CN112418467A - Storage robot-based reservation distribution method, system, medium and terminal - Google Patents
Storage robot-based reservation distribution method, system, medium and terminal Download PDFInfo
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Abstract
The invention discloses a storage robot-based reservation distribution method, which comprises the following steps: receiving distribution information sent by a plurality of users; planning a first movement path of the warehousing robot from the goods taking station to each delivery location according to the delivery location information; the method comprises the steps that the delivery time required by the warehousing robot from a pickup station to each delivery place is obtained through pre-estimation according to the movement speed and the first movement path of the warehousing robot; obtaining a delivery time period of the corresponding user according to the appointed delivery time information and the delivery information; and sequencing the distribution time periods of the users in sequence to obtain a distribution time axis, and controlling the warehousing robot to distribute the distributed articles of the corresponding users according to the distribution time axis and the distribution places. The warehouse robot has a visual understanding of the next distribution tasks of the warehouse robot, is convenient for distributing the tasks of the warehouse robot, avoids the warehouse robot from being idle for a long time, and improves the distribution efficiency of the robot.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robot distribution, in particular to a storage robot-based reservation distribution method, a storage robot-based reservation distribution system, a storage robot-based reservation distribution medium and a storage robot-based reservation distribution terminal.
[ background of the invention ]
With the continuous development of science and technology, unmanned distribution is applied in more and more scenes. At present, the robot is used for distribution in the building to perfect the 'last half kilometer' in a distribution chain. Generally, a user sends reserved delivery information to a delivery site through an APP, an applet, and the like, and then a robot delivers a corresponding article according to a reserved time. However, when a plurality of users in the same area send the reserved time, the location and the reserved time of the plurality of users cannot be reasonably planned, and the robot cannot control the delivery time during delivery due to the difference between the reserved time and the location, thereby affecting the delivery efficiency of the robot.
In view of the above, it is desirable to provide a reservation distribution method, system, medium and terminal based on a warehousing robot to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a storage robot-based reservation distribution method, a storage robot-based reservation distribution system, a storage robot-based reservation distribution medium and a storage robot-based reservation distribution terminal, which aim to solve the problem that the distribution efficiency of the existing robot distribution is low when a plurality of persons make a reservation, reasonably plan the distribution time according to the reservation time and the reservation place and improve the distribution efficiency of the robot.
In order to achieve the above object, a first aspect of the present invention provides a reservation distribution method based on a warehousing robot, including the following steps:
receiving distribution information sent by a plurality of users; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
planning a first movement path of the warehousing robot from the goods taking station to each delivery location according to the delivery location information;
the delivery time required by the warehousing robot from the pickup station to each delivery location is obtained through pre-estimation according to the movement speed of the warehousing robot and the first movement path;
obtaining a delivery time period of a corresponding user according to the appointed delivery time information and the delivery information; the delivery time period is a time period of the previous delivery time from the reserved delivery time;
and sequencing the distribution time periods of the plurality of users in sequence to obtain a distribution time axis, and controlling the warehousing robot to distribute the distributed articles of the corresponding users according to the distribution time axis and the distribution places.
In a preferred embodiment, the method further comprises the following steps:
judging whether the distribution time periods of a plurality of users are overlapped on the distribution time axis, if not, sequentially distributing according to the sequence of the distribution time axis; if yes, the following substeps are included:
replanning a second motion path between two user distribution places adjacent to the distribution time period on the distribution time axis;
predicting the movement time required for moving from the distribution place of one user to the distribution place of the adjacent user according to the second movement path;
judging the movement time and the length of the non-overlapped part of the delivery time period of the user behind the appointed delivery time in two adjacent users on the delivery time axis, if the movement time is shorter, controlling the warehousing robot to deliver articles to the user behind the appointed delivery time according to the second movement path after the article delivery of the user ahead the appointed delivery time is finished; and if the movement time is longer, controlling different warehousing robots to respectively deliver the articles to two adjacent users.
In a preferred embodiment, the method further comprises the following steps:
performing path planning on two distribution places of adjacent distribution time periods on the distribution time axis to obtain a third motion path from a distribution place before the distribution time period to a distribution place after the distribution time period in the two distribution places;
estimating first distribution time required for reaching a distribution place behind a distribution time period from a distribution place before the distribution time period in the two distribution places according to the third motion path;
judging whether the first delivery time is longer than the total delivery time of two users, if so, controlling the warehousing robot to deliver two delivery places of adjacent delivery time periods on the delivery time axis according to the first motion path; and if the result is negative, controlling the warehousing robot to deliver two delivery places of adjacent delivery time periods on the delivery time axis according to the third motion path.
In a preferred embodiment, when the warehousing robot is in the process of distribution, the method further comprises the following steps:
receiving the distribution information sent by a new user; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
analyzing the position of the reserved delivery time of the new user on the delivery time axis, and determining adjacent delivery time periods respectively positioned at two sides of the reserved delivery time of the new user;
planning a fourth motion path from a delivery place of a user before a delivery time period to the goods picking place, to a delivery place of the new user and to a delivery place of a user after the delivery time period;
estimating second delivery time required by reaching the goods taking place from a delivery place of a user before a delivery time period, then reaching a delivery place of the new user and then reaching a delivery place of a user after the delivery time period according to the fourth motion path;
judging the size of a time interval between the second distribution time and the adjacent distribution time period; if the second delivery time is longer, other warehousing robots are allocated to deliver the articles of the new user; if the second delivery time is shorter; adding the delivery time of the new user into the delivery time axis of the original warehousing robot.
The invention provides a reservation delivery system based on a warehousing robot, which comprises a control device and a plurality of warehousing robots controlled by the control device; the warehousing robot includes: the system comprises a plurality of storage modules, a display module, a goods taking module, an action module, a power supply module and a communication module, wherein the storage modules are used for containing delivered goods, the display module is used for performing man-machine interaction with a user, the goods taking module is used for controlling the storage modules to be opened after correct information is verified, the action module is used for providing athletic ability, the power supply module is used for providing electric power for the user, and the communication module is used for being wirelessly connected with a;
the control device includes:
the information receiving module is used for receiving the distribution information sent by a plurality of users; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
the first path planning module is used for planning a first motion path from the goods taking station to each delivery location of the warehousing robot according to the delivery location information;
the first time pre-estimating module is used for pre-estimating the delivery time of the warehousing robot from the pickup station to each delivery location according to the movement speed of the warehousing robot and the first movement path;
the time period generating module is used for obtaining the delivery time period of the corresponding user according to the appointed delivery time information and the delivery information; the delivery time period is a time period of the previous delivery time from the reserved delivery time;
the first delivery control module is used for sequencing delivery time periods of the users in sequence to obtain a delivery time axis and controlling the warehousing robot to deliver the delivered articles of the corresponding users according to the delivery time axis and the delivery places.
In a preferred embodiment, the control device further comprises:
the overlapping judgment module is used for judging whether the distribution time periods of a plurality of users overlap on the distribution time axis, and if not, the distribution is carried out in sequence according to the sequence of the distribution time axis; if yes, the following substeps are included:
the second path planning module is used for re-planning a second motion path between two user distribution places adjacent to the distribution time period on the distribution time axis;
the second time pre-estimating module is used for pre-estimating the movement time required by moving from the distribution place of one user to the distribution place of the adjacent user according to the second movement path;
the overlapped time length judging module is used for judging the length of a part, which is not overlapped with the delivery time period of a user behind the appointed delivery time in two adjacent users, of the movement time, and if the movement time is shorter, the warehousing robot is controlled to deliver articles to the user behind the appointed delivery time according to the second movement path after the articles are delivered to the user ahead of the appointed delivery time; and if the movement time is longer, controlling different warehousing robots to respectively deliver the articles to two adjacent users.
In a preferred embodiment, the control device further comprises:
a third path planning module, configured to perform path planning on two distribution locations of adjacent distribution time periods on the distribution time axis to obtain a third motion path from a distribution location before a distribution time period of the two distribution locations to a distribution location after the distribution time period;
a third time estimation module, configured to estimate, according to the third motion path, a first delivery time required for a delivery location before a delivery time period of the two delivery locations to reach a delivery location after the delivery time period;
the distribution time length judging module is used for judging whether the first distribution time is longer than the total delivery time of two users or not, and if so, controlling the warehousing robot to distribute two distribution places of adjacent distribution time periods on the distribution time axis according to the first motion path; and if the result is negative, controlling the warehousing robot to deliver two delivery places of adjacent delivery time periods on the delivery time axis according to the third motion path.
In a preferred embodiment, the control device further comprises:
the new information receiving module is used for receiving the distribution information sent by the new user; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
the time analysis module is used for analyzing the position of the reserved delivery time of the new user on the delivery time axis and determining adjacent delivery time periods respectively positioned at two sides of the reserved delivery time of the new user;
the fourth path planning module is used for planning a fourth motion path from the delivery place of the user before the delivery time period to the goods picking place, to the delivery place of the new user and to the delivery place of the user after the delivery time period;
a fourth time estimation module, configured to estimate, according to the fourth motion path, a second delivery time required for reaching the pickup location from the delivery location of the user before the delivery time period, to the delivery location of the new user, and to the delivery location of the user after the delivery time period;
the time interval judging module is used for judging the size of the time interval between the second distribution time and the adjacent distribution time period; if the second delivery time is longer, other warehousing robots are allocated to deliver the articles of the new user; if the second delivery time is shorter; adding the delivery time of the new user into the delivery time axis of the original warehousing robot.
A third aspect of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the reservation distribution method based on the warehousing robot described in any one of the above embodiments.
A fourth aspect of the present invention provides a reservation and distribution terminal based on a warehousing robot, including the computer-readable storage medium and a processor, where the processor implements the steps of the reservation and distribution method based on the warehousing robot in any one of the above embodiments when executing a computer program on the computer-readable storage medium.
According to the reservation delivery method based on the warehousing robot, the delivery time required by the goods taking site is estimated according to the reservation site and time of each user, the delivery time periods required by the goods taking site to the reservation site of each user are obtained, then the delivery time periods are sequenced in sequence to obtain the delivery time axes, and the warehousing robot is controlled to sequentially deliver the corresponding articles according to the delivery time axes, so that the following delivery tasks of the warehousing robot can be intuitively known, the task distribution of the warehousing robot is facilitated, the warehousing robot is prevented from being idle for a long time, and the delivery efficiency of the warehousing robot is improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flow chart of a storage robot-based reservation distribution method provided by the invention;
FIG. 2 is a flow chart of one embodiment of the warehousing robot-based appointment delivery method shown in FIG. 1;
FIG. 3 is a flowchart of another embodiment of the reservation distribution method based on the warehousing robot shown in FIG. 1;
FIG. 4 is a flowchart illustrating a method for reserving distribution based on the warehousing robot shown in FIG. 1 according to another embodiment;
fig. 5 is a frame diagram of a reservation delivery system based on a warehousing robot provided by the present invention;
FIG. 6 is a block diagram of one embodiment of a control module in the warehousing robot-based appointment delivery system shown in FIG. 5;
FIG. 7 is a block diagram of another embodiment of a control module of the warehousing robot-based appointment delivery system shown in FIG. 5;
fig. 8 is a block diagram of a control module of the warehousing robot-based appointment delivery system shown in fig. 5 according to still another embodiment.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a first aspect provides a reservation distribution method based on a warehousing robot, which includes the following steps S101 to S105.
In step S101, delivery information sent by a plurality of users is received; the delivery information includes reserved delivery time information, delivered article information, and delivery location information.
In this step, one day may be divided into a plurality of time periods, for example, processed once per hour; then, dividing the distribution time into several intervals, such as 8 am to 12 am, 12 am to four pm and the like; and arranging one or more warehousing robots to distribute in each time range. In the scheduling process of a specific time period, the reservation time of each user is analyzed, and then the corresponding time period is scheduled for delivery. Preferably, the next step is performed on a per time interval basis.
In step S102, a first movement path of the warehousing robot from the pick-up station to each delivery location is planned according to the delivery location information.
It can be understood that the items to be delivered by the user are firstly stored in the picking station, and a first moving path from the delivery place of each user to the picking station is planned. It can be understood that the storage robot can refer to the prior art for planning the optimal motion path between two points in the building, and the invention is not limited thereto.
In step S103, the delivery time required by the warehousing robot from the pickup station to each delivery location is estimated according to the movement speed of the warehousing robot and the first movement path.
In this step, the number of the elevators needing to pass through the first motion path and the distance needing to travel in the corridor can be analyzed and calculated, and then the delivery time required by the warehousing robot to finish the motion along the first motion path can be estimated through the time of each elevator and the average speed of the warehousing robot during the conventional moving speed in a plurality of tests. Of course, in other embodiments, the length of the first motion path may be directly counted, and then the time spent in the corridor may be estimated according to the big data of the operation speed of the warehousing robot in the corridor.
In step S104, a delivery time period corresponding to the user is obtained according to the scheduled delivery time information and the delivery information; the delivery time period is a time period of the reserved delivery time before the delivery time.
For example, if the reservation time of a certain user is 3 pm, and the delivery time required for the warehousing robot to travel from the pickup site to the delivery site reserved by the user is 20 minutes, the delivery time period of the user is a period from 2 pm 40 to 3 pm, and at this time, 2 pm 40 is the starting time point for delivering the user's goods. Of course, to avoid an emergency, an emergency handling time may also be added at the delivery time to create a new delivery time period. For example, in the above example, the emergency handling time may be 10 minutes, the new delivery time may be 30 minutes, the delivery time period of the user may be from 2 pm to 3 pm, and the delivery start time may be 2 pm, so as to avoid that the delivery cannot be performed as soon as possible due to the emergency. Therefore, through the arrangement of the distribution time period, the time period and the delivery time of each delivery task can be visually known, the robot can be conveniently and reasonably arranged to deliver, and the delivery time is prevented from being overlapped, so that the article cannot be delivered to the next user when the article is overlapped.
In step S105, the delivery time periods of the plurality of users are sequenced to obtain a delivery time axis, and the warehousing robot is controlled to deliver the delivered items of the corresponding users according to the delivery time axis and the delivery locations.
In this step, a time axis may be established in the time range, and the delivery time period of each user is inserted into the time axis to obtain a delivery time axis, wherein when a starting time point of a certain delivery time period is reached, the warehousing robot is arranged to perform corresponding delivery. Particularly, if the distribution time axis contains overlapped distribution time periods, the distribution time axis can be reasonably divided into two or more new distribution time axes, so that the distribution time periods are prevented from being overlapped; then, each new delivery time axis is correspondingly provided with one warehousing robot for delivery. Therefore, the timed distribution of the articles of a plurality of users can be ensured by the minimum warehousing robot. When the user gets goods from the warehousing robot, personal information needs to be verified in modes of face scanning or code scanning and the like, after verification is passed, the warehousing robot opens corresponding warehousing grids, and the user takes out the goods, so that delivery is finished.
Further, in one embodiment, as shown in FIG. 2, the method further includes the following steps S1061-S1064.
In step S1061, it is determined whether the delivery time periods of the plurality of users overlap on the delivery time axis, and if not, the users sequentially deliver the products according to the sequence of the delivery time axis; if so, the following steps S1062-S1064 are continued. When the delivery time periods are not overlapped, the warehousing robot is indicated to deliver according to the time points on the time axis, and the articles can be delivered to the corresponding user.
In step S1062, a second movement path between two user delivery points of adjacent delivery time periods on the delivery time axis is re-planned.
In this step, when the delivery time periods of the two users overlap, there are cases where the two users are close or far apart. Thus, the shortest second motion path through which the warehouse robot reaches between the two users can be planned.
In step S1063, a movement time required to move from a delivery location of one user to a delivery location of an adjacent user is estimated based on the second movement path. The movement time is the shortest time from one user to another user distribution place of the warehousing robot in the normal operation state.
In step S1064, determining a length of a non-overlapping portion of the movement time and a delivery time period of a user behind the scheduled delivery time in two adjacent users on the delivery time axis, and if the movement time is shorter, controlling the warehousing robot to deliver the articles to the user behind the scheduled delivery time according to a second movement path after the article delivery of the user ahead of the scheduled delivery time is completed; and if the movement time is longer, controlling different warehousing robots to respectively deliver the articles to two adjacent users.
In the specific implementation process, the overlapped part of the distribution time periods of the two users is analyzed according to the time axis, and then the overlapped part is subtracted from the distribution time period of the next user on the time axis to obtain the non-overlapped distribution time period part of the next user. The time duration of the movement time up to the two user delivery locations of the warehousing robot is compared. If the movement time of the warehousing robot is shorter, it means that the warehousing robot can reach the delivery location of the next user from the delivery location of the previous user within the time of the non-overlapping delivery time period part of the next user without exceeding the reservation time of the next user. If the movement time is longer, the storage robot cannot arrive at the delivery place of the next user in time, and timeout is caused, and at this time, other storage robots can be arranged to deliver the next user. Therefore, through the steps, even if the delivery time periods of the users are overlapped, the fact that additional robots are not needed to be arranged for delivery is determined by judging the overlapped part of the delivery time periods on the time axis and the length of the direct movement time of the overlapped part of the delivery time periods on the time axis, the delivery efficiency of a single warehousing robot is improved, and the quantity requirement of the warehousing robots is reduced.
Further, in one embodiment, as shown in fig. 3, the method further includes the following steps S1071 to S1073.
In step S1071, a route is planned for two delivery points of adjacent delivery time periods on the delivery time axis, and a third movement route from a delivery point of the two delivery points before the delivery time period to a delivery point of the two delivery points after the delivery time period is obtained.
In this step, path planning is performed on two delivery locations of adjacent delivery time periods on the time axis, so as to obtain a shortest path between each two adjacent delivery locations, i.e., a third movement path, that is, after the warehousing robot has delivered the article of the previous user, the warehousing robot directly moves to the delivery location of the next user along the third movement path.
In step S1072, a first delivery time required for reaching a delivery point subsequent to the delivery time period from a delivery point prior to the delivery time period among the two delivery points is estimated based on the third movement path. The first delivery time is the shortest time for the warehousing robot to reach between the two delivery places.
In step S1073, it is determined whether the first delivery time is longer than the total delivery time of the two users, and if so, the warehousing robot is controlled to deliver the two delivery locations of the adjacent delivery time periods on the delivery time axis according to the first movement path; and if the result is negative, controlling the warehousing robot to deliver the two delivery places of the adjacent delivery time periods on the delivery time axis according to the third motion path.
In a specific implementation process, taking a first user and a second user which are adjacent as an example, the shortest delivery time which is the first delivery time and is directly taken by the warehousing robot from the delivery place of the first user to the delivery place of the second user is obtained firstly; the first delivery time is then compared to a total delivery time for the first and second users. The total delivery time to be compared in this embodiment includes the total time taken by the warehousing robot from the delivery location of the first user to the pickup site and from the pickup site to the delivery location of the second user. If the first delivery time is long, the second user is delivered according to the first movement path corresponding to the delivery time, and at the moment, the second user passes through the goods taking station, so that the second user does not need to place the goods on the warehousing robot when the first user goods are delivered, and the burden of the warehousing robot is reduced. If the first distribution time is shorter, the time spent on directly reaching the distribution place of the second user along the third movement path after the first user is distributed is shorter, at the moment, the distribution time period of the second user can be replaced by the first distribution time on the distribution time axis, obviously, the idle time of the warehousing robot on the distribution time axis is longer, and the energy loss of the warehousing robot is reduced.
Further, in one embodiment, as shown in fig. 4, when the warehousing robot is in the process of distribution, the method further includes the following steps S1081-S1085.
In step S1081, delivery information sent by a new user is received; the delivery information includes reserved delivery time information, delivered article information, and delivery location information. When the warehousing robot is already delivering, the booking delivery information in the corresponding time range of the warehousing robot is received.
In step S1082, the positions of the scheduled delivery times of the new users on the delivery time axis are analyzed, and adjacent delivery time periods located on both sides of the scheduled delivery times of the new users are determined. And if the scheduled delivery time falls into the delivery time period of the existing delivery user, directly arranging other warehousing robots to deliver the new user. And if the reserved delivery time is positioned between the delivery time periods on the delivery time axis, executing the subsequent steps, and finding two adjacent delivery time periods at two sides of the reserved delivery time on the delivery time axis.
In step S1083, a fourth movement route is planned from the delivery point of the user before the delivery time period to the pickup point, to the delivery point of the new user, and to the delivery point of the user after the delivery time period.
For example, take the first user and the second user as an example, wherein the delivery time of the first user is earlier. At this time, the fourth movement path includes that the warehousing robot takes the articles of the new user from the pickup site after completing the delivery from the first user delivery site, moves from the pickup site to the delivery site of the new user, and moves from the delivery site of the new user to the delivery site of the second user.
In step S1084, a second delivery time required for the user to arrive at the pickup location from the delivery location of the user before the delivery time period, to arrive at the delivery location of the new user, and to arrive at the delivery location of the user after the delivery time period is estimated based on the fourth movement path. The second delivery time is the shortest time spent in passing through the first user delivery location, the new user delivery location and the second user delivery location in sequence.
In step S1085, the size of the time interval between the second delivery time and the adjacent delivery time period is determined; if the second distribution time is longer, other storage robots are allocated to distribute the articles of the new user; if the second delivery time is shorter; adding the delivery time of the new user into the delivery time axis of the original warehousing robot.
In a specific implementation process, a time interval length between the end point of the delivery time period of the first user and the start point of the delivery time period of the second user on a delivery time axis is obtained, and then the time interval length is compared with the second delivery time, if the second delivery time is longer, it means that the warehousing robot cannot complete the delivery of the second user after completing the delivery tasks of the first user and the new user, for example, so that other warehousing robots can be arranged to deliver the articles of the new user. Accordingly, if the second delivery time is shorter, it means that the warehousing robot does not affect the timed delivery to the second user when delivering a new user. In conclusion, the number of the warehousing robots required is reduced as much as possible on the premise that the distribution of a plurality of users is completed at regular time.
In summary, according to the reservation delivery method based on the warehousing robot provided by the invention, the delivery time required by the goods picking site is estimated according to the reservation site and time of each user, the delivery time periods required by the goods picking site to the reservation site of each user are obtained, then the delivery time periods are sequenced in sequence to obtain the delivery time axes, and the warehousing robot is controlled to sequentially deliver the corresponding articles according to the delivery time axes, so that the following delivery tasks of the warehousing robot can be intuitively known, the task distribution of the warehousing robot is facilitated, the long-time idle of the warehousing robot is avoided, and the delivery efficiency of the robot is improved.
As shown in fig. 5, a second aspect of the present invention provides a reservation delivery system 100 based on warehousing robots, including a control device 10 and a plurality of warehousing robots 20 controlled by the control device. The embodiment of the reservation delivery system 100 based on the warehousing robot and the reservation delivery method based on the warehousing robot are consistent with the action principle, and therefore, the detailed description is omitted.
The warehousing robot 20 includes: a plurality of storage modules 21 for receiving the delivered articles, a display module 22 for human-computer interaction with the user, a pick-up module 23 for controlling the storage modules to be opened after verifying correct information, an action module 24 for providing motion capability, a power supply module 25 for providing power, and a communication module 26 for wirelessly connecting with the control device 10.
The control device 10 includes:
an information receiving module 11, configured to receive delivery information sent by multiple users; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
the first path planning module 12 is used for planning a first motion path from the picking station to each delivery location of the warehousing robot according to the delivery location information;
the first time pre-estimating module 13 is used for pre-estimating the delivery time required by the warehousing robot from the pickup station to each delivery location according to the movement speed and the first movement path of the warehousing robot;
the time period generating module 14 is configured to obtain a delivery time period of the corresponding user according to the reserved delivery time information and the delivery information; the delivery time period is a time period of the scheduled delivery time before the delivery time;
the first delivery control module 15 is configured to sequence delivery time periods of the multiple users to obtain a delivery time axis, and control the warehousing robot to deliver the delivered items of the corresponding users according to the delivery time axis and the delivery places.
Further, in one embodiment, as shown in fig. 6, the control device 10 further includes:
an overlap determining module 161, configured to determine whether distribution time periods of multiple users overlap on a distribution time axis, and if not, sequentially distribute according to a sequence of the distribution time axis; if yes, the following substeps are included:
a second path planning module 162, configured to re-plan a second motion path between two user distribution sites of adjacent distribution time periods on the distribution time axis;
a second time estimation module 163 for estimating a movement time required for moving from a distribution place of one user to a distribution place of an adjacent user according to the second movement path;
the overlapping duration judging module 164 is configured to judge the length of a non-overlapping portion between the movement time and a delivery time period of a user behind the scheduled delivery time in two adjacent users, and if the movement time is shorter, control the warehousing robot to deliver the articles to the user behind the scheduled delivery time according to a second movement path after the article delivery of the user ahead of the scheduled delivery time is completed; and if the movement time is longer, controlling different warehousing robots to respectively deliver the articles to two adjacent users.
Further, in one embodiment, as shown in fig. 7, the control device 10 further includes:
a third path planning module 171, configured to perform path planning on two distribution locations of adjacent distribution time periods on a distribution time axis, and obtain a third movement path from a distribution location before the distribution time period in the two distribution locations to a distribution location after the distribution time period;
a third time estimation module 172, configured to estimate, according to the third movement path, a first delivery time required for reaching a delivery location later than the delivery time period from a delivery location earlier than the delivery time period in the two delivery locations;
a delivery duration judging module 173, configured to judge whether the first delivery time is longer than the delivery time, and if so, control the warehousing robot to deliver two delivery locations of adjacent delivery time periods on the delivery time axis according to the first motion path; and if the result is negative, controlling the warehousing robot to deliver the two delivery places of the adjacent delivery time periods on the delivery time axis according to the third motion path.
Further, in one embodiment, as shown in fig. 8, the control device 10 further includes:
a new information receiving module 181, configured to receive delivery information sent by a new user; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
a time analysis module 182, configured to analyze a position of the scheduled delivery time of the new user on a delivery time axis, and determine adjacent delivery time periods located on two sides of the scheduled delivery time of the new user respectively;
a fourth path planning module 183, configured to plan a fourth movement path from the delivery location of the user before the delivery time period to the pickup location, to the delivery location of the new user, and to the delivery location of the user after the delivery time period;
a fourth time estimation module 184, configured to estimate, according to the fourth movement path, a second delivery time required for reaching the pickup location from the delivery location of the user before the delivery time period, then reaching the delivery location of the new user, and then reaching the delivery location of the user after the delivery time period;
a time interval judging module 185, configured to judge a size of a time interval between the second distribution time and an adjacent distribution time period; if the second distribution time is longer, other storage robots are allocated to distribute the articles of the new user; if the second delivery time is shorter; adding the delivery time of the new user into the delivery time axis of the original warehousing robot.
The embodiment of the invention also provides a reserving and delivering terminal based on the warehousing robot, which comprises a computer readable storage medium and a processor, wherein the processor realizes the steps of the reserving and delivering method based on the warehousing robot when executing the computer program on the computer readable storage medium. Reservation delivery terminal based on storage robot includes: a processor, a readable storage medium, and a computer program stored in the readable storage medium and executable on the processor. The processor, when executing the computer program, implements the steps in the various method embodiments described above, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor, when executing the computer program, implements the functions of the modules in the above-described device embodiments, for example, the functions of the modules 10 to 15 shown in fig. 5.
Illustratively, the computer program may be partitioned into one or more modules that are stored in the readable storage medium and executed by the processor to implement the present invention. The one or more modules may be a series of instruction segments of a computer program capable of performing a specific function, and the instruction segments are used for describing the execution process of the computer program in the reservation delivery terminal based on the warehousing robot.
The warehouse robot based reservation delivery terminal may include, but is not limited to, a processor, a readable storage medium. Furthermore, the system can also comprise a power management module, an operation processing module, an input and output device, a network access device, a bus and the like.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The readable storage medium may be an internal storage unit of the reservation delivery terminal based on the warehousing robot, such as a hard disk or a memory of the reservation delivery terminal based on the warehousing robot. The readable storage medium may also be an external storage device of the reservation dispensing terminal based on the warehousing robot, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the reservation dispensing terminal based on the warehousing robot. Further, the readable storage medium may further include both an internal storage unit and an external storage device of the warehousing robot-based reservation delivery terminal. The readable storage medium is used for storing the computer program and other programs and data required by the reservation delivery terminal based on the warehousing robot. The readable storage medium may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A reservation distribution method based on a warehousing robot is characterized by comprising the following steps:
receiving distribution information sent by a plurality of users; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
planning a first movement path of the warehousing robot from the goods taking station to each delivery location according to the delivery location information;
the delivery time required by the warehousing robot from the pickup station to each delivery location is obtained through pre-estimation according to the movement speed of the warehousing robot and the first movement path;
obtaining a delivery time period of a corresponding user according to the appointed delivery time information and the delivery information; the delivery time period is a time period of the previous delivery time from the reserved delivery time;
and sequencing the distribution time periods of the plurality of users in sequence to obtain a distribution time axis, and controlling the warehousing robot to distribute the distributed articles of the corresponding users according to the distribution time axis and the distribution places.
2. The reservation distribution method based on the warehousing robot as claimed in claim 1, further comprising the steps of:
judging whether the distribution time periods of a plurality of users are overlapped on the distribution time axis, if not, sequentially distributing according to the sequence of the distribution time axis; if yes, continuing the following steps:
replanning a second motion path between two user distribution places adjacent to the distribution time period on the distribution time axis;
predicting the movement time required for moving from the distribution place of one user to the distribution place of the adjacent user according to the second movement path;
judging the movement time and the length of the non-overlapped part of the delivery time period of the user behind the appointed delivery time in two adjacent users on the delivery time axis, if the movement time is shorter, controlling the warehousing robot to deliver articles to the user behind the appointed delivery time according to the second movement path after the article delivery of the user ahead the appointed delivery time is finished; and if the movement time is longer, controlling different warehousing robots to respectively deliver the articles to two adjacent users.
3. The reservation distribution method based on the warehousing robot as claimed in claim 1, further comprising the steps of:
performing path planning on two distribution places of adjacent distribution time periods on the distribution time axis to obtain a third motion path from a distribution place before the distribution time period to a distribution place after the distribution time period in the two distribution places;
estimating first distribution time required for reaching a distribution place behind a distribution time period from a distribution place before the distribution time period in the two distribution places according to the third motion path;
judging whether the first delivery time is longer than the total delivery time of two users, if so, controlling the warehousing robot to deliver two delivery places of adjacent delivery time periods on the delivery time axis according to the first motion path; and if the result is negative, controlling the warehousing robot to deliver two delivery places of adjacent delivery time periods on the delivery time axis according to the third motion path.
4. The reservation distribution method based on the warehousing robot as claimed in claim 1, further comprising the following steps when the warehousing robot is in the distribution process:
receiving the distribution information sent by a new user; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
analyzing the position of the reserved delivery time of the new user on the delivery time axis, and determining adjacent delivery time periods respectively positioned at two sides of the reserved delivery time of the new user;
planning a fourth motion path from a delivery place of a user before a delivery time period to the goods picking place, to a delivery place of the new user and to a delivery place of a user after the delivery time period;
estimating second delivery time required by reaching the goods taking place from a delivery place of a user before a delivery time period, then reaching a delivery place of the new user and then reaching a delivery place of a user after the delivery time period according to the fourth motion path;
judging the size of a time interval between the second distribution time and the adjacent distribution time period; if the second delivery time is longer, other warehousing robots are allocated to deliver the articles of the new user; if the second delivery time is shorter; adding the delivery time of the new user into the delivery time axis of the original warehousing robot.
5. The reservation delivery system based on the warehousing robots is characterized by comprising a control device and a plurality of warehousing robots controlled by the control device; the warehousing robot includes: the system comprises a plurality of storage modules, a display module, a goods taking module, an action module, a power supply module and a communication module, wherein the storage modules are used for containing delivered goods, the display module is used for performing human-computer interaction with a user, the goods taking module is used for controlling the storage modules to be opened after correct information is verified, the action module is used for providing athletic ability, the power supply module is used for providing electric power, and the communication module is used for being wirelessly connected with a control device;
the control device includes:
the information receiving module is used for receiving the distribution information sent by a plurality of users; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
the first path planning module is used for planning a first motion path from the goods taking station to each delivery location of the warehousing robot according to the delivery location information;
the first time pre-estimating module is used for pre-estimating the delivery time of the warehousing robot from the pickup station to each delivery location according to the movement speed of the warehousing robot and the first movement path;
the time period generating module is used for obtaining the delivery time period of the corresponding user according to the appointed delivery time information and the delivery information; the delivery time period is a time period of the previous delivery time from the reserved delivery time;
the first delivery control module is used for sequencing delivery time periods of the users in sequence to obtain a delivery time axis and controlling the warehousing robot to deliver the delivered articles of the corresponding users according to the delivery time axis and the delivery places.
6. The warehouse robot-based appointment delivery system of claim 5, wherein the control device further comprises:
the overlapping judgment module is used for judging whether the distribution time periods of a plurality of users overlap on the distribution time axis, and if not, the distribution is carried out in sequence according to the sequence of the distribution time axis; if yes, the following substeps are included:
the second path planning module is used for re-planning a second motion path between two user distribution places adjacent to the distribution time period on the distribution time axis;
the second time pre-estimating module is used for pre-estimating the movement time required by moving from the distribution place of one user to the distribution place of the adjacent user according to the second movement path;
the overlapped time length judging module is used for judging the length of a part, which is not overlapped with the delivery time period of a user behind the appointed delivery time in two adjacent users, of the movement time, and if the movement time is shorter, the warehousing robot is controlled to deliver articles to the user behind the appointed delivery time according to the second movement path after the articles are delivered to the user ahead of the appointed delivery time; and if the movement time is longer, controlling different warehousing robots to respectively deliver the articles to two adjacent users.
7. The warehouse robot-based appointment delivery system of claim 5, wherein the control device further comprises:
a third path planning module, configured to perform path planning on two distribution locations of adjacent distribution time periods on the distribution time axis to obtain a third motion path from a distribution location before a distribution time period of the two distribution locations to a distribution location after the distribution time period;
a third time estimation module, configured to estimate, according to the third motion path, a first delivery time required for a delivery location before a delivery time period of the two delivery locations to reach a delivery location after the delivery time period;
the distribution time length judging module is used for judging whether the first distribution time is longer than the total delivery time of two users or not, and if so, controlling the warehousing robot to distribute two distribution places of adjacent distribution time periods on the distribution time axis according to the first motion path; and if the result is negative, controlling the warehousing robot to deliver two delivery places of adjacent delivery time periods on the delivery time axis according to the third motion path.
8. The warehouse robot-based appointment delivery system of claim 5, wherein the control device further comprises:
the new information receiving module is used for receiving the distribution information sent by the new user; the delivery information comprises appointed delivery time information, delivered article information and delivery place information;
the time analysis module is used for analyzing the position of the reserved delivery time of the new user on the delivery time axis and determining adjacent delivery time periods respectively positioned at two sides of the reserved delivery time of the new user;
the fourth path planning module is used for planning a fourth motion path from the delivery place of the user before the delivery time period to the goods picking place, to the delivery place of the new user and to the delivery place of the user after the delivery time period;
a fourth time estimation module, configured to estimate, according to the fourth motion path, a second delivery time required for reaching the pickup location from the delivery location of the user before the delivery time period, to the delivery location of the new user, and to the delivery location of the user after the delivery time period;
the time interval judging module is used for judging the size of the time interval between the second distribution time and the adjacent distribution time period; if the second delivery time is longer, other warehousing robots are allocated to deliver the articles of the new user; if the second delivery time is shorter; adding the delivery time of the new user into the delivery time axis of the original warehousing robot.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the warehouse robot-based reservation distribution method according to any one of claims 1 to 4.
10. A reservation distribution terminal based on a warehousing robot, characterized by comprising the computer-readable storage medium of claim 9 and a processor, wherein the processor implements the steps of the reservation distribution method based on the warehousing robot according to any one of claims 1-4 when executing the computer program on the computer-readable storage medium.
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| CN115231179A (en) * | 2022-08-08 | 2022-10-25 | 上海有个机器人有限公司 | Weighing-based robot distribution method and system and related products |
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