CN110059926A - Sort dispatching method, device, warehousing system and readable storage medium storing program for executing - Google Patents
Sort dispatching method, device, warehousing system and readable storage medium storing program for executing Download PDFInfo
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Abstract
The present invention provides a kind of sorting dispatching methods, device, warehousing system and readable storage medium storing program for executing, the present invention sorts dispatching method, comprise determining that the targeted sites of robot with the presence or absence of idle buffering position, if there is idle buffering position in targeted sites, then dispatch robot is moved to the buffering position, and when determining that at least two of targeted sites sort the target sorting station free time in station, dispatch robot moves to target from buffer displacement and sorts station to complete picking operation, and discharge buffering position, to realize the uninterrupted picking for sorting staff, improve picking efficiency.
Description
Technical field
The invention belongs to field of automation technology, more particularly to a kind of sorting dispatching method, device, warehousing system and can
Read storage medium.
Background technique
The picking of traditional logistics storage sector generallys use artificial progress operation, with the swift and violent hair of robot technology
Exhibition, warehouse logistics robot were widely used in the whole world in recent years, the picking session of operation especially in library, were utilized
Robot, which carries out automation sorting, can be greatly improved sorting efficiency, and crew numbers are greatly decreased.
In the prior art, usually shelf are shouldered sorting work station and rotate shelf, machine in place by robot
Device people, which shoulders shelf and enters sorting from tail portion, to stand in line column, and the first robot for sorting column of standing in line shoulders shelf and is moved to work station sorting
Operation on station sorts other robots in standing in line column and successively moves forward, sorts staff from shelf goods yard and take out commodity,
The robot that fulfils assignment is discharged by man-machine interactive system, after leaving in the robot for sorting station and fulfiling assignment, row
Sort station sorting to stand in line to arrange the first robot and be moved to and continue operation, sort staff and do not move, this mode
" goods to people " mode, under " goods to people " operating mode, the problem of sorting low efficiency of website exists in the prior art.
Summary of the invention
The embodiment of the present invention provides a kind of sorting dispatching method, device, warehousing system and readable storage medium storing program for executing, solves existing
There is the problem of low efficiency is sorted in technology.
The embodiment of the present invention in a first aspect, providing a kind of sorting dispatching method, comprising:
The targeted sites of robot are determined with the presence or absence of idle buffering position, the buffering position is the machine of the targeted sites
The temporary storage region of device people；
If the targeted sites have idle buffering position, dispatches the robot and be moved to the buffering position, and
When determining that target sorts the station free time at least two sorting stations of the targeted sites, dispatches the robot and delay from described
It rushes position and is moved to the target sorting station to complete picking operation, and discharge the buffering position；Alternatively,
If there is no idle buffering positions for the targeted sites of the robot, dispatches the robot and be moved to shared delay
Region is rushed, the shared buffer region is the shared temporary storage region of the robot of multiple websites.
The second aspect of the embodiment of the present invention provides a kind of warehousing system, comprising:
Multiple websites, each website includes at least two sorting stations, wherein being provided at least one by each sorting station
A buffering position, the buffering position are the temporary storage regions of the robot of the website；
At least one shared buffer region, each shared buffer region are shared interim of the robot of the multiple website
Parking area；
At least one robot is used for Transport cargo rack and/or article；
Scheduling system dispatches at least one described robot Transport cargo rack and/or article.
The third aspect of the embodiment of the present invention provides a kind of sorting dispatching device, comprising:
Determining module, for determining that the targeted sites of robot whether there is idle buffering position, the buffering position is institute
State the temporary storage region of the robot of targeted sites；
Scheduler module dispatches the robot and is moved to institute if there is idle buffering position for the targeted sites
Buffering position is stated, and when determining that at least two of the targeted sites sort the target sorting station free time in station, described in scheduling
Robot moves to the target from the buffer displacement and sorts station to complete picking operation, and discharges the buffering position；Alternatively,
The scheduler module, if the targeted sites for being also used to the robot dispatch institute there is no idle buffering position
It states robot and is moved to shared buffer region, the shared buffer region is shared temporary storage area, the robot of multiple websites
Domain.
The fourth aspect of the embodiment of the present invention, provides a kind of computer readable storage medium, described computer-readable to deposit
Computer program is stored on storage media, the computer program realizes sorting dispatching method described above when being executed by processor
The step of.
5th aspect of the embodiment of the present invention, provides a kind of sorting dispatching device, including processor, memory and storage
On the memory and the computer program that can run on the processor, the computer program are held by the processor
The step of sorting dispatching method described above is realized when row.
Sorting dispatching method, device, warehousing system and readable storage medium storing program for executing provided in an embodiment of the present invention, by determining machine
The targeted sites of device people are with the presence or absence of idle buffering position, if targeted sites have idle buffering position, dispatch robot is moved
The buffering position is moved, and when determining that at least two of targeted sites sort the target sorting station free time in station, dispatcher
Device people moves to target from buffer displacement and sorts station to complete picking operation, and discharges buffering position, sorts work people to realize
The uninterrupted picking of member improves picking efficiency.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is a kind of warehousing system architecture diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of step flow chart for sorting dispatching method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram for sorting dispatching device provided by the embodiment of the present invention；
Fig. 4 is the structural schematic diagram that another kind provided by the embodiment of the present invention sorts dispatching device.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
The embodiment of the present invention is introduced in order to clearer, the operating system of foundation of the embodiment of the present invention is carried out first herein
Illustrate, Fig. 1 is a kind of warehousing system architecture diagram provided in an embodiment of the present invention, which includes: multiple websites 101, extremely
A few shared buffer region 105, at least one robot 106 and scheduling system.Wherein, each website 101 includes at least two
A sorting station 102, wherein being provided at least one buffering position by each sorting station 102, buffering position is the machine of website 101
The temporary storage region of people；At least one robot is used for Transport cargo rack and/or article；Scheduling system is for dispatching at least one
Robot Transport cargo rack and/or article.Three websites are shown in Fig. 1, each website is provided with two sorting stations.
Wherein, shared buffer region is the buffer area that all websites are shared in warehousing system, i.e. shared buffer region can
With the robot for caching either site in warehousing system, and each shared buffer region can accommodate at least one robot
Temporary storage.For example, the ground region of warehousing system is divided into multiple cells, shared buffer region can be by one or more
Cell composition.If the targeted sites that a robot is gone to be it is busy, which can be moved to apart from the station
105 temporary storage of shared buffer region of nearest and still available free position is put, to wait the website idle.For example, before robot
The privately owned queue not empty of past next website is not busy, then the system of dispatching can be from the shared buffer region of still available free position at present
A shared buffer region nearest apart from the robot is selected, and the robot is dispatched in the shared buffer region.
It can by the status information in each shared buffer region in storage medium (such as memory) in the warehousing system of storage
To determine whether the shared buffer memory region of still available free position.Scheduling system can be according to the practical occupancy in each shared buffer region
Situation timely updates the status information of storage.
By the way that shared buffer region is arranged, it can effectively solve the problems, such as that queue queue, website robot overflows.This implementation
Shared buffer region in example scattered can be distributed in the more of the working space (such as warehouse, workshop or operating room) of warehousing system
A reachable tree, not only field deployment is implemented simple, and can efficiently use limited working space area.
Scheduling system, which is particularly used in, executes sorting dispatching method provided in an embodiment of the present invention.Scheduling system can be by picking
Selection scheduling device realizes that the sorting dispatching device specifically can be achieved as transfer robot (such as AGV), computer, server (as after
Platform server or cloud server), terminal device (such as mobile phone, plate, laptop), wearable device or portable equipment
Deng.
It should be noted that Regional Representative's shared buffer region that runic black box indicates in Fig. 1, shows in Fig. 1
Four shared buffer regions, runic black rectangle frame indicates a website in Fig. 1, and each website 101 includes at least two sorting
Station 102, a sorting station indicate that the adjacent cell in the right of the sorting station indicates that another is picked with a cell
Select station.
It optionally, is that each website includes two sorting stations, two sorting stations shown in Fig. 1 shown in referring to Fig.1
The two sides of the operating space of 101 staff of website are distributed in, buffering position includes the inlet point 104 and rotary work station of website 101
103, the inlet point 104 of the side of any 106 slave site of robot enters website 101, reaches via corresponding rotary work station 103
Sort station 102, wherein corresponding rotary work station refer to it is adjacent with inlet point 104, and robot pass through the inlet point 104
Reach the rotary work station 103 having to pass through when sorting station 102.
In some embodiments, the ground region of warehousing system is divided into multiple cells, and wherein the size of cell can
With identical, can also be different.As shown in Figure 1, the size of the cell of 103 region of rotary work station of such as website can be big
Cell in 103 region of size namely rotary work station of other cells can be using elongated cell, accordingly even when
It is current will not to influence surrounding machine people when rotary work station 103 rotates for robot.
It should be noted that website can also include two outlets 107, two outlets 107 are located at corresponding sorting
By station, after the completion of picking operation, robot leaves website 101 via outlet 107 from sorting station 102.Under normal circumstances, one
The inlet point of a website rotary work station, sorts station, exports and can only be occupied by the robot that destination is the website, other machines
Device people cannot be in the inlet point of the website, rotary work station, sorting station and outlet temporary storage.Except special circumstances separately provide.
Fig. 1 illustrates only the case where two sorting stations, and each website can also include 4 sorting stations, such as in Fig. 1
In below website 101 left and right sides two sorting stations and corresponding inlet point can also be set again, rotary work station, picked
Select station.At least two sorting stations can be set according to the actual situation, and the embodiment of the present invention is not to the number for sorting station
It is limited.
Fig. 2 is a kind of step flow chart for sorting dispatching method provided in an embodiment of the present invention, and this method is dispatched by sorting
Device executes, which realizes usually in a manner of hardware and/or software.Referring to Figures 1 and 2, this method can
To include:
Step S210, the targeted sites of robot are determined with the presence or absence of idle buffering position, buffering position is targeted sites
The temporary storage region of robot.
It can be determined that by the status information of each website in storage medium (such as memory) in the warehousing system of storage
It is no to there is idle buffering position.For example, the buffering position of website can be managed by scheduling system in warehousing system.Scheduling system
System can be each website distributing buffer position, and lock after having robot to reach the buffering position buffering position and more in systems
The status information of the new buffering position, the state of the buffering position is busy after locking, will no longer dispatch other during locking
Robot comes this buffering position.After robot leaves the buffering position, the buffering position will be discharged in scheduling system and updates this and is delayed
The status information for rushing position, the state of the buffering position is the free time after release, can dispatch other robot at this time and come this buffering position.
Wherein, as shown in Figure 1, inlet point and rotary work station all can serve as to buffer position, can also not have at targeted sites
It is arranged in rotary work station, such as some scenes, shelf do not distinguish working face and other faces, make work without rotating shelf at this time
Facing towards staff, no setting is required under this scene rotary work station.
Step S220, if targeted sites have idle buffering position, dispatch robot is moved to buffering position, and in determination
At least two of targeted sites sort when sorting the station free time with the corresponding target in buffering position in stations, and dispatch robot is from buffering
Position is moved to target and sorts station to complete picking operation, and discharges buffering position.
Alternatively, dispatch robot is moved to shared buffer if the targeted sites of robot are there is no idle buffering position
Region, shared buffer region are the shared temporary storage regions of the robot of multiple websites.
Wherein, two sorting stations can be at least arranged in targeted sites, and by taking Fig. 1 as an example, targeted sites are provided with two and pick
Select station.If targeted sites have idle buffering position, dispatch robot is moved to buffering position, corresponding with the buffering position
When sorting the station free time, robot is dispatched to the sorting station of the free time from idle buffering position, which sorts station and be
Target sorts station.If the targeted sites of robot are there is no idle buffering position, dispatch robot is moved to still available free
With the robot apart from nearest shared buffer region in the shared buffer region of position, shared buffer region is multiple websites
The shared temporary storage region of robot.
It has set, has been also possible to according to warehousing system in advance it should be noted that shared buffer region can be
Working space in the path of robot transported goods in current road conditions and working space etc. come what is be temporarily arranged, avoid
The setting in shared buffer region interferes the normal delivery of robot.Such as one can be arranged near multiple websites and reserve
Region, the reserved area will not influence the movement of robot in working space.
Rotary work station corresponding with inlet point refer to it is adjacent with inlet point, and robot by the inlet point reach sort
The rotary work station passed through when station.
Specifically, target corresponding with buffering position sorts station and refers to and enter if buffering position only includes inlet point
The adjacent sorting station of point.If buffering position includes inlet point and rotary work station, target corresponding with buffering position sorts station and refers to
Be sorting station that robot passes sequentially through that the inlet point, rotary work station can reach.
Wherein, if targeted sites have idle buffering position, dispatch robot is moved to buffering position can be by following
Two ways is realized:
A kind of mode are as follows: robot can in real time or periodically report the position of itself to sorting dispatching device, sort and adjust
Degree device can be moved to targeted sites according to the position of robot and the targeted sites of robot, active schedule robot
Idle buffering position.
Another way are as follows: the idle state that robot can be current according to self-position and targeted sites, to sorting
Dispatching device sends request message, and request is moved to the idle buffering position of targeted sites, and sorting dispatching device can be according to this
The request message that robot is sent determines whether for robot to be dispatched to the buffering position.For example, if having multiple other machines simultaneously
People's request is moved to the idle buffering position of the website, then can be according to the priority of this multiple robot and the buffering position
State (such as remaining carrying capacity), it is determined whether agree to that the robot is moved to the buffering position.
Equally, if the targeted sites of robot are there is no idle buffering position, dispatch robot is moved to shared buffer
Region can also be realized by above two mode: i.e. sorting dispatching device active schedule robot is moved to shared buffer region
Or it sorts the dispatching device solicited message that robot is sent based on the received and determines whether robot being dispatched to shared buffer
Region.
In the present embodiment, by the way that temporary storage region of the buffering position as robot is arranged in targeted sites, target is avoided
The sorting station of website it is occupied when can not dispatch robot the problem of, further, picked by at least two of targeted sites
Station is selected, to realize when the corresponding target in buffering position sorts the station free time, is sorted from least two and selects one in stations
Station is sorted as target and sorts station, and robot is dispatched to target from buffering position and sorts station.Extremely due to targeted sites
It is few there are two sorting station, this sentences targeted sites there are two sorting to be introduced for station, therefore is sorting heavy workload
In the case where, work can be sorted after sorting staff and completing picking operation to the robot for being in a sorting station
Personnel can turn round then to another another robot progress picking operation for sorting station is in, to realize sorting
The uninterrupted picking of staff improves picking efficiency.
Sorting dispatching method provided in this embodiment, by determining the targeted sites of robot with the presence or absence of idle buffering
Position, if targeted sites have idle buffering position, dispatch robot is moved to buffering position, and is determining targeted sites at least
When target sorts the station free time in two sorting stations, dispatch robot moves to target from buffer displacement and sorts station to complete to pick
Selection operation, and discharge buffering position.It solves the problems, such as to sort the limited to vehicle rate of station in the prior art, improves sorting efficiency.
Optionally, if buffering position is an inlet point of targeted sites.
After dispatch robot is moved to buffering position, sorting dispatching method can also include the following steps:
Determine whether rotary work station corresponding with inlet point is idle；If rotary work station is idle, dispatch robot is from entrance
Point is moved to rotary work station, and shelf are rotated at rotary work station.
It should be noted that rotary work station corresponding with inlet point refer to it is adjacent with inlet point, and robot by should
Inlet point reaches the rotary work station having to pass through when sorting station.
After dispatch robot is moved to rotary work station from the inlet point, it can then be dispatched when target sorts the station free time
Robot is moved to target from rotary work station and sorts station.
Optionally, if buffering position is the rotary work station of targeted sites.
Dispatch robot is moved to buffering position, may include steps of:
Dispatch robot is moved to rotary work station via inlet point corresponding with rotary work station, and rotates at rotary work station
Shelf.
It should be noted that inlet point corresponding with rotary work station refers to adjacent with the rotary work station, and robot is logical
It crosses the rotary work station and reaches the inlet point passed through when sorting station.
Optionally, after dispatch robot is moved to rotary work station, method can also include the following steps:
It dispatches another robot and is moved to inlet point corresponding with rotary work station.
Robot is moved to after rotary work station, and inlet point release corresponding with the rotary work station can then dispatch another
Robot is moved to inlet point corresponding with the rotary work station.After rotary work station release, and another robot can be dispatched
It is moved to the rotary work station from the inlet point, and then can be by another machine in the rotary work station corresponding sorting station free time
Device people is dispatched to the sorting station from the rotary work station, to realize that robot is continuously dispatched, referring to Fig.1, such as is sorting work
When making robot progress picking of the personnel to 101 left side of website, another robot is moved to inlet point 104.
It should be noted that as shown in Figure 1, the robot dispatching method and process and left side robot on 101 right side of website
It is identical, after the completion of sorting staff sorts left side robot, sorts staff and turn to right side, right side is sorted
The robot of station carries out picking.At the same time, another robot of left side buffering position (such as rotary work station or inlet point)
It is moved to the sorting station in left side.After the robotic pick of right side, then sorting staff can be to left side in sorting
The robot of station carries out picking and substantially increases picking efficiency to realize uninterrupted picking.
Optionally, after the shelf and/or article carried to robot complete picking operation, prompt information is exported, with
Prompt the staff of targeted sites to the shelf and/or object carried on another sorting station of targeted sites by another robot
Product execute picking operation.
Wherein it is possible to show the prompt informations such as text, voice prompting, lamplight pointing by display screen.Prompt information can be with
The picking operation of the sorting station is prompted to be completed.The staff of website can turn to the other side after receiving the prompt information
Sorting station carry out picking operation.
Optionally, after dispatch robot is moved to shared buffer region, method can also include:
If monitoring there is idle buffering position in targeted sites, and dispatch robot is moved to buffering position, and is determining mesh
At least two of labeling station point sort when sorting the station free time with the corresponding target in buffering position in stations, and dispatch robot is from buffering position
It is moved to target and sorts station to complete picking operation, and discharge buffering position.
It should be noted that idle buffering position is not present in the targeted sites in robot, first robot can be dispatched
To shared buffer region, also as robot be provided with two-stage buffer area, two-stage buffer area include shared buffer region and
The buffering position of targeted sites, thus when targeted sites being avoided to be in busy working condition can not dispatch robot the case where, realize
When the buffering position of targeted sites is busy, wait the buffering position of targeted sites idle in robot scheduling shared buffer region.Into
And when determining that at least two of targeted sites sort the target sorting station free time corresponding with buffering position in station, dispatch machine
People moves to target from buffer displacement and sorts station to complete picking operation, and discharges buffering position.
Fig. 3 is a kind of structural schematic diagram for sorting dispatching device, the device of the present embodiment provided by the embodiment of the present invention
The case where sorting scheduling is carried out for robot suitable at least providing two sorting stations.The device is often with hardware and/or software
Mode realize.Referring to Fig. 3, which includes following module: determining module 310 and scheduler module 320.
Determining module 310 is used to determine the targeted sites of robot with the presence or absence of idle buffering position, and buffering position is target
The temporary storage region of the robot of website；If there is idle buffering position, dispatcher for targeted sites in scheduler module 320
Device people is moved to buffering position, and when determining that at least two of targeted sites sort the target sorting station free time in station, scheduling
Robot moves to target from buffer displacement and sorts station to complete picking operation, and discharges buffering position；Alternatively, scheduler module 320
If being also used to the targeted sites of robot there is no idle buffering position, dispatch robot is moved to shared buffer region, altogether
Enjoy the temporary storage region that the robot that buffer area is multiple websites is shared.
Sorting dispatching device provided in this embodiment, by determining the targeted sites of robot with the presence or absence of idle buffering
Position, if targeted sites have idle buffering position, dispatch robot is moved to buffering position, and is determining targeted sites at least
When target sorts the station free time in two sorting stations, dispatch robot moves to target from buffer displacement and sorts station to complete to pick
Selection operation, and buffering position is discharged, to realize the uninterrupted picking for sorting staff, improve picking efficiency.
Further, buffering position is an inlet point of targeted sites.
After dispatch robot is moved to buffering position, determining module 310 is also used to determine rotation corresponding with inlet point
Whether station is idle；If rotary work station is idle, scheduler module 320 is also used to dispatch robot and is moved to rotation work from inlet point
Position, and shelf are rotated at rotary work station.
Scheduler module 320 is specifically used for dispatch robot and is moved to target sorting station from rotary work station.
Optionally, buffering position is the rotary work station of targeted sites.
Scheduler module 320 is specifically used for dispatch robot and is moved to rotation work via inlet point corresponding with rotary work station
Position, and shelf are rotated at rotary work station.
Optionally, after dispatch robot is moved to rotary work station, scheduler module 320 is also used to dispatch another robot
It is moved to inlet point corresponding with rotary work station.
Optionally, which can also include output module, and output module is used to carry robot
After shelf and/or article complete picking operation, prompt information is exported, to prompt the staff of targeted sites to targeted sites
Another sorting station on the shelf carried by another robot and/or article execute picking operation.For example, output module can be with
For at least one of display screen, loudspeaker and light transmitting module.
Optionally, after dispatch robot is moved to shared buffer region, if monitoring there is the free time in targeted sites
Position is buffered, scheduler module 320 is also used to, and dispatch robot is moved to buffering position, and is determining that at least two of targeted sites pick
When selecting the target sorting station free time corresponding with buffering position in station, dispatch robot moves to target from buffer displacement and sorts station
To complete picking operation, and discharge buffering position.
In addition, the embodiment of the present invention also provides a kind of sorting dispatching device, as shown in figure 4, Fig. 4 is institute of the embodiment of the present invention
Another structural schematic diagram for sorting dispatching device of offer.The sorting dispatching device 400 includes processor 410, memory 420
And it is stored in the computer program that can be run on memory 420 and on the processor 410, the computer program is by processor
410 realize each process of the sorting dispatching method embodiment of above-described embodiment when executing, and can reach identical technical effect,
To avoid repeating, which is not described herein again.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the computer program realize each process of above-mentioned sorting dispatching method embodiment when being executed by processor, and
Identical technical effect can be reached, to avoid repeating, which is not described herein again.Wherein, the computer readable storage medium, can
Think read-only memory (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory,
Abbreviation RAM), magnetic or disk etc..
The embodiment of the invention also provides a kind of computer program, which can store beyond the clouds or local
On storage medium.It is dispatched when the computer program is run by computer or processor for executing the sorting of the embodiment of the present invention
The corresponding steps of method, and for realizing the corresponding module in sorting dispatching device according to an embodiment of the present invention.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (12)
1. a kind of sorting dispatching method characterized by comprising
The targeted sites of robot are determined with the presence or absence of idle buffering position, the buffering position is the robot of the targeted sites
Temporary storage region；
If the targeted sites have idle buffering position, dispatches the robot and be moved to the buffering position, and in determination
When at least two of the targeted sites sort the target sorting station free time in station, the robot is dispatched from the buffering position
It is moved to the target and sorts station to complete picking operation, and discharge the buffering position；Alternatively,
If the targeted sites of the robot dispatch the robot and are moved to shared buffer there is no idle buffering position
Domain, the shared buffer region are the shared temporary storage regions of the robot of multiple websites.
2. the method according to claim 1, wherein the buffering position is an entrance of the targeted sites
Point,
After the scheduling robot is moved to the buffering position, the method also includes:
Determine whether rotary work station corresponding with the inlet point is idle；
If the rotary work station is idle, the robot is dispatched from the inlet point and is moved to the rotary work station, and in institute
State rotation shelf at rotary work station；
The scheduling robot, which is moved from the buffer displacement to the target, sorts station to complete picking operation, comprising:
It dispatches the robot and is moved to the target sorting station from the rotary work station.
3. the method according to claim 1, wherein it is described buffering position be the targeted sites rotary work station,
The scheduling robot is moved to the buffering position, comprising:
It dispatches the robot and is moved to the rotary work station via inlet point corresponding with the rotary work station, and in the rotation
Shelf are rotated at switching stations.
4. according to the method in claim 2 or 3, which is characterized in that dispatch the robot be moved to rotary work station it
Afterwards, the method also includes:
It dispatches another robot and is moved to inlet point corresponding with the rotary work station.
5. the method according to claim 1, wherein complete in the shelf and/or article carried to the robot
After picking operation, prompt information is exported, to prompt the staff of the targeted sites to the another of the targeted sites
It sorts the shelf carried on station by another robot and/or article executes picking operation.
6. the method according to claim 1, wherein being moved to the shared buffer dispatching the robot
After domain, the method also includes:
If monitoring there is idle buffering position in the targeted sites, dispatches the robot and is moved to the buffering position, and
When determining that at least two of the targeted sites sort the target sorting station free time corresponding with the buffering position in station, adjust
It spends the robot to move to target sorting station from the buffer displacement to complete picking operation, and discharges the buffering
Position.
7. a kind of warehousing system characterized by comprising
Multiple websites, each website includes at least two sorting stations, wherein it is slow to be provided at least one by each sorting station
Position is rushed, the buffering position is the temporary storage region of the robot of the website；
At least one shared buffer region, each shared buffer region are the shared temporary storages of the robot of the multiple website
Region；
At least one robot is used for Transport cargo rack and/or article；
Scheduling system dispatches at least one described robot Transport cargo rack and/or article.
8. system according to claim 7, which is characterized in that each website includes two sorting stations, described two to pick
Station is selected to be distributed in the two sides of the operating space of the site works personnel, the buffering position includes inlet point and the rotation of the website
Switching stations, any robot enter the website from the inlet point of the side of the website, reach via corresponding rotary work station
Sort station.
9. system according to claim 7 or 8, feature is as, the scheduling system according to claim 1 to appointing in 6
Method described in one dispatches at least one described robot.
10. a kind of sorting dispatching device characterized by comprising
Determining module, for determining that the targeted sites of robot whether there is idle buffering position, the buffering position is the mesh
The temporary storage region of the robot of labeling station point；
Scheduler module dispatches the robot and is moved to described delay if there is idle buffering position for the targeted sites
Position is rushed, and when determining that at least two of the targeted sites sort the target sorting station free time in station, dispatches the machine
People moves to the target from the buffer displacement and sorts station to complete picking operation, and discharges the buffering position；Alternatively,
The scheduler module, if the targeted sites for being also used to the robot dispatch the machine there is no idle buffering position
Device people is moved to shared buffer region, and the shared buffer region is the shared temporary storage region of the robot of multiple websites.
11. a kind of computer readable storage medium, which is characterized in that store computer journey on the computer readable storage medium
Sequence is realized when the computer program is executed by processor such as sorting dispatching method described in any one of claims 1 to 6
Step.
12. a kind of sorting dispatching device, which is characterized in that including processor, memory and be stored on the memory and can
The computer program run on the processor realizes such as claim when the computer program is executed by the processor
Described in any one of 1 to 6 the step of sorting dispatching method.
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| CN201910199760.2A CN110059926B (en) | 2019-03-15 | 2019-03-15 | Sorting scheduling method and device, warehousing system and readable storage medium |
| JP2019165858A JP6924804B2 (en) | 2019-03-15 | 2019-09-12 | Picking scheduling method, equipment, storage system and readable storage medium |
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| CN201910199760.2A CN110059926B (en) | 2019-03-15 | 2019-03-15 | Sorting scheduling method and device, warehousing system and readable storage medium |
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Also Published As
| Publication number | Publication date |
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| CN110059926B (en) | 2021-12-24 |
| JP2020147444A (en) | 2020-09-17 |
| JP6924804B2 (en) | 2021-08-25 |
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