CN108398924A - The dispatching method and dispatching device of robot carrier - Google Patents
The dispatching method and dispatching device of robot carrier Download PDFInfo
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- CN108398924A CN108398924A CN201710068223.5A CN201710068223A CN108398924A CN 108398924 A CN108398924 A CN 108398924A CN 201710068223 A CN201710068223 A CN 201710068223A CN 108398924 A CN108398924 A CN 108398924A
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- machine people
- idle machine
- robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of dispatching methods and dispatching device of robot carrier, are related to automated warehousing technical field.Dispatching method therein includes：Sorting zoning in warehouse is divided into several regions；It determines that current robot carrier quantity is less than the region of robot carrier minimum configuration quantity, and determines the target area of idle machine people's carrier according to determining region；Idle machine people carrier is dispatched to target area.Idle machine people carrier can be adjusted to the region that may be required in advance through the above scheme, such as, current robot carrier quantity less than minimum configuration quantity region, wait for outbound cargo handbarrow close quarters, history outbound cargo handbarrow close quarters etc., so as to shorten idle machine people carrier to the response time of picking task, the working efficiency of robot carrier is improved.
Description
Technical field
The present invention relates to automated warehousing technical field, more particularly to the dispatching method of a kind of robot carrier and scheduling
Device.
Background technology
With the development of automated warehousing technology, robot carrier is widely used in articles from the storeroom and carries work, greatly
Ground saves human resources.
Robot carrier can be in idle condition in no picking task or when work station is all occupied.By
It can be made faster by how being dispatched in the uncertainty of picking task over time and space next time, after the robot carrier free time
Picking task to improve the working efficiency of robot carrier is problem needed to be considered next time for ground response.
Invention content
The present invention needs the technical problem solving to be：The scheduling problem of idle machine people's carrier, to improve machine
The working efficiency of people's carrier.
The first aspect of the present invention provides a kind of dispatching method of robot carrier, including：Warehouse is sorted into Division
For several regions；Determine that current robot carrier quantity is less than the region of robot carrier minimum configuration quantity, and root
The target area of idle machine people's carrier is determined according to determining region；Idle machine people carrier is dispatched to target area.
Wherein, in each region robot carrier minimum configuration quantity according to the distribution of the robot carrier in the region
Ratio and robot carrier otal investment determine.
Wherein, current robot carrier quantity is less than machine in the region of robot carrier minimum configuration quantity
The maximum region of allocation proportion of people's carrier is determined as the target area of idle machine people's carrier.
Wherein, the allocation proportion of the robot carrier in each region is according to waiting for outbound cargo handbarrow number in the region
Wait for that the ratio of outbound cargo handbarrow total amount determines in amount and all areas；Or, point of the robot carrier in each region
It is total according to the cargo handbarrow history outbound frequency in the region and cargo handbarrow history outbound in all areas with ratio
The ratio of the frequency determines.
Preferably, sorting zoning in warehouse is divided into several regions includes：According to the position point for waiting for outbound cargo handbarrow
Cloth information is treated outbound cargo handbarrow and is clustered, and by it is each cluster it is corresponding wait for outbound cargo handbarrow assemble
Region is as a region；Or, according to the location distribution information of history outbound cargo handbarrow and outbound frequency information to going through
History outbound cargo handbarrow is clustered, and will each be clustered corresponding history outbound cargo handbarrow aggregation zone and be made
For a region.
Preferably, the dispatching method of robot carrier further includes：Judge in idle machine people's carrier region when
Whether preceding robot carrier quantity is more than robot carrier minimum configuration quantity in the region；It is yes in judging result
In the case of, execute the step of target area of idle machine people's carrier is determined according to determining region；It is no in judging result
In the case of, idle machine people's carrier region is determined as to the target area of idle machine people's carrier.
Preferably, the dispatching method of robot carrier further includes：Whether the electricity of monitoring idle machine people's carrier reaches
To charge threshold, if less than charge threshold is equal to, scheduling idle machine people's carrier removes charging pile, if higher than charging threshold
The step of value, performance objective area determination step and scheduling idle machine people carrier are to target area.
Preferably, the dispatching method of robot carrier further includes：Removing by entad in selection target region
Tool location is transported as target location；And dispatch idle machine people carrier to target area target location.
Preferably, the dispatching method of robot carrier further includes：When there is new picking task, scheduling arrived picking
Idle machine people's carrier of task region executes picking task, alternatively, from the idle machine of target area on the way is gone to
The idle machine people carrier nearest apart from picking task is dispatched in people's carrier executes picking task.
The second aspect of the present invention provides a kind of dispatching device of robot carrier, including：Region division module is used
It is divided into several regions in warehouse is sorted zoning；Target area determining module, for determining current robot carrier quantity
Less than the region of robot carrier minimum configuration quantity, and determine according to determining region the target of idle machine people's carrier
Region；Scheduler module, for dispatching idle machine people carrier to target area.
Preferably, the dispatching device of robot carrier further includes：Quantity determining module is configured, for according to each region
Robot carrier allocation proportion and robot carrier otal investment determine that robot carrier is minimum in the region
Configure quantity.
Wherein, target area determining module, for current robot carrier quantity to be less than robot carrier most
The maximum region of allocation proportion for configuring robot carrier in the region of quantity less is determined as the mesh of idle machine people's carrier
Mark region.
Preferably, the dispatching device of robot carrier further includes：Allocation proportion determining module, for according to each region
In wait for waiting for that the ratio of outbound cargo handbarrow total amount determines the region in outbound cargo handbarrow quantity and all areas
The allocation proportion of robot carrier；Or, for according to the cargo handbarrow history outbound frequency in each region and all areas
The ratio of the total frequency of cargo handbarrow history outbound determines the allocation proportion of the robot carrier in the region in domain.
Preferably, region division module waits for that the location distribution information of outbound cargo handbarrow treats outbound for basis
Cargo handbarrow is clustered, and waits for outbound cargo handbarrow aggregation zone as an area using each cluster is corresponding
Domain；Or, being carried to history outbound cargo according to the location distribution information of history outbound cargo handbarrow and outbound frequency information
Tool is clustered, and will each cluster corresponding history outbound cargo handbarrow aggregation zone as a region.
Preferably, the dispatching device of robot carrier further includes：At least one of judgment module, electric power detection module
Module；
Judgment module, for whether judging robot carrier quantity current in idle machine people's carrier region
More than robot carrier minimum configuration quantity in the region；Also, target area determining module, for being yes in judging result
In the case of, execute the step of target area of idle machine people's carrier is determined according to determining region；It is in judging result
In the case of no, idle machine people's carrier region is determined as to the target area of idle machine people's carrier；
Whether electric power detection module, the electricity for monitoring idle machine people's carrier reach charge threshold；And scheduling mould
Block, in the case where the electricity of idle machine people's carrier is less than and is equal to charge threshold, dispatching idle machine people's carrier
Charging pile is removed, in the case where the electricity of idle machine people's carrier is higher than charge threshold, scheduling idle machine people's carrier arrives
Target area.
Preferably, scheduler module is additionally operable to：The handbarrow position conduct by entad in selection target region
Target location, and dispatch idle machine people carrier to target area target location；Or, when there is new picking task,
Idle machine people's carrier that scheduling arrived picking task region executes picking task, alternatively, from target area is gone to
The idle machine people carrier nearest apart from picking task is dispatched in idle machine people's carrier on the way executes picking task.
Third aspect of the present invention provides a kind of dispatching device of robot carrier, including：Memory；And coupling
To the processor of memory, processor is configured as being based on instruction stored in memory, executes robot above-mentioned and carries
The dispatching method of vehicle.
The 4th aspect of the present invention, provides a kind of computer readable storage medium, the computer readable storage medium is deposited
Store up computer instruction, the dispatching method that the computer instruction is used to that the computer to be made to execute robot carrier above-mentioned.
Idle machine people carrier can be adjusted to the region that may be required, example in advance by the present invention through the above scheme
Such as, current robot carrier quantity is less than the region of minimum configuration quantity, waits for outbound cargo handbarrow close quarters, history
Outbound cargo handbarrow close quarters etc. improve so as to shorten idle machine people carrier to the response time of picking task
The working efficiency of robot carrier.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow chart of dispatching method one embodiment of robot carrier of the present invention.
Fig. 2 is the flow chart of another embodiment of the dispatching method of robot carrier of the present invention.
Fig. 3 A are based on the flow diagram for waiting for that outbound goods information realizes robot carrier dispatching method.
Fig. 3 B are the result schematic diagrams according to the aggregation extent progress region division for waiting for outbound cargo handbarrow
Fig. 4 is the flow diagram that robot carrier dispatching method is realized based on history outbound goods information.
Fig. 5 is the structural schematic diagram of dispatching device one embodiment of robot carrier of the present invention.
Fig. 6 is the structural schematic diagram of dispatching device one embodiment of robot carrier of the present invention.
Fig. 7 is the structure chart of another embodiment of the dispatching device of robot carrier of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
For the dispatching efficiency problem of idle machine people's carrier, the present invention is proposed.
In the present invention, robot carrier is a kind of smart machine for capableing of automatic transporting cargo.Robot carrier
It can transport goods by handbarrow.For example, robot carrier can utilize part cargo in pallet carrying, shelf are utilized
Carry shipping parcels.Idle machine people's carrier refers to being currently at idle state, and the robot for being not carried out carrying task removes
Transport vehicle.
Fig. 1 is the flow chart of dispatching method one embodiment of robot carrier of the present invention.Pass through the tune of the embodiment
Idle machine people carrier can be adjusted to the area that current robot carrier quantity is less than minimum configuration quantity in advance by degree method
The working efficiency of robot carrier is improved so as to shorten idle machine people carrier to the response time of picking task in domain.
As shown in Figure 1, the dispatching method 100 of the embodiment includes：
Sorting zoning in warehouse is divided into several regions by S102.
For example, static division method or method for dynamically partitioning may be used is divided into several regions by warehouse sorting zoning.
Wherein, static division method is also referred to as fixed area division methods, if referring to fixedly being divided into warehouse sorting area
Dry region.
Wherein, method for dynamically partitioning can be according to the aggregation extent or history outbound cargo for waiting for outbound cargo handbarrow
Warehouse sorting area is dynamically divided into several regions by the aggregation extent of handbarrow.Subsequent implementation regular meeting description dynamic divides
The specific implementation process of method.
Method for dynamically partitioning can more accurately reflect the aggregation extent of cargo to be handled relative to static division method.According to
According to the method for dynamically partitioning for the aggregation extent realization for waiting for outbound cargo handbarrow relative to according to history outbound cargo porter
The method for dynamically partitioning that the aggregation extent of tool is realized, has fully considered the fluctuation of cargo to be handled in time, can be more accurate
Really reflect the current aggregation extent of cargo to be handled.
S104 determines that current robot carrier quantity is less than the region of robot carrier minimum configuration quantity, and
The target area of idle machine people's carrier is determined according to determining region.
In one embodiment, current robot carrier quantity can be less than robot carrier minimum configuration number
The maximum region of the allocation proportion of robot carrier is determined as the target area of idle machine people's carrier in the region of amount.
For example, the allocation proportion of the robot carrier in region 1 is maximum, and region 1 meets machine current in region 1
People's carrier quantity is less than the condition of robot carrier minimum configuration quantity in region 1, then region 1 is confirmed as idle machine
The target area of people's carrier.The allocation proportion of the robot carrier in domain 1 is maximum, and the allocation proportion in region 2 is taken second place, if
Region 1 is unsatisfactory for aforementioned condition, and region 2 meets robot carrier quantity current in region 2 and removed less than robot in region 2
The condition of vehicle minimum configuration quantity is transported, then region 2 is confirmed as the target area of idle machine people's carrier.
When it is implemented, the following two kinds method, which for example may be used, determines target area.First method is first to determine
Current robot carrier quantity is less than all areas of robot carrier minimum configuration quantity, then from all areas
The allocation proportion of robot carrier maximum region is determined as to the target area of idle machine people's carrier in domain.Second
Method is less than according to the current robot carrier quantity of the descending sequential search of the allocation proportion of robot carrier
The qualified region found at first is determined as idle machine people and removed by the region of robot carrier minimum configuration quantity
Transport the target area of vehicle.Relative to first method, second method once finds target area, for idle machine people
Carrier can then terminate search procedure, without traversal all areas, can save process resource.
Wherein, robot carrier minimum configuration quantity can be a fixed value being arranged in each region, can also
It is determined according to the allocation proportion of the robot carrier in the region and robot carrier otal investment.For example, by robot
Carrier is in the allocation proportion in the region and the downward rounding of product of robot carrier otal investment, obtained integer value conduct
Robot carrier minimum configuration quantity in the region.Formula indicates as follows：
Mi=rounddown (Ri × N, 0)
Wherein, Mi indicates robot carrier minimum configuration quantity in the i of region, RiIndicate the robot carrier of region i
Allocation proportion, N indicates that robot carrier otal investment, rounddown indicate the function of downward rounding.
Wherein, the allocation proportion of the robot carrier in each region is according to waiting for outbound cargo handbarrow number in the region
Wait for that the ratio of outbound cargo handbarrow total amount determines in amount and all areas.Or, point of the robot carrier in each region
It is total according to the cargo handbarrow history outbound frequency in the region and cargo handbarrow history outbound in all areas with ratio
The ratio of the frequency determines.Formula indicates as follows：
Wherein, RiIndicate the allocation proportion of the robot carrier of region i, QiIt indicates to wait for outbound cargo porter in the i of region
Have quantity or indicate the cargo handbarrow history outbound frequency in the i of region, n indicates the total quantity in region.
S106, scheduling idle machine people carrier to target area.
Dispatching desk can send out dispatch command to idle machine people's carrier, and instruction idle machine people's carrier drives to mesh
Region is marked, picking task next time is waited for.When there is new picking task, scheduling arrived the free time of picking task region
Robot carrier executes picking task, alternatively, dispatching distance from going in the idle machine people's carrier of target area on the way
The nearest idle machine people's carrier of picking task executes picking task.
Idle machine people carrier can be adjusted to current robot carrier quantity through the above scheme less than most in advance
It improves robot so as to shorten idle machine people carrier to the response time of picking task and carries in the region for configuring quantity less
The working efficiency of vehicle.
In addition, if foundation waits for that the aggregation extent of outbound cargo handbarrow dynamically draws in warehouse sorting area in scheduling
It is divided into several regions, and/or, if according to being waited in the region in outbound cargo handbarrow quantity and all areas in scheduling
It waits for that the ratio of outbound cargo handbarrow total amount determines the allocation proportion of the robot carrier in each region, and then determines the area
The robot carrier minimum configuration quantity in domain, then further can be adjusted to idle machine people carrier to wait for outbound cargo in advance
Handbarrow close quarters improve robot and carry so as to shorten idle machine people carrier to the response time of picking task
The working efficiency of vehicle.
It is similar, if according to the aggregation extent of history outbound cargo handbarrow by warehouse sorting area dynamic in scheduling
Ground is divided into several regions, and/or, if according to the cargo handbarrow history outbound frequency in the region and owned in scheduling
The ratio of the total frequency of cargo handbarrow history outbound determines the allocation proportion of the robot carrier in each region in region, into
And determine the robot carrier minimum configuration quantity in the region, then further idle machine people carrier can be adjusted in advance
History outbound cargo handbarrow close quarters carry so as to shorten idle machine people carrier to the response time of picking task
The working efficiency of high robot carrier.
Above-mentioned dispatching method can also advanced optimize, with reference to the scheduling of the robot carrier of Fig. 2 description optimizations
Method.
Fig. 2 is the flow chart of another embodiment of the dispatching method of robot carrier of the present invention.
As shown in Fig. 2, the dispatching method 200 of the embodiment includes：
Sorting zoning in warehouse is divided into several regions by S202.
Whether the electricity of S204, monitoring idle machine people's carrier reach charge threshold, if less than charge threshold is equal to,
Scheduling idle machine people's carrier removes charging pile, if being higher than charge threshold, continues to execute subsequent step.
S206, judges whether robot carrier quantity current in idle machine people's carrier region is more than the area
Yu Zhong robots carrier minimum configuration quantity.
In the case where judging result is no, idle machine people's carrier region is determined as idle machine people and is carried
The target area (S207) of vehicle.To avoid excessively continually dispatching idle machine people's carrier.
In the case where the judgment result is yes, current robot carrier quantity is at least matched less than robot carrier
The maximum region of allocation proportion for setting robot carrier in the region of quantity is determined as the target area of idle machine people's carrier
Domain (S208).
S210, in selection target region by the handbarrow position of entad as target location.
S212, the target location of scheduling idle machine people carrier to target area.
When there is new picking task, idle machine people's carrier execution that scheduling arrived picking task region picks
Goods task, alternatively, from the free time that scheduling is nearest apart from picking task in the idle machine people's carrier of target area on the way is gone to
Robot carrier executes picking task.
Response time of the idle machine people carrier to picking task can not only be shortened through the above scheme, but also can
To reduce the occupancy to warehouse aisles resource.
The dispatching method of robot carrier in previous embodiment can for example be based on waiting for outbound goods information or base
It is realized to the scheduling process of idle machine people's carrier in history outbound goods information, specifically describes both scheduling separately below
Method.
Fig. 3 A are based on the flow diagram for waiting for that outbound goods information realizes robot carrier dispatching method.
As shown in Figure 3A, the dispatching method 300 of the embodiment includes：
S302, foundation wait for that sorting zoning in warehouse is divided into several regions by the aggregation extent of outbound cargo handbarrow.
Specifically, according to waiting for that the location distribution information of outbound cargo handbarrow treats outbound cargo handbarrow and gathered
Class, and wait for outbound cargo handbarrow aggregation zone as a region using each cluster is corresponding.Clustering method for example may be used
To be realized using k-means clustering algorithms.Fig. 3 B are according to the aggregation extent progress region division for waiting for outbound cargo handbarrow
Result schematic diagram, it is illustrated that in by warehouse sorting zoning be divided into 6 regions, be expressed as Zone1, Zone2, Zone3,
Zone4, Zone5, Zone6.
Then, optionally, step S304 and S306 are executed, alternatively, directly executing step S308.
Whether the electricity of S304, monitoring idle machine people's carrier reach charge threshold, if less than charge threshold is equal to,
Scheduling idle machine people's carrier removes charging pile, if being higher than charge threshold, continues to execute subsequent step.
S306, judges whether robot carrier quantity current in idle machine people's carrier region is more than the area
Yu Zhong robots carrier minimum configuration quantity (the first configuration quantity).
Wherein, robot carrier minimum configuration quantity (first configuration quantity) is according to the robot carrier in the region
Allocation proportion and robot carrier otal investment determine, and the allocation proportion of the robot carrier in the region is according to this
It waits for waiting for that the ratio of outbound cargo handbarrow total amount determines in outbound cargo handbarrow quantity and all areas in region.
In the case where judging result is no, idle machine people's carrier region is determined as idle machine people and is carried
The target area (S307) of vehicle.To avoid excessively continually dispatching idle machine people's carrier.
In the case where the judgment result is yes, current robot carrier quantity is at least matched less than robot carrier
The maximum region of allocation proportion for setting robot carrier in the region of quantity (the first configuration quantity) is determined as idle machine people
The target area (S308) of carrier.
Then, optionally, step S 310 is executed, or directly executes step S312.
S310, in selection target region by the handbarrow position of entad as target location.
S312, scheduling idle machine people carrier to target area or target location.
Response time of the idle machine people carrier to picking task can not only be shortened through the above scheme, but also can
To reduce the occupancy to warehouse aisles resource.Also, based on the scheduling scheme for waiting for that outbound goods information is realized, region division can be more
Accurately reflect the aggregation extent of cargo to be handled, and can more accurately determine robot carrier each region distribution ratio
Example further increases idle machine to be adjusted to idle machine people carrier in advance to wait for outbound cargo handbarrow close quarters
The dispatching efficiency of device people's carrier.
Fig. 4 is the flow diagram that robot carrier dispatching method is realized based on history outbound goods information.
As shown in figure 4, the dispatching method 400 of the embodiment includes：
Warehouse sorting area is dynamically divided into several areas by S402, the aggregation extent according to history outbound cargo handbarrow
Domain.
Specifically, according to the location distribution information of history outbound cargo handbarrow and outbound frequency information to history outbound
Cargo handbarrow is clustered, and will each cluster corresponding history outbound cargo handbarrow aggregation zone as one
Region.
Then, optionally, step S404 and S406 are executed, alternatively, directly executing step S408.
Whether the electricity of S404, monitoring idle machine people's carrier reach charge threshold, if less than charge threshold is equal to,
Scheduling idle machine people's carrier removes charging pile, if being higher than charge threshold, continues to execute subsequent step.
S406, judges whether robot carrier quantity current in idle machine people's carrier region is more than the area
Yu Zhong robots carrier minimum configuration quantity (the second configuration quantity).
Wherein, robot carrier minimum configuration quantity (second configuration quantity) is according to the robot carrier in the region
Allocation proportion and robot carrier otal investment determine, and the allocation proportion of the robot carrier in the region is according to this
The cargo handbarrow history outbound frequency and the ratio of the total frequency of cargo handbarrow history outbound in all areas are true in region
It is fixed.
In the case where judging result is no, idle machine people's carrier region is determined as idle machine people and is carried
The target area (S407) of vehicle.To avoid excessively continually dispatching idle machine people's carrier.
In the case where the judgment result is yes, current robot carrier quantity is at least matched less than robot carrier
The maximum region of allocation proportion for setting robot carrier in the region of quantity (the second configuration quantity) is determined as idle machine people
The target area (S408) of carrier.
Then, optionally, step S410 is executed, or directly executes step S412.
S410, in selection target region by the handbarrow position of entad as target location.
S412, scheduling idle machine people carrier to target area or target location.
Response time of the idle machine people carrier to picking task can not only be shortened through the above scheme, but also can
To reduce the occupancy to warehouse aisles resource.Also, the scheduling scheme realized based on history outbound goods information, region division energy
The more accurately aggregation extent of reflecting history outbound cargo, and can more accurately determine robot carrier each region point
It is further increased with ratio to which idle machine people carrier is adjusted to history outbound cargo handbarrow close quarters in advance
The dispatching efficiency of idle machine people's carrier.
Assuming that being T to the response time decrement of new task after each robot carrier each free time, robot is carried
Vehicle sum is N, and the robot carrier free time frequency is F, then the total time saved is：
Fig. 5 is the structural schematic diagram of dispatching device one embodiment of robot carrier of the present invention.
As shown in figure 5, the dispatching device 500 of the embodiment includes：
Region division module 502, for sorting zoning in warehouse to be divided into several regions；
Target area determining module 504, for determining that current robot carrier quantity is less than robot carrier most
The region of quantity is configured less, and the target area of idle machine people's carrier is determined according to determining region；
Scheduler module 506, for dispatching idle machine people carrier to target area.
Wherein, region division module 502 waits for that the location distribution information of outbound cargo handbarrow treats outbound for basis
Cargo handbarrow is clustered, and waits for outbound cargo handbarrow aggregation zone as an area using each cluster is corresponding
Domain；Or, being carried to history outbound cargo according to the location distribution information of history outbound cargo handbarrow and outbound frequency information
Tool is clustered, and will each cluster corresponding history outbound cargo handbarrow aggregation zone as a region.
Wherein, target area determining module 504, for current robot carrier quantity to be less than robot carrier
The maximum region of the allocation proportion of robot carrier is determined as idle machine people's carrier in the region of minimum configuration quantity
Target area.
Wherein, scheduler module 506 are additionally operable to：Make by the handbarrow position of entad in selection target region
For target location, and dispatch idle machine people carrier to target area target location；Or, when there is new picking task
When, idle machine people's carrier that scheduling arrived picking task region executes picking task, alternatively, from target area is gone to
The idle machine people carrier nearest apart from picking task is dispatched in the idle machine people's carrier of domain on the way executes picking task.
As shown in figure 5, dispatching device 500 further includes：Quantity determining module 5031 is configured, for the machine according to each region
The allocation proportion and robot carrier otal investment of device people's carrier determine robot carrier minimum configuration in the region
Quantity.
As shown in figure 5, dispatching device 500 further includes：Allocation proportion determining module 5032, for being waited for according in each region
Wait for that the ratio of outbound cargo handbarrow total amount determines the machine in the region in outbound cargo handbarrow quantity and all areas
The allocation proportion of people's carrier；Or, for according in the cargo handbarrow history outbound frequency in each region and all areas
The ratio of the total frequency of cargo handbarrow history outbound determines the allocation proportion of the robot carrier in the region.
As shown in figure 5, dispatching device 500 further includes：At least one of judgment module 5033, electric power detection module 5034
Module；
Judgment module 5033, for judging robot carrier quantity current in idle machine people's carrier region
Whether robot carrier minimum configuration quantity in the region is more than；Also, target area determining module 504, for judging
As a result it is the step of execution determines the target area of idle machine people's carrier according to determining region in the case of being；Sentencing
In the case that disconnected result is no, idle machine people's carrier region is determined as to the target area of idle machine people's carrier
Domain；
Whether electric power detection module 5034, the electricity for monitoring idle machine people's carrier reach charge threshold；Also,
Scheduler module 506, in the case where the electricity of idle machine people's carrier is less than and is equal to charge threshold, dispatching idle machine
People's carrier removes charging pile, in the case where the electricity of idle machine people's carrier is higher than charge threshold, dispatches idle machine people
Carrier is to target area.
Fig. 6 is the structural schematic diagram of dispatching device one embodiment of robot carrier of the present invention.As shown in fig. 6, should
The device 600 of embodiment includes：Memory 610 and the processor 620 for being coupled to the memory 610, processor 620 are configured
Based on the instruction being stored in memory 610, to execute the dispatching party of the robot carrier in any one aforementioned embodiment
Method.
Wherein, memory 610 is such as may include system storage, fixed non-volatile memory medium.System stores
Device is such as being stored with operating system, application program, Boot loader (Boot Loader) and other programs.
Fig. 7 is the structure chart of another embodiment of the dispatching device of robot carrier of the present invention.As shown in fig. 7, should
The device 700 of embodiment includes：Memory 610 and processor 620 can also include input/output interface 730, network interface
740, memory interface 750 etc..Can for example it pass through between these interfaces 730,740,750 and memory 610 and processor 620
Bus 760 connects.Wherein, input/output interface 730 is display, the input-output equipment such as mouse, keyboard, touch screen provide company
Connection interface.Network interface 740 provides connecting interface for various networked devices.Memory interface 750 is the external storages such as SD card, USB flash disk
Equipment provides connecting interface.
Those skilled in the art should be understood that the embodiment of the present invention can be provided as method, system or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the present invention
The form of embodiment.Moreover, the present invention can be used in one or more wherein include computer usable program code calculating
Machine can use the meter implemented on non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of calculation machine program product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It is interpreted as to be realized by computer program instructions each in flowchart and/or the block diagram
The combination of flow and/or box in flow and/or box and flowchart and/or the block diagram.These computer journeys can be provided
Sequence instruct to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with
Generate a machine so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for
Realize the dress for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes
It sets.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (18)
1. a kind of dispatching method of robot carrier, which is characterized in that including：
Sorting zoning in warehouse is divided into several regions；
Determine that current robot carrier quantity is less than the region of robot carrier minimum configuration quantity, and according to determining
Region determines the target area of idle machine people's carrier；
The idle machine people carrier is dispatched to the target area.
2. the method as described in claim 1, which is characterized in that in each region robot carrier minimum configuration quantity according to
The allocation proportion and robot carrier otal investment of the robot carrier in the region determine.
3. the method as described in claim 1, which is characterized in that described to determine idle machine people's carrier according to determining region
Target area include：
Current robot carrier quantity is less than robot carrier in the region of robot carrier minimum configuration quantity
The maximum region of allocation proportion be determined as the target area of idle machine people's carrier.
4. method as claimed in claim 2 or claim 3, which is characterized in that
The allocation proportion of the robot carrier in each region according to waited in the region outbound cargo handbarrow quantity with it is all
Wait for that the ratio of outbound cargo handbarrow total amount determines in region；Or,
The allocation proportion of the robot carrier in each region is according to the cargo handbarrow history outbound frequency and institute in the region
There is the ratio of the total frequency of cargo handbarrow history outbound in region to determine.
5. the method as described in claim 1, which is characterized in that described to be divided into several regions and include warehouse sorting zoning：
According to waiting for that the location distribution information of outbound cargo handbarrow treats outbound cargo handbarrow and clustered, and will be every
A cluster is corresponding to wait for outbound cargo handbarrow aggregation zone as a region；Or,
According to the location distribution information of history outbound cargo handbarrow and outbound frequency information to history outbound cargo porter
Tool is clustered, and will each cluster corresponding history outbound cargo handbarrow aggregation zone as a region.
6. the method as described in claim 1, which is characterized in that further include：
Judge whether robot carrier quantity current in idle machine people's carrier region is more than machine in the region
People's carrier minimum configuration quantity；
In the case where the judgment result is yes, execution determines the target area of idle machine people's carrier according to determining region
Step；
In the case where judging result is no, idle machine people's carrier region is determined as the idle machine people and is carried
The target area of vehicle.
7. the method as described in claim 1, which is characterized in that further include：
Whether the electricity of monitoring idle machine people's carrier reaches charge threshold, is equal to charge threshold if be less than, described in scheduling
Idle machine people's carrier removes charging pile, if being higher than charge threshold, performance objective area determination step and the scheduling sky
The step of not busy robot carrier is to the target area.
8. the method as described in claim 1, which is characterized in that further include：
In selection target region by the handbarrow position of entad as target location；
And dispatch the idle machine people carrier to the target area the target location.
9. the method as described in claim 1, which is characterized in that further include：
When there is new picking task, idle machine people's carrier that scheduling arrived picking task region executes institute
Picking task is stated, alternatively, being dispatched from going in the idle machine people's carrier of target area on the way apart from the picking task most
Close idle machine people's carrier executes the picking task.
10. a kind of dispatching device of robot carrier, which is characterized in that including：
Region division module, for sorting zoning in warehouse to be divided into several regions；
Target area determining module, for determining that current robot carrier quantity is less than robot carrier minimum configuration number
The region of amount, and determine according to determining region the target area of idle machine people's carrier；
Scheduler module, for dispatching the idle machine people carrier to the target area.
11. device as claimed in claim 10, which is characterized in that further include：
Quantity determining module is configured, the allocation proportion and robot carrier of the robot carrier according to each region are used for
Otal investment determines robot carrier minimum configuration quantity in the region.
12. device as claimed in claim 10, which is characterized in that the target area determining module is used for current machine
The allocation proportion that device people's carrier quantity is less than robot carrier in the region of robot carrier minimum configuration quantity is maximum
Region be determined as the target area of idle machine people's carrier.
13. the device as described in claim 11 or 12, which is characterized in that further include：
Allocation proportion determining module, for according to waiting for that outbound cargo handbarrow quantity waits for out with all areas in each region
The ratio of library cargo handbarrow total amount determines the allocation proportion of the robot carrier in the region；Or, for according to each area
The cargo handbarrow history outbound frequency and the ratio of the total frequency of cargo handbarrow history outbound in all areas determine in domain
The allocation proportion of the robot carrier in the region.
14. device as claimed in claim 10, which is characterized in that the region division module waits for outbound cargo for basis
The location distribution information of handbarrow is treated outbound cargo handbarrow and is clustered, and each cluster corresponding is waited for outbound
Cargo handbarrow aggregation zone is as a region；Or,
According to the location distribution information of history outbound cargo handbarrow and outbound frequency information to history outbound cargo porter
Tool is clustered, and will each cluster corresponding history outbound cargo handbarrow aggregation zone as a region.
15. device as claimed in claim 10, which is characterized in that further include：In judgment module, electric power detection module at least
One module；
The judgment module, for whether judging robot carrier quantity current in idle machine people's carrier region
More than robot carrier minimum configuration quantity in the region；Also, the target area determining module, in judging result
In the case of being, the step of target area of idle machine people's carrier is determined according to determining region is executed；Judging to tie
In the case that fruit is no, idle machine people's carrier region is determined as to the target area of the idle machine people carrier
Domain；
Whether the electric power detection module, the electricity for monitoring idle machine people's carrier reach charge threshold；Also, it is described
Scheduler module, in the case where the electricity of idle machine people's carrier is less than and is equal to charge threshold, dispatching the idle machine
Device people's carrier removes charging pile, in the case where the electricity of idle machine people's carrier is higher than charge threshold, dispatches the free time
Robot carrier is to the target area.
16. device as claimed in claim 10, which is characterized in that the scheduler module is additionally operable to：
In selection target region by the handbarrow position of entad as target location, and dispatch the idle machine
The target location of the device people carrier to the target area；Or,
When there is new picking task, idle machine people's carrier that scheduling arrived picking task region executes institute
Picking task is stated, alternatively, being dispatched from going in the idle machine people's carrier of target area on the way apart from the picking task most
Close idle machine people's carrier executes the picking task.
17. a kind of dispatching device of robot carrier, which is characterized in that including：
Memory；And
It is coupled to the processor of the memory, the processor is configured as based on the instruction being stored in the memory,
Execute method as claimed in any one of claims 1-9 wherein.
18. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage computer refers to
It enables, the computer instruction is for making the computer execute method as claimed in any one of claims 1-9 wherein.
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| CN201710068223.5A CN108398924B (en) | 2017-02-08 | 2017-02-08 | Scheduling method and scheduling device for robot transport vehicle |
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| CN201710068223.5A CN108398924B (en) | 2017-02-08 | 2017-02-08 | Scheduling method and scheduling device for robot transport vehicle |
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| CN112633756A (en) * | 2020-12-30 | 2021-04-09 | 深圳市人工智能与机器人研究院 | Warehouse logistics scheduling method and related equipment |
| CN112966977A (en) * | 2021-03-31 | 2021-06-15 | 深圳市库宝软件有限公司 | Task allocation method and device, control terminal and warehousing system |
| WO2023040659A1 (en) * | 2021-09-14 | 2023-03-23 | 深圳市库宝软件有限公司 | Task assignment method, apparatus, and device, warehousing system, and storage medium |
| CN114873122A (en) * | 2022-04-14 | 2022-08-09 | 深圳市海柔创新科技有限公司 | Storage method, device and equipment of material box and storage medium |
| CN114873122B (en) * | 2022-04-14 | 2023-09-05 | 深圳市海柔创新科技有限公司 | Method, device, equipment and storage medium for warehousing material box |
| WO2024078453A1 (en) * | 2022-10-12 | 2024-04-18 | 北京极智嘉科技股份有限公司 | Robot scheduling method and apparatus |
| CN115649722A (en) * | 2022-12-26 | 2023-01-31 | 浙江凯乐士科技集团股份有限公司 | Dispatching method and device for storage vehicles |
| CN117273606A (en) * | 2023-09-19 | 2023-12-22 | 中油管道物资装备有限公司 | Unmanned carrier scheduling method and system based on intelligent warehouse |
| CN117273606B (en) * | 2023-09-19 | 2024-04-12 | 中油管道物资装备有限公司 | Unmanned carrier scheduling method and system based on intelligent warehouse |
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