CN108469786A - Extensive intelligent storage distribution radio frequency - Google Patents
Extensive intelligent storage distribution radio frequency Download PDFInfo
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- CN108469786A CN108469786A CN201810079319.6A CN201810079319A CN108469786A CN 108469786 A CN108469786 A CN 108469786A CN 201810079319 A CN201810079319 A CN 201810079319A CN 108469786 A CN108469786 A CN 108469786A
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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] or computer integrated manufacturing [CIM]
- G05B19/41865—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] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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] or computer integrated manufacturing [CIM]
- G05B19/41845—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] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
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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] or 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] or computer integrated manufacturing [CIM] characterised by the transport system
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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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25232—DCS, distributed control system, decentralised control unit
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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]
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Abstract
The invention discloses a kind of extensive intelligent storage distribution radio frequency, current intelligent warehousing system dimension-limited is mainly solved, lower deployment cost is high, the problem of cannot achieve large scale deployment.The system includes central control server (1), multiple sorting platforms (2), multiple mobile robots (3), multiple movable goods shelfs (4) and more dispatch servers (5), central control server respectively with multiple sorting platforms and Duo Tai dispatch server wire communications, each mobile robot is wirelessly communicated with dispatch server, and the carrying according to the instruction completion of system to different moving goods racks, the different zones in warehouse are arranged in each dispatch server, the task scheduling to mobile robot is completed under the assistance of central control server, and it controls mobile robot and avoids colliding in running.Operational efficiency of the present invention is high, good in anti-interference performance, the expandability of deployment are strong in operation, can be used for extensive warehouse logistics management.
Description
Technical field
The present invention relates to intelligent storage technologies, and in particular to a kind of intelligent storage distribution radio frequency is suitable for big rule
The logistics management of mould warehouse.
Background technology
With the development of economic globalization, e-commerce emerges rapidly, and great variety also has occurred in the consumption habit of people,
Shopping online already becomes a kind of trend.This has not only driven a collection of Express firm explosive growth, while to traditional storage
Logistics also brings series of challenges.Under the market pressure of consumption upgrading and transformation, the stock control of magnanimity, uncontrollable people
Power cost, it has also become sharply increasing for the common puzzlement of the industries such as electric business, retail, especially order taking responsibility even more stores in a warehouse to the modern times
Material flow industry proposes the requirement of higher standard.
In current intelligent warehousing system, it is a kind of relatively conventional operational mode that " goods to people ", which has become,.So-called goods
Operational mode to people refers to that goods will be stored to the autonomous reception of task and autonomous executive capability by means of mobile robot
The shelf of object are transported to sorting platform and carry out cargo sorting by staff, and implementation step is as follows：
After receiving mission bit stream, robot is according to the goods information automatic running in mission requirements and system to mesh
The position where shelf is marked, then target shelf are held up and carry shelf using the constructional device of robot itself is transported to
Sort platform；
It sorts platform and specific display device such as display etc., the tool stored in shelf for display target cargo is housed
Body position, for sorting, personnel remove target goods；
After completing primary sorting task, robot will can carry shelf and run to the original storage position of shelf automatically
It sets and puts down shelf, next subtask is waited for indicate.
Enter store interior operation without the personnel of sorting in entire sort process, greatly improve working efficiency in this way,
Save a large amount of human resources.
Current intelligent warehousing system is mainly by central control server, multiple sorting platforms, multiple mobile robots and
Multiple movable goods shelf compositions.Plurality of sorting platform and central control server are located at warehouse marginal position, multiple removable
Dynamic shelf are regularly arranged in warehouse center, are formed the shelf array of multiple lines and multiple rows, are provided with for moving machine in warehouse floor
Multiple navigation identification objects of device people's navigator fix, such as two-dimension code label, mobile robot operate in store interior, pass through two
Dimension code label is positioned.Whole system is handled the order received by central control server, generates task, and will
Task is distributed to mobile robot.Mobile robot carries out path planning first after receiving mission bit stream, but due to the movement
Robot does not have the information such as position, state of other robot in warehouse, therefore the static map in warehouse can only be utilized to realize
The local optimum in individual machine people path, and can not consider the path of other mobile robots and realize the overall situation of whole system most
It is excellent.Mobile robot starts to be moved along path after success planning path, is swept in the process of moving using camera
It retouches the Quick Response Code being arranged in warehouse floor and carries out the position positioning of itself, utilize the sensings such as laser radar, camera, ultrasonic wave
Device perceives ambient enviroment, and the collision in moving process is avoided according to the ambient enviroment perceived.However due to warehouse ring
Border is complicated, and shelf are densely distributed, and the sensing range of sensor is highly prone to the influence of environment, especially in intersection, due to
The range of the blocking of shelf, perception is smaller, and mobile robot is caused malfunction when collision avoids decision.Exactly because also ring
Border is complicated, and mobile robot is caused to need a large amount of high-precision sensors, limitation excessively high so as to cause mobile robot monomer cost
The deployment of extensive warehousing system.If in order to realize global optimum, by the mobile machine that central control server statistics is global
People's information, the distribution of carry out task, path planning and collision such as avoid at the tasks, it will the expansion with warehouse scale and mobile machine
The increase of people's quantity so that the calculation amount of central control server is exponentially increased, and seriously affects the scalability of system.Cause
This, how to develop a can utilize ability of making decisions on one's own relatively low, in this embodiment it is not even necessary to the storage robot for ability of making decisions on one's own into
How row deployment, reduce the lower deployment cost of system, and how to improve the scalability of system is to be worth the direction of research.
Invention content
It is an object of the invention in view of the above shortcomings of the prior art, provide a kind of extensive intelligent storage distribution to pick
System is selected, to reduce the lower deployment cost of system, improves the scalability of system, realizes large-scale warehouse deployment.
To achieve the above object, extensive intelligent storage distribution radio frequency provided by the present invention, including center control
Control server, multiple sorting platforms, multiple mobile robots and multiple movable goods shelfs, central control server is by wirelessly connecting
It connects and is communicated with multiple mobile robots, and communicated with multiple sorting platforms by wired connection, each mobile robot root
The carrying to different moving goods racks is completed according to the instruction of central control server, it is characterised in that：Central control server is two-way
More dispatch servers are connected with, the different zones in warehouse are arranged in each dispatch server, in central control server
The lower task scheduling completed to mobile robot is assisted, and controls mobile robot operational process and avoids colliding.
Further, the more dispatch servers are evenly distributed in entire warehouse environment, and entire warehouse is drawn according to grid
The form divided is evenly dividing into several pieces of regions, and each dispatch server is deployed in the center in each piece of region, and by more
Mobile robot in a wireless access terminal and compass of competency carries out real-time Communication for Power.
Further, each dispatch server includes：
Task scheduling modules, the assignment instructions for being issued according to central control server, operation task dispatching algorithm, from
The suitable mobile robot of selection is for executing the task in the dispatch server compass of competency, if in the range of current administration
Do not find suitable mobile robot then to central control server send scheduling failed message, by central control server from
The overall situation carries out the scheduling of mobile robot；
Collide sensing module, the path letter of the mobile robot in compass of competency for being collected into according to dispatch server
Whether breath and their real-time position information, judge whether each mobile robot runs according to the path of planning, and perceive and may
The collision between mobile robot occurs in the area, then the collision information perceived is sent to crash classification module；
Crash classification module, the collision information for being sended over according to collision sensing module divide collision situation
Collision information is transmitted to rate control module processing by class if belonging to the case where intersection is collided, if belonging to opposite collision feelings
Condition then sends information to local paths planning module and is handled；
Rate control module, for according to the collision information sended over, speed tune to be carried out to relevant mobile robot
It is whole, avoid them from colliding；
Local paths planning module, for according to the collision information that sends over, to relevant mobile robot into walking along the street
The quadratic programming of diameter, avoids them from colliding, and will be in the routing update that planned again to original path.
The present invention has the following advantages that compared with prior art：
1. information processing framework of the present invention due to being added platform dispatch server using central control server, collaboration are completed
To the task scheduling of mobile robot, the requirement to center control server computational power is reduced, expanding for system is improved
Malleability is convenient for large-scale system deployment.
2. the present invention is kept away due to completing to run on collision perception, the collision at mobile robot end originally using dispatch server
Exempt from algorithm, the requirement of make decisions on one's own to mobile robot ability and computing capability is reduced, to reduce mobile robot
Monomer cost reduces the lower deployment cost of whole system.
3. the present invention since more dispatch servers being evenly distributed in storage environment, may be implemented mobile robot with
Real-time Communication for Power between dispatch server so that dispatch server can repair the speed of mobile robot and path in real time
Just, mobile robot is avoided situations such as congestion, deadlock occur, to improve the whole efficiency of system, robustness and expansible
Property.
Description of the drawings
Fig. 1 is the system architecture diagram of the present invention；
Fig. 2 is each section deployment schematic diagram in present system；
Specific implementation mode
Below in conjunction with attached drawing, present invention is further described in detail.
Referring to Fig.1, the present invention includes central control server 1, more dispatch servers 5, and multiple sorting platforms 2 are multiple
Mobile robot 3 and multiple movable goods shelfs 4.Wherein, central control server 1 passes through with each dispatch server 5 respectively
Wired connection, each dispatch server 5 are wirelessly connected by multiple wireless access terminals and multiple mobile robots 3, often
A mobile robot 3 is wirelessly connected with a movable goods shelf 4 and a sorting platform 2 respectively, each to sort platform 2 and center
Control 1 wired connection of server.
The central control server 1 includes：Ordering Module 11, task allocating module 12, overall scheduling module 13,
Path planning module 14 and layout for storekeeping management module 15.
The Ordering Module 11 for receiving the order that client generates by network, and selects order processing strategy pair
The order of arrival carries out processing and generates corresponding task queue, for example directly carries out task queue according to the sequence that order reaches
It generates, or counts the information of multiple orders, generate task queue by batch processing mode, and task queue is sent to task point
With module；
The task allocating module 12, for receiving the task queue sended over from Ordering Module 11, and according to each
The working condition for sorting platform 2, takes corresponding strategy, for example be ranked up according to task dense degree to each sorting platform 2,
The sorting platform 2 for selecting task minimum sorts platform as the target of the task, while inquiring the cargo in database and shelf
Location information obtains the location information where target shelf, and the task message is sent to the scheduling of target shelf region
Server 5 asks the dispatch server to select suitable mobile robot 3 to execute the task；
The overall scheduling module 13, for being selected in global scope after dispatch server 5 returns to scheduling failed message
Task scheduling algorithm considers the global factor in warehouse, selects suitable moving machine such as contract net algorithm and its innovatory algorithm
Device people 3 executes task；
The path planning module 14 selects path planning algorithm, such as the global information according to mission bit stream and warehouse
A* algorithms and these traditional path planning algorithms of ant group algorithm and their innovatory algorithm plan one for mobile robot 3
Initial path of the item from starting point to point of destination；
The layout for storekeeping management module 15 is used for the frequency of occurrences according to the cargo in current task in History Order,
Next racks store position is selected from the hollow remaining racks store position of Current warehouse, such as the goods in current task
When the frequency that object occurs in History Order is higher, then the shelf can be placed in the storage location closer from sorting platform 2.
The dispatch server 5 includes：Task scheduling modules 51, collision sensing module 52, crash classification module 53, speed
Control module 54 and local path planning module 55.
The task scheduling modules 51, the assignment instructions for being issued according to central control server 1, operation task scheduling are calculated
Method considers in compass of competency the state of each mobile robot 3 and each such as contract net algorithm and its innovatory algorithm, in algorithm
The congestion status in section selects mobile robot 3 to execute the task out of this dispatch server compass of competency, if from current administration
In the range of do not find suitable mobile robot 3, then to central control server send scheduling failed message, by center control
Scheduling of the control server 1 from global progress mobile robot；
The collision sensing module 52 is sent for the mobile robot 3 in real-time reception 5 compass of competency of dispatch server
The information to come over judges each mobile robot according to the real-time position information of the routing information of these mobile robots and they
Whether run according to the path of planning, and predicted whether in the area to occur between mobile robot by calculating perception
Collision, then by the possibility perceived occur collision information be sent to crash classification module 53；
The crash classification module 53, for according to the collision information that sends over of collision sensing module 52 to collision situation into
Row classification, if belonging to the case where intersection is collided, is transmitted to rate control module 54 by collision information and handles, touched in opposite directions if belonging to
Situation is hit, then sends information to local paths planning module 55 and is handled；
The rate control module 54, for according to the collision information that sends over, to relevant mobile robot into scanning frequency
Degree adjustment, avoids them from colliding, such as when two mobile robots pass crosswise some intersection and may occur
When collision, it is relatively early by the intersection to go out which mobile robot according to their current positions and prediction of speed,
Then notifying another mobile robot suitably reduces speed or is waited in the inlet of intersection, to avoid two movements
Robot collides；
The local paths planning module 55, for when collision sensing module 52 perceive two mobile robots 3 may
When opposite collision occurs, according to other mobile robots 3 in the position of relevant mobile robot 3 and routing information and the region
Position and routing information, select path planning algorithm, to relevant mobile robot 3 carry out path quadratic programming, avoid
They collide, and will be in the routing update that planned again to original path.
The sorting platform 2 comprising：Sort platform computer 21 and short-range wireless communication module 22.
The sorting platform computer 21 exists for according to received task information, searching target goods in the database
The position stored on shelf, and show over the display, while the merchandise news and commodity number of the task are shown over the display
Amount facilitates staff to carry out the sorting of cargo；
The short-range wireless communication module 22, for carrying out short-range channel radio with the mobile robot at sorting platform
Letter, to confirm the currently performed sorting task of mobile robot.
The mobile robot 3 comprising：Quick Response Code vision positioning module 31, inertial navigation module 32, short-distance wireless
Communication module 33 and perception brake module 34.
The Quick Response Code vision positioning module 31, for passing through Quick Response Code mark of the camera scan arrangement in warehouse floor
Label, carry out the indoor positioning of mobile robot；
The inertial navigation module 32, when for carrying out indoor positioning when scanning is less than Quick Response Code, in conjunction with two dimension before
Code information positions mobile robot in real time, for example, as confirmed when mobile robot scans through a two-dimension code label
Will continue to run at next two-dimension code label behind current position, should during be not no two-dimension code label, at this time
Need the real-time positioning using module progress mobile robot 3；
The short-range wireless communication module 33, for completing two kinds of functions, first, when mobile robot is located at bottom shelf
When with shelf carry out information exchange, confirm shelf whether matched with current task；Second is that being located at sorting platform in mobile robot
When with sorting platform carry out information exchange, confirm sorting platform whether matched with current task, and will currently sort task send
Give sorting platform；
The perception brake module 34 is tight when for communication failure occur between mobile robot 3 and dispatch server 5
Anxious braking, for example when 3 long-time of mobile robot can not receive the instruction of the transmission of dispatch server 5, then call simple
Ultrasonic wave module perceives front obstacle, and emergency braking is carried out to the mobile robot 3 when perceiving barrier.
The movable goods shelf 4, bottom are equipped with short-range wireless communication module 41, for run to bottom shelf
Mobile robot communicated, in order to which mobile robot confirms whether the shelf match with current task.
The layout of whole system is adjusted according to the size and shape in warehouse.This example is with the rectangle of 70m*50m
Carry out deployment explanation for warehouse, and the length of side of movable goods shelf cross section is 0.9m, a diameter of 0.9 meter of mobile robot,
It should be noted that the size of the warehouse size of the example, the size of shelf and mobile robot only to facilitate explanation,
It can be adjusted according to actual conditions, present system is practical to be suitable for more massive warehouse.
With reference to Fig. 2, for this example with central control server for 1, sorting platform is 6, and dispatch server is 6, can
Moving goods rack is 1512, and mobile robot is several, carries out the deployment explanation of present system.
First, entire warehouse is subjected to Map building by grid, the length of side of grid is set as 1m, is built into a grid
Map is stored in central control server, and the two-dimension code label for recording the grid positions information is posted in the center of each grid；
Then, central control server is deployed in the edge in warehouse, 6 sorting platforms are uniformly deployed in warehouse side
Edge, and pass through wired connection with central control server respectively；
Then, movable goods shelf is regularly arranged in warehouse center, and each shelf are all located at grid center, are formed
The shelf array of multiple lines and multiple rows, and a shelf group is formed by the form of 2 row, 6 row, leading to there are one grid is stayed between shelf group
Road；
Then, entire warehouse is uniformly divided into 6 pieces of regions, there is 3*7=21 shelf group in each region, in each region
It is deployed with multiple wireless access terminals, it should be noted that the shelf group that each region includes in Fig. 2 is less, in actual deployment
The shelf group number for including in each region can be carried out according to the computing capability of dispatch server and the number of mobile robot
Adjustment；
Finally, a dispatch server is disposed in each depot area center, every dispatch server is controlled with center
Server is communicated by wired connection, at the same every dispatch server by multiple wireless access terminals in the region with
All mobile robots in the region carry out wireless communication.
The main working process of present system is as follows：
The first step generates task queue：
The order that client generates is received by network by the order pick module in central control server, and selects order
Processing strategy carries out processing to the order of arrival and generates corresponding task queue, for example is directly carried out according to the sequence that order reaches
The generation of task queue, or the information of multiple orders is counted, task queue is generated by batch processing mode, and task queue is sent out
Give task allocating module；
Second step, distribution target sort platform：
Task allocating module extracts a task, and root according to the task queue sended over by Ordering Module
According to the working condition of each sorting platform, corresponding strategy is taken, for example arranged according to task dense degree each sorting platform
Sequence, the sorting platform for selecting task minimum sort platform as the target of the task；
Third walks, and finds target shelf：
For task allocating module according to mission bit stream, the cargo and shelf location information inquired in database obtain target shelf
The location information at place；
4th step distributes mobile robot：
Task allocating module is sent to target shelf region according to the target shelf information found, by task message
Dispatch server, ask dispatch server selection mobile robot executing the task.During dispatch server receives
After the task scheduling instruction that centre control server issues, by task scheduling modules operation task dispatching algorithm, such as contract net algorithm
And its innovatory algorithm, the state of each mobile robot and the congestion shape in each section in compass of competency are considered in the algorithm
State selects mobile robot to execute the task, and the secondary scheduling result is returned to out of this dispatch server compass of competency
Centre control server, if suitable mobile robot is not found in the range of current administration, to central control server
Send scheduling failed message.If central control server receives the scheduling failed message that dispatch server sends over, adjust
Task scheduling algorithm is selected in global scope with overall scheduling module, such as contract net algorithm and its innovatory algorithm, is considered
The global factor in warehouse selects mobile robot for executing the task；
5th step, the initial path of planning mobile robot to target shelf：
The mobile machine that central control server sorts platform, executes task in the target shelf for the task that determines, target
After people, path planning module is called, selects path planning algorithm, these traditional path plannings are calculated such as A* algorithms and ant group algorithm
Method and their innovatory algorithm, it is in place from mobile robot current location to target shelf institute for mobile robot planning one
The initial path set.Then, the scheduling that the mobile robot region is sent to the relevant necessary information of the task is taken
It is engaged in device, dispatch server records the decision after these information are used for, and relevant necessary information is sent to and executes this
The mobile robot of business；The necessary information, including target sort station platform information, and target shelf information executes the movement of task
Robot information, and the initial path information for mobile robot planning；
6th step, mobile robot run to target shelf location：
Mobile robot is after receiving mission bit stream, according to where initial path information wherein included to target shelf
Position is moved, and carries out real-time Communication for Power by wireless access terminal and dispatch server in moving process, location information is sent
To dispatch server；
7th step, collision perception in mobile robot operational process and avoids：
Dispatch server calls collision perception mould according to the real-time position information of the routing information and it of the mobile robot
Block, judges whether the mobile robot runs according to the path of planning, and plans as a whole other mobile robot information in compass of competency,
Predict whether the mobile robot may collide between other mobile robots by calculating to perceive, if will not touch
It hits, continues normal movement, if perceiving may collide, the collision information that the possibility perceived occurs is sent to and is touched
Hit sort module；
Crash classification module classifies to collision situation, if belonging to the case where intersection is collided, collision information is forwarded
Rate control module processing is given, such as when two mobile robots pass crosswise some intersection and may collide
When, which mobile robot can be gone out according to their current positions and prediction of speed relatively early by the intersection, then
Notifying another mobile robot suitably reduces speed or is waited in the inlet of intersection, to avoid two mobile machines
People collides；If belonging to opposite collision situation, sends information to local paths planning module and handled, according to correlation
The position of mobile robot and the position of other mobile robots in routing information and the region and routing information, select path
Planning algorithm carries out relevant mobile robot the quadratic programming in path, them is avoided to collide, and will plan again
In routing update to original path, it is synchronized in mobile robot；
8th step confirms target shelf：
After mobile robot runs to target shelf location, carried out by short-range wireless communication module and target shelf
Communication, confirms whether shelf match with current task, sends and appoints from dispatch server to central control server if mismatching
Business false command, task is redistributed by central control server；If matching executes the 9th step；
9th step, planning mobile robot to target sort the initial path of platform：
After confirming that target shelf are matched with current task, new path planning is sent by mobile robot and is asked, via tune
Degree server is forwarded to central control server, and taking the whole situation into account and plan accordingly information by central control server carries out robot to target sorting
The initial path information of planning is sent to dispatch server and mobile robot, same time shift by the path planning of platform again later
Mobile robot is jacked up target shelf with special device；
Tenth step, mobile robot run to target sorting gate position：
Mobile robot carries target shelf and sorts platform according to process flow operation identical with the six, the seven steps to target
Position；
11st step confirms that target sorts platform：
After mobile robot, which runs to target, sorts gate position, mobile robot is by short-distance wireless communication and divides
Pick platform carry out information exchange, confirm sorting platform whether matched with current task, if mismatch, by dispatch server to
Central control server sends target sorting platform and selects false command, and target sorting station is reaffirmed by central control server
Platform carries out path planning, is sent to dispatch server and mobile robot；If matching, current sorting task is sent to point
Platform is picked, goods sorting work is carried out by staff；
12nd step confirms target shelf storage position：
After the completion of sorting, layout for storekeeping management module is called by central control server, according to the cargo in current task
The frequency of occurrences in History Order selects next racks store position from the hollow remaining racks store position of Current warehouse
It sets, such as when the frequency occurred in History Order for the cargo in current task is higher, then selects closer from sorting platform
Next storage location of the storage location as the shelf；
13rd step, the initial path of planning mobile robot to target racks store position：
After determining the next storage location of target shelf, path planning module is called, is carried out from mobile robot present bit
The path planning of next storage location of shelf is set, and the path of planning is sent to dispatch server and mobile machine
People；
14th step, mobile robot run to target racks store position, complete task：
Mobile robot carries target shelf according to process flow operation identical with the six, the seven steps to the next of target shelf
A storage location, unloads shelf.More than, mobile robot completes the task of primary distribution, then waits in situ next
The distribution of task.
Claims (8)
1. extensive intelligent storage distribution radio frequency, including central control server (1), multiple sorting platforms (2) are multiple
Mobile robot (3) and multiple movable goods shelfs (4), central control server by be wirelessly connected with multiple mobile robots into
Row communication, and is communicated by wired connection with multiple sorting platforms, and each mobile robot is according to the finger of central control server
Enable the carrying completed to different moving goods racks, it is characterised in that：Central control server has been bi-directionally connected more dispatch servers
(5), the different zones in warehouse are arranged in each dispatch server, are completed to moving machine under the assistance of central control server
The task scheduling of device people, and control mobile robot operational process and avoid colliding.
2. system according to claim 1, which is characterized in that the more dispatch servers (5) are evenly distributed on entirely
In warehouse environment, entire warehouse is evenly dividing into several pieces of regions, each dispatch server deployment according to the form of mesh generation
Center in each piece of region, and led in real time by the mobile robot in multiple wireless access terminals and compass of competency
Letter.
3. system according to claim 1, which is characterized in that each dispatch server (5) include：
Task scheduling modules (51), the assignment instructions for being issued according to central control server, operation task dispatching algorithm, from
The suitable mobile robot of selection is for executing the task in the dispatch server compass of competency, if in the range of current administration
Do not find suitable mobile robot then to central control server send scheduling failed message, by central control server from
The overall situation carries out the scheduling of mobile robot；
Collide sensing module (52), the path letter of the mobile robot in compass of competency for being collected into according to dispatch server
Whether breath and their real-time position information, judge whether each mobile robot runs according to the path of planning, and perceive and may
The collision between mobile robot occurs in the area, then the collision information perceived is sent to crash classification module；
Crash classification module (53), the collision information for being sended over according to collision sensing module divide collision situation
Collision information is transmitted to rate control module processing by class if belonging to the case where intersection is collided, if belonging to opposite collision feelings
Condition then sends information to local paths planning module and is handled；
Rate control module (54), for according to the collision information sended over, speed tune to be carried out to relevant mobile robot
It is whole, avoid them from colliding；
Local paths planning module (55), for according to the collision information that sends over, to relevant mobile robot into walking along the street
The quadratic programming of diameter, avoids them from colliding, and will be in the routing update that planned again to original path.
4. system according to claim 1, which is characterized in that central control server (1) includes：
Ordering Module (11), for receiving the order that client generates by network, and using order processing strategy to reaching
Order into processing, generate task queue, and task queue is sent to task allocating module；
Task allocating module (12) selects mesh of the sorting platform as the task for the working condition according to each sorting platform
Mark sorting platform, while inquiring the cargo in database and shelf location information obtains the location information where target shelf, and
The task message is sent to the dispatch server of target shelf region, the dispatch server is asked to select suitable moving machine
Device people.
Overall scheduling module (13) is suitable for being selected in global scope after dispatch server returns to scheduling failed message
Mobile robot executes task；
Path planning module (14) carries out mobile robot initial path for the global information according to mission bit stream and warehouse
Planning；
Layout for storekeeping management module (15), for the frequency of occurrences according to the cargo in current task in History Order, from working as
Preceding warehouse selects next racks store position in hollow remaining racks store position.
5. system according to claim 1, which is characterized in that multiple sorting platforms (2) are evenly distributed on warehouse
Around, each sorting platform carries out real-time information exchange by wired connection and central control server, each sorting
Platform includes：
Platform computer (21) is sorted, for according to received task information, searching target goods in the database in shelf
The position of upper storage, and show over the display, while the merchandise news and commodity amount of the task are shown over the display, side
Just staff carries out the sorting of cargo；
Short-range wireless communication module (22), for carrying out short-range wireless communication with the mobile robot at sorting platform,
To confirm the currently performed sorting task of mobile robot.
6. system according to claim 1, which is characterized in that the multiple mobile robot (3) is distributed in warehouse
Portion, each mobile robot include：
Quick Response Code vision positioning module (31), for passing through two-dimension code label of the camera scan arrangement in warehouse floor, into
The indoor positioning of row mobile robot；
Inertial navigation module (32), for carrying out indoor positioning when scanning is less than Quick Response Code；
Short-range wireless communication module (33), for carrying out information exchange with shelf when mobile robot is located at bottom shelf,
Confirm whether shelf match with current task, and is handed over into row information with sorting platform when mobile robot is located at sorting platform
Mutually, confirm whether sorting platform matches with current task, then current sorting task is sent to sorting platform；
Brake module (34) is perceived, for occurring urgent system when communication failure between mobile robot and dispatch server
It is dynamic.
7. system according to claim 1, which is characterized in that the multiple movable goods shelf (4) is regularly arranged in storehouse
Library center, the size of each shelf is identical, and cross section is square, and forms the shelf array of multiple lines and multiple rows, and more by every two row
Capable arrangement mode forms a shelf group, and there are a channels wider than the shelf length of side between each shelf group.
8. system according to claim 7, which is characterized in that each movable goods shelf is equipped with short-distance wireless communication mould
Block (41), for being communicated with the mobile robot for running to bottom shelf, in order to which mobile robot confirms the shelf and works as
Preceding task matching.
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