there is only one inlet and outlet, such as the passages indicated by 41, 42, 43, 44 in Fig. 6, and the passages indicated by 8, 16, and 24.
- FIG. 7 illustrates a scheduling device 300 for a shelf array in accordance with one embodiment of the first aspect of the present invention.
- the scheduling device 300 includes an outbound task receiving unit 301, a handling policy making unit 302, and an executing unit 303.
- the outbound task receiving unit 301 is configured, for example, to receive an outbound task of the target shelf and determine a location of the target shelf in the shelf array;
- the handling strategy formulation unit 302 is configured to determine a handling strategy based on the location of the target shelf in the shelf array, wherein the handling strategy includes if the target shelf does not have a blocking shelf or obstacle in at least one of the directions And moving the target shelf directly; otherwise, determining a removal path of the target shelf, and when the target shelf has multiple removal paths, selecting a removal path from the blocked shelf on the removal path Move out
- the execution unit 303 is coupled to the transportation strategy establishing unit, and is configured to control the automatic guided vehicle to execute the transportation strategy according to the transportation strategy, and complete the transportation task.
- target shelf determining unit 301 the handling policy formulation unit 302, and the executing unit 303 can be implemented by software, hardware, or a combination of software and hardware.
- the handling strategy formulation unit 302 is also configured to perform other steps in the control methods 100 and 200 as described above.
- the handling strategy formulation unit is configured to determine a removal position of the blocking shelf on the removal path and to transport the blocking shelf on the removal path to a corresponding removal position, wherein the step of selecting a removal path
- the method includes: calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting a removal and removal load integrated minimum removal path, the removal load including a weighted sum of the number of blocked shelves, the moving distance, and the number of turns.
- a first aspect of the disclosure also relates to a handling system comprising:
- Shelf array which includes multiple shelves
- the control system receives the outbound task of the target shelf and determines the location of the target shelf in the shelf array, and determines a handling strategy according to the location of the target shelf in the shelf array, wherein the handling strategy includes: When the target shelf does not have a blocking shelf or obstacle in one of the directions, the target shelf is directly carried out from the direction; otherwise, the removal path of the target shelf is determined, and when the target shelf has multiple removal paths Selecting an optimal removal path from which to remove the barrier shelf on the removal path;
- One or more automated guided vehicles coupled to the control system and receiving the handling strategy, performing a handling task in accordance with the handling strategy.
- a first aspect of the present disclosure also relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method 100 or 200 as described above.
- a first aspect of the present disclosure also relates to a method of transporting a plurality of barrier shelves in a shelf array, comprising:
- a target storage location is set for the plurality of blocked shelves from the available location set in accordance with a depth prioritization strategy.
- step S401 the inbound task of the target shelf is received.
- the warehousing tasks include, for example, multi-data such as (task number, priority, shelf code).
- step S402 an available storage location in the shelf array is obtained. By calculating or querying the map, you can get the storage locations available in the current shelf array.
- a target location of the target shelf is determined according to the type of the available storage location. Specifically, it can be classified into the following four categories according to the depth of the idle storage location.
- the first type of empty storage three shelves and / or obstacles; the second type of empty storage: shelves and / or obstacles on both sides; the third type of empty storage: one side has shelves and / or obstacles; Four types of empty storage locations: no shelves and/or obstacles around.
- Priority is given to selecting empty storage bits from the first class. If there are multiple empty storage locations of the first type, an empty storage location that is closer to the target shelf is selected as the target location according to the shortest distance principle. If there is no empty storage bit in the first class, then select from the second class, and so on, and select an appropriate target location for the inbound task.
- step S404 the target rack is transported to the target position, for example, by an unmanned guided vehicle.
- FIG. 9 illustrates an inbound scheduling process implemented by the inbound and outbound control method 500 in accordance with a preferred embodiment.
- step S501 the upstream system needs to carry the shelf (to be stored in the warehouse) where the work point operation is completed to the storage area of the warehouse, and needs to be sent in the manner of task (task number, priority, shelf code).
- the dispatching system receives the inbound task and puts it into the task pool.
- the scheduling system comprehensively calculates the priority order of the tasks according to the specific information of the inbound tasks, and takes an appropriate task from the task pool to schedule. For example, the scheduling system may determine the priority order of the tasks according to the order in which the tasks are sent, and determine a task to be executed. Alternatively, the scheduling system may sort the tasks in the task pool according to the priority of the task, the task creation time or the waiting time, the target location, the execution complexity, and the like, or select one task from the task to perform the scheduling implementation.
- the scheduling system may select the next task to be executed from the task pool according to the priority. For example, if some priorities mean that the task is executed immediately, the task with the priority will have to be immediately checked from the task pool. Out and arrange for execution.
- the scheduling system may select the next task to be executed from the task pool by referring to the waiting time, for example, selecting the task that has been waiting for the longest time from the task pool, and then scheduling the execution, so that a task can be avoided in the task pool. It was stored for too long and was not executed.
- the scheduling system can determine the next task to be performed based on the shelf target location and/or the complexity of the execution. Of course, those skilled in the art can also conceive, combine the above factors, and select the next task to be executed from the task pool according to certain constraints.
- step S503 the target area of the task is calculated.
- the storage area can be divided into a plurality of areas, and the shelf distribution density of each area (the number of existing shelves/the number of storage spaces in the area) is calculated, and the area with a small density is selected.
- the target position of the task is determined.
- the free storage locations in the area are filtered, and classified according to the depth of the free storage locations, for example, the following four categories can be classified.
- the first type of empty storage three shelves and / or obstacles; the second type of empty storage: shelves and / or obstacles on both sides; the third type of empty storage: one side has shelves and / or obstacles; Four types of empty storage locations: no shelves and/or obstacles around. Priority is given to selecting empty storage bits from the first class. If there are multiple empty storage locations of the first type, an empty position shorter than the target shelf is selected according to the shortest distance principle.
- the second class selects from the second class, and so on, and select an appropriate target location for the inbound task. If in the target area, the above four types of empty storage spaces cannot be found, then one target area can be re-selected, for example, the area with the smallest shelf distribution density in the remaining target areas.
- the idle transport trolley is selected, and according to the closest principle of the distance mission, a free transport trolley closest to the standby shelf is determined.
- step S506 after the warehousing task handling vehicle is determined, the warehousing handling task is started.
- the task status during the execution process can be simultaneously reported (uplifting the shelf, starting to move, the shelf is lowered, and the movement is completed).
- the reporting of the upstream system task is completed, and the handling car is released.
- Figure 10 illustrates an inbound and outbound control device 600 for a shelf array in accordance with one embodiment of the second aspect of the present invention.
- the scheduling device 600 includes a warehousing task receiving unit 601, a handling policy formulation unit 602, and a warehousing execution unit 603.
- the warehousing task receiving unit 601 is configured to receive the warehousing task of the target shelf; the handling policy formulation unit 602 is configured to acquire an available storage location in the shelf array, and determine the target shelf according to the type of the available storage location. The target location; the warehousing execution unit 603 is coupled to the handling strategy formulation unit 602 and configured to carry the target shelf to the target location to complete the warehousing task.
- warehousing task receiving unit 601, the handling strategy formulating unit 602, and the warehousing executing unit 603 can be implemented by software, hardware, or a combination of software and hardware.
- the types of available storage devices include four categories: a first type of available storage locations with shelves and/or obstacles on three sides, and a second type with shelves and/or obstacles on both sides. Available storage locations, the third category is an available storage location with shelves and/or obstacles, and the fourth category is available storage locations with no shelves and/or obstacles around.
- the step of determining a target location of the target shelf comprises: selecting an available storage location according to the following priorities: a first class, a second class, a third class, a fourth class, wherein when there is a same class When there are multiple available storage locations, select the available storage location with the shortest distance as the target location for the target shelf.
- a second aspect of the present disclosure also relates to a handling system comprising: a shelf array including a plurality of shelves; a control system for receiving a warehousing task of the target shelf, and acquiring available storage locations in the shelf array, and A target location of the target shelf is determined based on the type of available storage location; one or more automated guided vehicles coupled to the control system configured to carry the target shelf to the target location.
- the control system is configured to perform the above described inbound and outbound control method 400 or 500.
- a second aspect of the present disclosure also relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method 400 or 500 as described above.
- an inbound and outbound scheduling method 700 for a shelf array in accordance with a third aspect of the present invention is described below with reference to FIG. As shown in FIG. 11, the inbound and outbound scheduling method 700 includes:
- step S701 at least two scheduling tasks are received, and the scheduling task is determined to be an outbound task or an inbound task, where each scheduling task includes shelf information and priority.
- the scheduling system comprehensively calculates the priority order of the tasks according to the specific information of the tasks, and takes at least two suitable tasks from the task pool to schedule. For example, the scheduling system can sort the tasks in the task pool according to the priority of the task, the task creation time or the waiting time, the shelf location (for example, can be queried by the shelf code), the execution complexity, and the like, or select from the tasks in the task pool. One or two tasks for scheduling implementation.
- the scheduling system may select the next or two tasks to be executed from the task pool according to the priority. For example, if some priorities mean that the task is executed immediately, the task with the priority will have to be immediately from the task pool. It was detected and arranged for execution.
- the scheduling system may select the next task to be executed from the task pool by referring to the waiting time, for example, selecting the task that has been waiting for the longest time from the task pool, and then scheduling the execution, so that a task can be avoided in the task pool. It was stored for too long and was not executed.
- the scheduling system can determine the next task to be performed based on the location of the shelf and/or the complexity of the execution. For example, for an outbound scheduling task, it is possible to first schedule execution of tasks corresponding to shelves that can be directly handled.
- step S702 an automatic guided vehicle is allocated to the at least two scheduled tasks.
- step S703 an execution path of the at least two scheduling tasks is planned.
- the steps S403 and S504 in the second aspect of the present invention are not described herein.
- step S704 the at least two scheduling tasks are executed by using the automatic guided vehicle, wherein if the priority of the outbound scheduling task is higher than the priority of the inbound scheduling task, the target location of the inbound task is ensured not to be Located on the execution path of the outbound task, that is, avoiding the execution path of the outbound task.
- a preferred embodiment is described with reference to Figure 12: it enables a warehousing mixing operation to avoid creating voids.
- the shelf 50 is the object of the warehousing task, the task priority is high, and the shelf 28 is the object of the warehousing task, and the task priority is low.
- Two tasks are received in the scheduling process, and the shelf 50 is scheduled first according to the task priority order.
- the target position of the shelf 50 is determined as: 20
- the shelf 50 selects the idle handling trolley to start execution.
- the shelf 50 reaches the target location: 20, the shelf 28 has not yet begun execution, and the shelf 28 task is rescheduled.
- the shelf 50 reaches the target position: 20, and the shelf 28 has begun to perform the departure from the original position. At this time, the shelf 50 has to detect the deeper empty storage position in the four directions of the original target position, and 28 shelves are found after detection. Already left, there is an empty storage location, so the actual target position of the shelf 50 is: 28
- the warehousing task allocates the idle handling trolley and executes it.
- the outbound task allocates the idle handling trolley and executes.
- the step of planning an execution path of at least two scheduled tasks comprises: for the inbound task, selecting an available storage location according to the deepest depth principle. For example, in the case of FIG. 12, assuming that there is only a warehousing task for the shelf 50, then the deepest depth principle is adopted, then the location 20 is selected as the target location instead of the location 12.
- the inbound and outbound scheduling method 700 further includes: after the automated guided vehicle completes the inbound task, that is, after transporting the shelf to be in storage to the target location, continuing to check around the target location Is there a deeper, deeper available storage location, and if so, the automated guided vehicle is used to carry the shelf corresponding to the inbound task to the deeper available storage location.
- the step of planning an execution path of at least two scheduled tasks comprises: determining a handling strategy for the outbound task, wherein the handling strategy comprises: if the target shelf is not in at least one of the directions When the shelf or obstacle is blocked, the target shelf is directly transported; otherwise, the removal path of the target shelf is determined, and when the target shelf has multiple removal paths, a removal path is selected from the The blocking shelf on the removal path is removed.
- the step of planning an execution path of the at least two scheduling tasks further comprises: determining a removal position of the blocking shelf on the removal path, and transporting the blocking shelf on the removal path to a corresponding Move out of position.
- the determining the removal position of the blocking shelf on the removal path comprises selecting the removal position based on the following conditions: blocking the shelf from selecting an empty storage location that hinders the removal of the path; and blocking the shelf to preferentially select the deepest empty storage. Location; Block the shelf to preferentially choose the empty storage location closest to itself.
- the step of selecting a removal path comprises: calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting the removal path with the smallest integrated removal load.
- the removal load comprises a weighted sum of the distance of movement and the number of turns.
- the method for inbound and outbound control 700 further includes: taking out a scheduling task from a task queue according to a certain priority, and determining a priority factor of the task: a priority of the task itself, a depth of the task (blocked The number of times the task is issued, the urgency of the task (the difference between the delivery time and the current time).
- a third aspect of the invention also relates to a handling system comprising:
- Shelf array which includes multiple shelves
- One or more automatic guided vehicles are One or more automatic guided vehicles.
- the control system receives at least two scheduling tasks, and determines whether the scheduling task is an outbound task or a storage task, wherein each scheduling task includes shelf information and a priority; and the automatic guiding vehicle is allocated to the at least two scheduling tasks; Scheduling an execution path of the at least two scheduled tasks; performing the at least two scheduling tasks by using the automated guided vehicle, wherein if the priority of the outbound scheduling task is higher than the priority of the inbound scheduling task, The target location of the inbound task cannot be located on the execution path of the outbound task.
- control system is coupled to the automated guided vehicle, the automated guided vehicle receiving the handling strategy, and performing a handling task in accordance with the handling strategy.
- a third aspect of the present disclosure also relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method 700 as described above.
- the first aspect focuses on the outbound control of the shelf
- the second aspect focuses on the storage control of the shelf
- the third aspect focuses on the inbound and outbound hybrid control.
- the technical features of the above various aspects can be combined and applied to each other.
- the control method or feature of the outbound storage of the first aspect may be applied to the second aspect and the third aspect
- the storage control method or feature of the second aspect may be applied to the first aspect and the third aspect
- the third aspect is
- the library blending feature can also be applied to the first aspect and the second aspect.
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Abstract
Description
Claims (35)
- 一种用于货架阵列的出入库控制方法,包括:接收目标货架的出库任务;根据所述目标货架在所述货架阵列中的位置,确定搬运策略,其中所述搬运策略包括:如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时,直接将所述目标货架搬运出来;否则,确定所述目标货架的移出路径,并且当所述目标货架有多条移出路径时,从中选择一条移出路径,将所述移出路径上的阻挡货架移出,然后将所述目标货架移出;执行所述搬运策略,将所述目标货架移出。
- 根据权利要求1所述的出入库控制方法,其特征在于,所述将目标货架移出的步骤包括:利用自动引导车将所述目标货架移出。
- 根据权利要求1或2所述的出入库控制方法,其特征在于,还包括:确定所述移出路径上的阻挡货架的目标位置,并将所述移出路径上的阻挡货架搬运到对应的目标位置上。
- 根据权利要求3所述的出入库控制方法,其特征在于,所述确定移出路径上的阻挡货架的移出位置包括基于以下条件中的一条或多条选择所述阻挡货架的目标位置:目标位置不阻挡出库任务;选择深度最深的空存储位置;选择距离自己最近的空存储位。
- 根据权利要求3所述的出入库控制方法,其特征在于,所述选择一条移出路径的步骤包括:计算每条移出路径上各个阻挡货架的移出负荷的总和,选择移出负荷综合最小的移出路径。
- 根据权利要求5所述的出入库控制方法,其特征在于,所述移出负荷包括阻挡货架数目、移动距离、转弯次数的加权和。
- 根据权利要求1或2所述的出入库控制方法,其特征在于,还包括:从任务队列中按照一定顺序取出一个出库任务,决定任务的顺序因素包括:出库任务的优先级,出库任务的等待时间,出库任务对应的目标货架的位置和/或执行复杂度。
- 根据权利要求1或2所述的出入库控制方法,其特征在于,还包括:在确定搬运策略之后,产生任务组,所述任务组包括移出所述移出路径上的阻挡货架以及移出所述目标货架;以及根据所述任务组分配自动引导车。
- 根据权利要求3所述的出入库控制方法,其特征在于,如果至少两个阻挡货架的目标位置在一条单向通道中,则为所述至少两个阻挡货架将目标位置设置为该单向通道的入口处,并根据到达所述入口处的先后次序,填充到所述单向通道的最深位置处。
- 一种用于货架阵列的调度设备,包括:目标货架确定单元,用于接收目标货架的出库任务并确定目标货架在货架阵列中的位置;搬运策略制定单元,配置成根据所述目标货架在所述货架阵列中的位置,确定搬运策略,其中所述搬运策略包括:如果所述目标货架在其中至少一个 方向上不具有阻挡货架或障碍物时,直接将所述目标货架搬运出来;否则,确定所述目标货架的移出路径,并且当所述目标货架有多条移出路径时,从中选择一条移出路径,将所述移出路径上的阻挡货架移出;和执行单元,与所述搬运策略制定单元耦合,并配置成根据所述搬运策略,控制自动引导车。
- 如权利要求10所述的设备,其中,所述搬运策略制定单元配置成确定所述移出路径上的阻挡货架的移出位置,并将所述移出路径上的阻挡货架搬运到对应的移出位置上,其中所述选择一条移出路径的步骤包括:计算每条移出路径上各个阻挡货架的移出负荷的总和,选择移出负荷综合最小的移出路径,所述移出负荷包括移动距离、转弯次数的加权和。
- 一种搬运***,包括:货架阵列,其中包括多个货架;控制***,接收目标货架的出库任务并确定目标货架在货架阵列中的位置,并根据所述目标货架在所述货架阵列中的位置,确定搬运策略,其中所述搬运策略包括:如果所述目标货架在其中一个方向上不具有阻挡货架或障碍物时,直接将所述目标货架从该方向搬运出来;否则,确定所述目标货架的移出路径,并且当所述目标货架有多条移出路径时,从中选择最优的一条移出路径,将所述移出路径上的阻挡货架移出;一个或多个自动引导车,与所述控制***耦合,并接收所述搬运策略,根据所述搬运策略,执行搬运任务。
- 一种计算机可读存储介质,其上存储有计算机程序,其中所述计算机程序在被处理器执行时实现如权利要求1-9中任一项所述的出入库控制方法。
- 一种用于货架阵列的出入库控制方法,包括:接收目标货架的入库任务;获取所述货架阵列中的可用存储位置;根据所述可用存储位置的类型,确定所述目标货架的目标位置;和将所述目标货架搬运到所述目标位置。
- 如权利要求14所述的出入库控制方法,其中,所述可用存储装置的类型包括四类:第一类为三面有货架和/或障碍物的可用存储位置,第二类为两面有货架和/或障碍物的可用存储位置,第三类为一面有货架和/或障碍物的可用存储位置,第四类为周围没有货架和/或障碍物的可用存储位置。
- 如权利要求15所述的出入库控制方法,其中,所述确定目标货架的目标位置的步骤包括:按照以下优先级选择可用存储位置:第一类,第二类,第三类,第四类,其中当同一类中具有多个可用存储位置时,选择距离最短的可用存储位置作为目标货架的目标位置。
- 如权利要求14或15所述的出入库控制方法,所述将目标货架搬运到目标位置的步骤包括:通过控制自动引导车,将所述目标货架搬运到所述 目标位置。
- 如权利要求14或15所述的出入库控制方法,还包括:选择离所述目标货架距离最近的自动引导车,将所述目标货架搬运到所述目标位置。
- 如权利要求14或15所述的出入库控制方法,还包括:从任务队列中按照一定优先级取出一个入库任务,决定任务的优先顺序因素有:任务本身的优先级,任务创建时间和/或已等待时间,执行复杂度。
- 一种用于货架阵列的出入库控制设备,包括:入库任务接收单元,用于接收目标货架的入库任务;搬运策略制定单元,配置成:获取所述货架阵列中的可用存储位置,并根据所述可用存储位置的类型,确定所述目标货架的目标位置;和自动引导车,配置成将所述目标货架搬运到所述目标位置。
- 如权利要求20所述的出入库控制设备,其中,所述可用存储装置的类型包括四类:第一类为三面都有货架和/或障碍物的可用存储位置,第二类为两面都有货架和/或障碍物的可用存储位置,第三类为一都有货架和/或障碍物的可用存储位置,第四类为周围没有货架和/或障碍物的可用存储位置。
- 如权利要求21所述的出入库控制设备,其中,所述确定目标货架的目标位置的步骤包括:按照以下优先级选择可用存储位置:第一类,第二类,第三类,第四类,其中当同一类中具有多个可用存储位置时,选择距离最短的可用存储位置作为目标货架的目标位置。
- 一种搬运***,包括:货架阵列,其中包括多个货架;控制***,用于接收目标货架的入库任务,并获取所述货架阵列中的可用存储位置,并根据所述可用存储位置的类型,确定所述目标货架的目标位置;一个或多个自动引导车,与所述控制***耦合,配置成将所述目标货架搬运到所述目标位置。
- 一种计算机可读存储介质,其上存储有计算机程序,其中所述计算机程序在被处理器执行时实现如权利要求14-19中任一项所述的出入库控制方法。
- 一种用于货架阵列的出入库调度方法,包括:接收至少两条调度任务,判断所述调度任务为出库任务还是入库任务,其中每条调度任务包括货架信息和优先级;对所述至少两条调度任务,分配自动引导车;规划所述至少两条调度任务的执行路径;利用所述自动引导车执行所述至少两条调度任务,其中,如果出库调度任务的优先级高于所述入库调度任务的优先级,则入库任务的目标位置避让开出库任务的执行路径。
- 如权利要求25所述的出入库调度方法,其中所述规划至少两条调度 任务的执行路径的步骤包括:对于入库任务,根据深度最深原则选择可用存储位置。
- 如权利要求26所述的出入库调度方法,还包括:当所述自动引导车完成所述入库任务后,检查在该目标位置周围是否有深度更深的可用存储位置,如果有,利用该自动引导车将该入库任务对应的货架搬运到所述深度更深的可用存储位置。
- 如权利要求27所述的出入库调度方法,其中,所述规划至少两条调度任务的执行路径的步骤包括:对于出库任务,确定搬运策略,其中所述搬运策略包括:如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时,直接将所述目标货架搬运出来;否则,确定所述目标货架的移出路径,并且当所述目标货架有多条移出路径时,从中选择一条移出路径,将所述移出路径上的阻挡货架移出。
- 根据权利要求28所述的出入库调度方法,其特征在于,所述规划至少两条调度任务的执行路径的步骤还包括:确定所述移出路径上的阻挡货架的移出位置,并将所述移出路径上的阻挡货架搬运到对应的移出位置上。
- 根据权利要求29所述的出入库调度方法,其特征在于,所述确定移出路径上的阻挡货架的移出位置包括基于以下条件选择移出位置:阻挡货架不选择阻碍自己搬离路径的空存储位置;阻挡货架优先选择深度最深的空存储位置;阻挡货架优先选择距离自己最近的空存储位。
- 根据权利要求29所述的出入库调度方法,其特征在于,所述选择一条移出路径的步骤包括:计算每条移出路径上各个阻挡货架的移出负荷的总和,选择移出负荷综合最小的移出路径。
- 根据权利要求31所述的出入库调度方法,其特征在于,所述移出负荷包括移动距离、转弯次数的加权和。
- 根据权利要求25或26所述的出入库控制方法,其特征在于,还包括:从任务队列中按照一定优先级取出调度任务,决定任务的优先顺序因素有:任务本身的优先级,任务的创建时间和/或已等待时间,货架位置,执行复杂度。
- 一种搬运***,包括:货架阵列,其中包括多个货架;一个或多个自动引导车;控制***,接收至少两条调度任务,判断所述调度任务为出库任务还是入库任务,其中每条调度任务包括货架信息和优先级;对所述至少两条调度任务,分配自动引导车;规划所述至少两条调度任务的执行路径;利用所述自动引导车执行所述至少两条调度任务,其中,如果出库调度任务的优先级高于所述入库调度任务的优先级,则入库任务的目标位置不能位于出库任务的执行路径上,其中所述控制***与所述自动引导车耦合,所述自动引导车接收所述搬 运策略,根据所述搬运策略,执行搬运任务。
- 一种计算机可读存储介质,其上存储有计算机程序,其中所述计算机程序在被处理器执行时实现如权利要求25-33中任一项所述的出入库控制方法。
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CN117592764B (zh) * | 2024-01-18 | 2024-04-09 | 瑞熙(苏州)智能科技有限公司 | 出入库调度处理方法、装置、电子设备及可读存储介质 |
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