CN114348585A - Logistics robot system based on platform scheduling and control method thereof - Google Patents
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Abstract
The application provides a logistics robot system based on platform scheduling and a control method thereof, wherein the method comprises the following steps: according to the goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each goods in the goods demand list; generating an invoice list of each logistics delivery place according to a logistics actual delivery place list corresponding to all goods of all logistics receiving places; distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; and according to the freight list, sequentially executing path planning according to the order from near to far and the addresses of the logistics receiving places of the freight list, and reaching all the logistics receiving places. According to the method and the system, intelligent analysis and task allocation can be performed according to goods demands of logistics receiving places and material storage of logistics delivery places, so that waybill materials can be efficiently transported to the demand places by the material storage places, wherein time is saved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a logistics robot system based on platform scheduling and a control method thereof.
Background
With the continuous popularization of robot technology, intelligent robots have appeared in application scenes such as industrial factories, restaurants and the like, and can transport goods or food to destinations according to commands of people and built-in maps.
However, with the increasing complexity of factory logistics, the robots are instructed to perform logistics tasks only by manual judgment, which is subjective in many cases, and many robots are often left to transport logistics materials far away, which results in longer transportation time and higher transportation cost. And under the condition of multiple machines, the distribution of tasks lacks objectivity and scientificity.
Disclosure of Invention
In view of this, an object of the present application is to provide a method for controlling a logistics robot system based on platform scheduling, which can specifically solve the problem of existing robot logistics transportation.
Based on the above purpose, the present application provides a method for controlling a logistics robot system based on platform scheduling, including:
the method comprises the steps of obtaining addresses of a plurality of logistics delivery places and a goods storage list of each logistics delivery place, and obtaining addresses of a plurality of logistics receiving places and a goods demand list of each logistics receiving place;
according to a goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each goods in the goods demand list, wherein the logistics actual delivery place list corresponding to each goods comprises at least one logistics delivery place and the number of the goods sent from each logistics delivery place;
generating an invoice list of each logistics delivery place according to a logistics actual delivery place list corresponding to all goods of all logistics receiving places;
distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and a corresponding goods name and quantity;
after each logistics robot receives the goods on the freight list, according to the freight list and the sequence from near to far, according to the logistics receiving places of the freight list, path planning is sequentially executed and all logistics receiving places are reached until the transported goods are unloaded.
Further, the sum of the quantity of the goods sent from each physical distribution delivery location in the physical distribution delivery location list corresponding to each goods is equal to the demand quantity of the goods in the goods demand list.
Further, the calculating, according to the freight requirement list of each logistics receiving location, a logistics actual delivery location list corresponding to each item of freight in the freight requirement list, where the logistics actual delivery location list corresponding to each item of freight includes at least one logistics delivery location and the number of the item of freight sent from each logistics delivery location, includes:
sequentially searching in the goods storage lists of all the logistics shipping places according to the names of all the goods in the goods demand list of each logistics receiving place, obtaining at least one logistics shipping place corresponding to each goods in the goods demand list of each logistics receiving place, and forming a logistics shipping place alternative list;
according to the address of each logistics delivery place in the logistics delivery place candidate list and the storage quantity of each item of goods in the goods storage list, the address of each logistics receiving place and the required quantity of each item of goods in the goods demand list, a logistics actual delivery place list corresponding to each item of goods in the goods demand list is obtained according to the principles of local delivery and on-demand delivery, and the logistics actual delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place.
Further, the generating an invoice list of each logistics delivery location according to the list of the logistics actual delivery locations corresponding to all the goods in all the logistics receiving locations includes:
according to the physical logistics delivery place list corresponding to all the goods in all the physical logistics receiving places, the name and the number of the goods sent by each physical logistics delivery place and the name and the address of the corresponding physical logistics receiving place are searched;
and generating an invoice list of each logistics delivery place according to the name and the address of each logistics delivery place, the name and the number of the goods sent by each logistics delivery place and the name and the address of the corresponding logistics receiving place.
Further, distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the carrying capacity of each logistics robot, and calculating the delivery list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and corresponding goods name and quantity, and comprises the following steps:
according to the invoice list of each logistics delivery place and the bearing capacity of a single logistics robot, calculating the number and the type of the logistics robots required by each logistics delivery place, and distributing the logistics robots with the corresponding number and types to each logistics delivery place;
dividing the invoice of each logistics delivery place among each logistics robot distributed to the logistics delivery place according to the principle that the number of logistics receiving places of each logistics robot is small;
taking the result after the task is split as a freight list of each logistics robot; the freight list comprises the address of at least one logistics receiving place and the corresponding goods name and quantity.
Further, after each logistics robot receives the goods on the shipment list, sequentially executing path planning according to the shipment list and the addresses of the logistics receiving places of the shipment list from near to far, and arriving at all the logistics receiving places until the transported goods are unloaded, the method includes:
after each logistics robot receives the goods on the freight list, firstly selecting the address of the logistics receiving place closest to the logistics robot according to the freight list from near to far, planning the path and navigating to reach the logistics receiving place;
after the goods in the logistics receiving place are unloaded, continuing to select the address of the next logistics receiving place closest to the logistics receiving place, planning the path and navigating to reach the next logistics receiving place;
and repeating the steps of unloading the goods and selecting the next logistics receiving place, sequentially executing path planning and reaching all the logistics receiving places until the transported goods are unloaded.
Further, the acquiring addresses of a plurality of physical distribution delivery places and a goods storage list of each physical distribution delivery place, and acquiring addresses of a plurality of physical distribution receiving places and a goods demand list of each physical distribution receiving place, includes:
the method comprises the steps that the addresses of a plurality of logistics delivery places are obtained through a positioning sensor, and a goods storage list of each logistics delivery place is obtained through manual uploading or automatic uploading;
the addresses of a plurality of logistics receiving places are obtained through the positioning sensors, and the cargo demand list of each logistics receiving place is obtained through manual uploading or automatic uploading.
Based on the above purpose, the present application further provides a logistics robot system based on platform scheduling, including:
the system comprises an address and list acquisition module, a storage module and a management module, wherein the address and list acquisition module is used for acquiring the addresses of a plurality of logistics delivery places and a goods storage list of each logistics delivery place, and acquiring the addresses of a plurality of logistics receiving places and a goods demand list of each logistics receiving place;
the actual delivery place list module is used for calculating a physical distribution actual delivery place list corresponding to each item of goods in the physical distribution receiving place according to a goods demand list of each physical distribution receiving place, wherein the physical distribution actual delivery place list corresponding to each item of goods comprises at least one physical distribution delivery place and the number of the item of goods sent from each physical distribution delivery place;
the delivery list module is used for generating a delivery list of each logistics delivery place according to the logistics actual delivery place list corresponding to all the goods of all the logistics receiving places;
the freight list module is used for distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of a single logistics robot and calculating the freight list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and a corresponding goods name and quantity;
and the path planning module is used for sequentially executing path planning according to the freight list from near to far and the address of the logistics receiving place of the freight list after each logistics robot receives the cargos on the freight list until the transported cargos are unloaded.
In general, the advantages of the present application and the experience brought to the user are:
according to the method and the system, intelligent analysis and task allocation can be performed according to goods demands of logistics receiving places and material storage of logistics delivery places, so that waybill materials can be efficiently transported to the demand places by the material storage places, wherein time is saved.
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In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the system architecture of the present application.
Fig. 2 is a flowchart illustrating a method for controlling a logistics robot system based on platform scheduling according to an embodiment of the present application.
Fig. 3 shows a configuration diagram of a logistics robot system based on platform scheduling according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 5 is a schematic diagram of a storage medium provided in an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows a schematic diagram of the system architecture of the present application. In the embodiment of the application, the application provides a logistics robot system based on platform scheduling and a control method thereof. The method comprises the following steps: according to the goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each goods in the goods demand list; generating an invoice list of each logistics delivery place according to a logistics actual delivery place list corresponding to all goods of all logistics receiving places; distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; and according to the freight list, sequentially executing path planning according to the order from near to far and the addresses of the logistics receiving places of the freight list, and reaching all the logistics receiving places.
The dispatching of the whole logistics robot system can receive the waybill through the server, and the waybill is analyzed and split, so that a plurality of logistics robots in the garden are reasonably controlled to complete the waybill. The control command of the server to the logistics robot can be sent through various existing wireless communications, such as Wifi, bluetooth, Zigbee, GPRS, GSM, 4G, 5G, and the like.
Fig. 2 is a flowchart illustrating a method for controlling a logistics robot system based on platform scheduling according to an embodiment of the present application. As shown in fig. 2, the method for controlling a logistics robot system based on platform scheduling includes:
step 101: the method for acquiring the addresses of a plurality of physical distribution delivery places and the goods storage list of each physical distribution delivery place, and acquiring the addresses of a plurality of physical distribution receiving places and the goods demand list of each physical distribution receiving place comprises the following steps:
the method comprises the steps that the addresses of a plurality of logistics delivery places are obtained through a positioning sensor, and a goods storage list of each logistics delivery place is obtained through manual uploading or automatic uploading;
the addresses of a plurality of logistics receiving places are obtained through the positioning sensors, and the cargo demand list of each logistics receiving place is obtained through manual uploading or automatic uploading.
For example, as shown in fig. 1, the inventory of goods at the first logistics delivery location includes a list of goods a, 10, B, 20, C, 30; the goods storage list of the second logistics delivery place comprises stored goods A, 5 and goods B, 30; the goods storage list of the third logistics delivery place comprises 10 stored goods B, 20 stored goods C and 60 stored goods D; … …
The cargo demand list of the first logistics receiving place comprises 13 cargos A, 55 cargos B and 20 cargos C; the cargo demand list of the second logistics receiving place comprises cargo A, 5, cargo B, 10 and cargo D, 38; the cargo demand list of the third logistics receiving place comprises 20 cargo B, 5 cargo C and 20 cargo B; … …
Step 102: according to the goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each goods in the goods demand list, wherein the logistics actual delivery place list corresponding to each goods comprises at least one logistics delivery place and the quantity of the goods sent from each logistics delivery place, and the method comprises the following steps:
sequentially searching in the goods storage lists of all the logistics shipping places according to the names of all the goods in the goods demand list of each logistics receiving place, obtaining at least one logistics shipping place corresponding to each goods in the goods demand list of each logistics receiving place, and forming a logistics shipping place alternative list;
according to the address of each logistics delivery place in the logistics delivery place candidate list and the storage quantity of each item of goods in the goods storage list, the address of each logistics receiving place and the required quantity of each item of goods in the goods demand list, a logistics actual delivery place list corresponding to each item of goods in the goods demand list is obtained according to the principles of local delivery and on-demand delivery, and the logistics actual delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place.
In this step, the sum of the quantities of the items sent from the respective physical distribution destinations in the physical distribution destination list corresponding to each item is equal to the demand of the item in the demand list.
For example, according to the example of fig. 1, for the demand of the first logistics receiving place, the goods a are stored in both the first logistics receiving place and the second logistics receiving place, so that the two logistics receiving places are combined into a logistics receiving place candidate list; the goods B are stored in a first logistics delivery place, a second logistics delivery place and a third logistics delivery place, so that the 3 logistics delivery places form a logistics delivery place alternative list; the goods C are stored in both the first logistics delivery site and the third logistics delivery site, so that the two logistics delivery sites form a logistics delivery site alternative list.
Next, for the cargo a at the first logistics receiving place, the first logistics receiving place closest to the first logistics receiving place is selected as the actual delivery place, but only 10 cargos a are needed in the first logistics receiving place, and 13 cargos are needed, so that the second logistics receiving place is selected as the actual delivery place, and 5 cargos a are needed in the next freight a, so that the demand of the cargo a at the first physical receiving place can be met. Therefore, the first physical distribution delivery place and the second physical distribution delivery place are selected as the physical distribution delivery place list of the goods a in the first physical distribution receiving place. And sequentially calculating other goods in other logistics receiving places according to the above principle, and selecting actual delivery places and corresponding quantities.
Step 103: generating an invoice of each logistics delivery place according to a logistics actual delivery place list corresponding to all goods of all the logistics receiving places, wherein the invoice comprises:
according to the physical logistics delivery place list corresponding to all the goods in all the physical logistics receiving places, the name and the number of the goods sent by each physical logistics delivery place and the name and the address of the corresponding physical logistics receiving place are searched;
and generating an invoice list of each logistics delivery place according to the name and the address of each logistics delivery place, the name and the number of the goods sent by each logistics delivery place and the name and the address of the corresponding logistics receiving place.
In this step, after the demand of the logistics receiving place is satisfied, the goods of each logistics receiving place are sent to each logistics receiving place, and therefore a delivery list is formed. For example, there are 10 goods a at the first logistics distribution site, all sent to the first logistics reception site, 20 goods B, all sent to the first logistics reception site, and 30 goods C, 20 of which are sent to the first logistics reception site, and the remaining 10 goods a are sent to the third logistics reception site. Thus, the invoice for the first logistics origin is two invoices: a first logistics receiving place, namely 10 cargos A, 20 cargos B, 20 cargos C and 20 cargos C; the third receiving site, cargo C, 10. And the others are analogized in turn.
Step 104: distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and corresponding goods name and quantity, and comprises the following steps:
according to the invoice list of each logistics delivery place and the bearing capacity of a single logistics robot, calculating the number and the type of the logistics robots required by each logistics delivery place, and distributing the logistics robots with the corresponding number and types to each logistics delivery place;
dividing the invoice of each logistics delivery place among each logistics robot distributed to the logistics delivery place according to the principle that the number of logistics receiving places of each logistics robot is small;
taking the result after the task is split as a freight list of each logistics robot; the freight list comprises the address of at least one logistics receiving place and the corresponding goods name and quantity.
For example, for a first invoice for a first logistics delivery location, which contains 50 goods, if the transport capacity of each logistics robot is 25, then 2 logistics robots M, N can be assigned according to the above principle. In the invention, different types of logistics robots can be selected according to different goods carrying objects of the robots according to the types of the robots. In addition, the distance between the transportation objects of each logistics robot is as close as possible, so that the transportation time of each robot is saved. For example, the logistics robot M may transport 10 cargos a and 15 cargos B to a first logistics receiving site, while the logistics robot N may transport 5 cargos B and 20 cargos C to a third logistics receiving site.
For the 2 nd invoice of the first logistics delivery place, 10 goods C are contained, so that a logistics robot L can be arranged for the first logistics delivery place again to transport 10 goods C to the third logistics receiving place. Of course, if the transportation capacity of the logistics robot N can be increased to accommodate 10 goods C in the 2 nd invoice, a robot L destined for the first logistics consignment location can be omitted and transported by the robot N destined for the third logistics reception location.
Step 105: after each logistics robot receives the goods on the freight list, according to the freight list and the sequence from near to far, according to the logistics receiving place address of the freight list, path planning is sequentially executed and all logistics receiving places are reached until the transported goods are unloaded, and the method comprises the following steps:
after each logistics robot receives the goods on the freight list, firstly selecting the address of the logistics receiving place closest to the logistics robot according to the freight list from near to far, planning the path and navigating to reach the logistics receiving place;
after the goods in the logistics receiving place are unloaded, continuing to select the address of the next logistics receiving place closest to the logistics receiving place, planning the path and navigating to reach the next logistics receiving place;
and repeating the steps of unloading the goods and selecting the next logistics receiving place, sequentially executing path planning and reaching all the logistics receiving places until the transported goods are unloaded.
In this step, after the delivery location and the receiving location of the robot are determined, the robot can be arranged to arrive at the delivery location for loading, and then after the delivery list is input into the robot, the robot can manually or automatically set navigation according to built-in map software to deliver the goods to one or more receiving locations on the delivery list for unloading, so that the logistics transportation is completed. For example, for a robot at the second logistics delivery location (if the carrying capacity is 35 goods), it needs to first carry 2 goods a to the second logistics receiving location nearest to the robot, and after unloading, carry 3 goods a and 30 goods B to the first logistics receiving location farther away for unloading. Therefore, the distance of the robot on the way for completing the transportation of all goods can be shortened, and the overall time cost is saved.
According to the method and the system, intelligent analysis and task allocation can be performed according to goods demands of logistics receiving places and material storage of logistics delivery places, so that waybill materials can be efficiently transported to the demand places by the material storage places, wherein time is saved.
An application embodiment provides a logistics robot system based on platform scheduling, which is configured to execute the control method of the logistics robot system based on platform scheduling according to the foregoing embodiment, as shown in fig. 3, the system includes:
an address and list acquiring module 501, configured to acquire addresses of a plurality of logistics destinations and a cargo storage list of each logistics destination, and acquire addresses of a plurality of logistics destinations and a cargo demand list of each logistics destination;
the actual delivery place list module 502 is configured to calculate, according to a cargo demand list of each logistics receiving place, a logistics actual delivery place list corresponding to each item of cargo in the cargo demand list, where the logistics actual delivery place list corresponding to each item of cargo includes at least one logistics delivery place and the number of the item of cargo sent from each logistics delivery place;
the invoice list module 503 is configured to generate an invoice list of each logistics consignment destination according to the list of the logistics actual consignment destinations corresponding to all the shipments in all the logistics receiving destinations;
a delivery list module 504, configured to allocate, according to the delivery list of each logistics delivery location and the carrying capacity of a single logistics robot, a corresponding number of logistics robots to each logistics delivery location, and calculate a delivery list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and a corresponding goods name and quantity;
and the path planning module 505 is configured to, after each logistics robot receives the cargos on the freight list, sequentially perform path planning according to the freight list from near to far and according to the addresses of the logistics receiving places of the freight list, and reach all the logistics receiving places until the transported cargos are unloaded.
The logistics robot system based on platform scheduling provided by the above embodiment of the application and the control method of the logistics robot system based on platform scheduling provided by the embodiment of the application are based on the same inventive concept, and have the same beneficial effects as the method adopted, operated or realized by the application program stored in the logistics robot system.
The embodiment of the present application further provides an electronic device corresponding to the method for controlling a logistics robot system based on platform scheduling provided in the foregoing embodiment, so as to execute the method for controlling a logistics robot system based on platform scheduling. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device provided in some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: the system comprises a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores a computer program that can be executed on the processor 200, and the processor 200 executes the control method of the logistics robot system based on platform scheduling provided by any one of the foregoing embodiments when executing the computer program.
The Memory 201 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 200 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 200. The Processor 200 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the method in combination with the hardware thereof.
The electronic device provided by the embodiment of the application and the control method of the logistics robot system based on platform scheduling provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the electronic device.
Referring to fig. 5, the computer readable storage medium is an optical disc 30, and a computer program (i.e., a program product) is stored thereon, and when being executed by a processor, the computer program will execute the method for controlling a logistics robot system based on platform scheduling provided in any of the foregoing embodiments.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiment of the present application and the control method of the logistics robot system based on platform scheduling provided by the embodiment of the present application have the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer-readable storage medium.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application. The present application may also be embodied as apparatus or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A control method of a logistics robot system based on platform scheduling is characterized by comprising the following steps:
the method comprises the steps of obtaining addresses of a plurality of logistics delivery places and a goods storage list of each logistics delivery place, and obtaining addresses of a plurality of logistics receiving places and a goods demand list of each logistics receiving place;
according to a goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each goods in the goods demand list, wherein the logistics actual delivery place list corresponding to each goods comprises at least one logistics delivery place and the number of the goods sent from each logistics delivery place;
generating an invoice list of each logistics delivery place according to a logistics actual delivery place list corresponding to all goods of all logistics receiving places;
distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and a corresponding goods name and quantity;
after each logistics robot receives the goods on the freight list, according to the freight list and the logistics receiving places from near to far, according to the logistics receiving places of the freight list, the route planning is sequentially executed and all logistics receiving places are reached until the transported goods are unloaded.
2. The method of claim 1,
the sum of the quantity of the goods sent from each physical distribution delivery location in the physical distribution delivery location list corresponding to each goods is equal to the demand quantity of the goods in the goods demand list.
3. The method according to claim 1 or 2,
the method for calculating the physical distribution actual delivery places list corresponding to each item of goods in the goods demand list according to the goods demand list of each physical distribution receiving place comprises at least one physical distribution delivery place and the number of the item of goods sent from each physical distribution delivery place, and comprises the following steps:
sequentially searching in the goods storage lists of all the logistics shipping places according to the names of all the goods in the goods demand list of each logistics receiving place, obtaining at least one logistics shipping place corresponding to each goods in the goods demand list of each logistics receiving place, and forming a logistics shipping place alternative list;
according to the address of each logistics delivery place in the logistics delivery place candidate list and the storage quantity of each item of goods in the goods storage list, the address of each logistics receiving place and the required quantity of each item of goods in the goods demand list, a logistics actual delivery place list corresponding to each item of goods in the goods demand list is obtained according to the principles of local delivery and on-demand delivery, and the logistics actual delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place.
4. The method of claim 3,
the generating an invoice list of each logistics delivery place according to the logistics actual delivery place list corresponding to all the goods of all the logistics receiving places comprises the following steps:
according to the physical logistics delivery place list corresponding to all the goods in all the physical logistics receiving places, the name and the number of the goods sent by each physical logistics delivery place and the name and the address of the corresponding physical logistics receiving place are searched;
and generating an invoice list of each logistics delivery place according to the name and the address of each logistics delivery place, the name and the number of the goods sent by each logistics delivery place and the name and the address of the corresponding logistics receiving place.
5. The method of claim 4,
distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of a single logistics robot, and calculating the delivery list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and corresponding goods name and quantity, and comprises the following steps:
according to the invoice list of each logistics delivery place and the bearing capacity of a single logistics robot, calculating the number and the type of the logistics robots required by each logistics delivery place, and distributing the logistics robots with the corresponding number and types to each logistics delivery place;
dividing the invoice of each logistics delivery place among each logistics robot distributed to the logistics delivery place according to the principle that the number of logistics receiving places of each logistics robot is small;
taking the result after the task is split as a freight list of each logistics robot; the freight list comprises the address of at least one logistics receiving place and the corresponding goods name and quantity.
6. The method of claim 5,
after each logistics robot receives the goods on the freight list, according to the freight list and the sequence from near to far of the logistics receiving places, according to the addresses of the logistics receiving places of the freight list, path planning is sequentially executed and all logistics receiving places are reached until the transported goods are unloaded, and the method comprises the following steps:
after each logistics robot receives the goods on the freight list, firstly selecting the address of the logistics receiving place closest to the logistics robot according to the freight list and the sequence of the logistics receiving places from near to far, planning the path and navigating to reach the logistics receiving place;
after the goods in the logistics receiving place are unloaded, continuing to select the address of the next logistics receiving place closest to the logistics receiving place, planning the path and navigating to reach the next logistics receiving place;
and repeating the steps of unloading the goods and selecting the next logistics receiving place, sequentially executing path planning and reaching all the logistics receiving places until the transported goods are unloaded.
7. The method of claim 6,
the acquiring addresses of a plurality of physical distribution delivery places and a goods storage list of each physical distribution delivery place, and acquiring addresses of a plurality of physical distribution receiving places and a goods demand list of each physical distribution receiving place, includes:
the method comprises the steps that the addresses of a plurality of logistics delivery places are obtained through a positioning sensor, and a goods storage list of each logistics delivery place is obtained through manual uploading or automatic uploading;
the addresses of a plurality of logistics receiving places are obtained through the positioning sensors, and the cargo demand list of each logistics receiving place is obtained through manual uploading or automatic uploading.
8. A logistics robot system based on platform scheduling, comprising:
the system comprises an address and list acquisition module, a storage module and a management module, wherein the address and list acquisition module is used for acquiring the addresses of a plurality of logistics delivery places and a goods storage list of each logistics delivery place, and acquiring the addresses of a plurality of logistics receiving places and a goods demand list of each logistics receiving place;
the actual delivery place list module is used for calculating a physical distribution actual delivery place list corresponding to each item of goods in the physical distribution receiving place according to a goods demand list of each physical distribution receiving place, wherein the physical distribution actual delivery place list corresponding to each item of goods comprises at least one physical distribution delivery place and the number of the item of goods sent from each physical distribution delivery place;
the delivery list module is used for generating a delivery list of each logistics delivery place according to the logistics actual delivery place list corresponding to all the goods of all the logistics receiving places;
the freight list module is used for distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of a single logistics robot and calculating the freight list of each logistics robot; the freight list comprises an address of at least one logistics receiving place and a corresponding goods name and quantity;
and the path planning module is used for sequentially executing path planning according to the freight list from near to far and the address of the logistics receiving place of the freight list after each logistics robot receives the cargos on the freight list until the transported cargos are unloaded.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor to implement the method according to any of claims 1-7.
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| CN114348585B (en) | 2024-04-09 |
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