CN110059926B - Sorting scheduling method and device, warehousing system and readable storage medium - Google Patents
Sorting scheduling method and device, warehousing system and readable storage medium Download PDFInfo
- Publication number
- CN110059926B CN110059926B CN201910199760.2A CN201910199760A CN110059926B CN 110059926 B CN110059926 B CN 110059926B CN 201910199760 A CN201910199760 A CN 201910199760A CN 110059926 B CN110059926 B CN 110059926B
- Authority
- CN
- China
- Prior art keywords
- station
- robot
- picking
- target
- scheduling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Abstract
The invention provides a sorting scheduling method, a device, a warehousing system and a readable storage medium, wherein the sorting scheduling method comprises the following steps: determining whether a target station of the robot has an idle buffer position, if so, scheduling the robot to move to the buffer position, and when determining that a target picking station in at least two picking stations of the target station is idle, scheduling the robot to move to the target picking station from the buffer position to complete picking operation and release the buffer position, thereby realizing uninterrupted picking operation of picking workers and improving the picking operation efficiency.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a sorting scheduling method, a sorting scheduling device, a warehousing system and a readable storage medium.
Background
The picking operation of the traditional logistics storage industry generally adopts manual operation, along with the rapid development of robot technology, the storage logistics robot is widely applied globally in recent years, particularly in the picking link of the operation in a warehouse, the picking efficiency can be greatly improved by utilizing the robot to carry out automatic picking, and the number of workers is greatly reduced.
In the prior art, generally, a robot carries a goods shelf to a picking work station and rotates the goods shelf at a proper position, the robot carries the goods shelf to enter a picking station queue from the tail part, the first robot of the picking station queue carries the goods shelf to move to a work station picking station for operation, other robots in the picking station queue move forward in sequence, a picking worker takes out goods from the goods shelf position, the robot completing the operation is released through a man-machine interaction system, after the robot at the picking station and completing the operation leaves, the robot arranged at the head of the picking station queue moves to the picking station for continuous operation, and the picking worker does not move.
Disclosure of Invention
The embodiment of the invention provides a sorting scheduling method, a sorting scheduling device, a warehousing system and a readable storage medium, and solves the problem of low sorting efficiency in the prior art.
In a first aspect of the embodiments of the present invention, a method for sorting scheduling is provided, including:
determining whether a target station of a robot has an idle buffer bit, wherein the buffer bit is a temporary parking area of the robot of the target station;
if the target station has an idle buffer position, the robot is scheduled to move to the buffer position, and when the idle target picking station in at least two picking stations of the target station is determined, the robot is scheduled to move from the buffer position to the target picking station to complete the picking operation, and the buffer position is released; alternatively, the first and second electrodes may be,
and if the target station of the robot does not have an idle buffer bit, scheduling the robot to move to a shared buffer area, wherein the shared buffer area is a temporary parking area shared by the robots of the stations.
In a second aspect of the embodiments of the present invention, there is provided a warehousing system including:
the system comprises a plurality of stations, each station comprises at least two picking stations, wherein at least one buffer position is arranged beside each picking station, and the buffer position is a temporary parking area of a robot of the station;
at least one shared buffer area, each shared buffer area being a temporary parking area shared by robots of the plurality of stations;
at least one robot for handling racks and/or items;
a scheduling system to schedule the at least one robot to handle the racks and/or items.
In a third aspect of the embodiments of the present invention, there is provided a sorting scheduling apparatus, including:
the system comprises a determining module, a storage module and a control module, wherein the determining module is used for determining whether an idle buffer bit exists in a target station of the robot, and the buffer bit is a temporary parking area of the robot of the target station;
the scheduling module is used for scheduling the robot to move to the buffer position if the target station has an idle buffer position, and when the idle target picking station in at least two picking stations of the target station is determined, scheduling the robot to move from the buffer position to the target picking station to complete the picking operation and release the buffer position; alternatively, the first and second electrodes may be,
the scheduling module is further configured to schedule the robot to move to a shared buffer area if the target station of the robot does not have an idle buffer bit, where the shared buffer area is a temporary parking area shared by robots of multiple stations.
In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of the picking scheduling method described above.
In a fifth aspect of the embodiments of the present invention, there is provided a picking scheduling apparatus, including a processor, a memory, and a computer program stored on the memory and operable on the processor, where the computer program, when executed by the processor, implements the steps of the picking scheduling method described above.
According to the picking scheduling method, the picking scheduling device, the warehousing system and the readable storage medium provided by the embodiment of the invention, whether the target station of the robot has a free buffer position or not is determined, if the target station has the free buffer position, the robot is scheduled to move to the buffer position, and when the target picking station in at least two picking stations of the target station is determined to be free, the robot is scheduled to move to the target picking station from the buffer position to complete the picking operation, and the buffer position is released, so that the uninterrupted picking operation of picking workers is realized, and the picking operation efficiency is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a diagram illustrating a storage system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of a method for dispatch scheduling according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a picking scheduling apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another picking scheduling apparatus according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
To more clearly describe the embodiment of the present invention, the operating system according to the embodiment of the present invention is first described, and fig. 1 is a schematic diagram of a warehousing system according to an embodiment of the present invention, the warehousing system including: a plurality of stations 101, at least one shared buffer area 105, at least one robot 106, and a scheduling system. Each station 101 comprises at least two picking stations 102, wherein at least one buffer position is arranged beside each picking station 102, and the buffer position is a temporary parking area of the robot of the station 101; at least one robot for handling racks and/or items; the scheduling system is for scheduling at least one robot for handling racks and/or items. Three stations are shown in fig. 1, each station being provided with two picking stations.
The shared buffer area is a buffer area shared by all stations in the warehousing system, namely the shared buffer area can be used for buffering robots of any station in the warehousing system, and each shared buffer area can accommodate at least one robot to be temporarily parked. For example, the ground area of the warehousing system is divided into a plurality of cells, and the shared buffer area may be composed of one or more cells. If a target station for a robot is not idle, the robot may move to the shared buffer area 105 nearest to the station and having an idle position for temporary parking to wait for the station to be idle. For example, if the private queue of the next station to which the robot goes is not free, the scheduling system may select one shared buffer area closest to the robot from the shared buffer areas that have free positions at present, and schedule the robot into the shared buffer area.
Whether the shared buffer area with the free position exists can be determined through the state information of each shared buffer area in the warehousing system stored in the storage medium (such as a memory). The scheduling system can update the stored state information in time according to the actual occupation condition of each shared buffer area.
By setting the shared buffer area, the problem that the queue of the station robot overflows can be effectively solved. The shared buffer areas in this embodiment may be distributed in a plurality of reachable spaces of the working space (e.g., warehouse, workshop, or working room) of the warehousing system, so that not only is the field deployment simple to implement, but also the limited working space area can be effectively utilized.
The scheduling system may be specifically configured to execute the picking scheduling method provided in the embodiment of the present invention. The scheduling system can be implemented by a picking scheduling device, and the picking scheduling device can be specifically implemented as a transfer robot (such as an AGV), a computer, a server (such as a backend server or a cloud server), a terminal device (such as a mobile phone, a tablet, a notebook computer), a wearable device or a portable device, and the like.
It should be noted that the areas indicated by the bold black boxes in fig. 1 represent shared buffer areas, four shared buffer areas are shown in fig. 1, the bold black rectangular boxes in fig. 1 represent a station, each station 101 includes at least two picking stations 102, one picking station is indicated by one cell, and the cell adjacent to the right of the picking station represents another picking station.
Alternatively, referring to fig. 1, each station is shown in fig. 1 to include two picking stations distributed on both sides of the station 101 operator's operating area, and the buffer location includes an entry point 104 and a rotation station 103 of the station 101, and any robot 106 enters the station 101 from the entry point 104 on one side of the station and reaches the picking station 102 via the corresponding rotation station 103, wherein the corresponding rotation station refers to the rotation station 103 adjacent to the entry point 104 and through which the robot must pass when reaching the picking station 102 through the entry point 104.
In some embodiments, the floor area of the warehousing system is divided into a plurality of cells, wherein the cells may be the same size or different sizes. As shown in fig. 1, for example, the size of the cell in the area where the rotation station 103 of the station is located may be larger than the size of the other cells, that is, the cell in the area where the rotation station 103 is located may be a variable-length cell, so that even when the robot rotates at the rotation station 103, the robot does not affect the passing of the surrounding robot.
It should be noted that the station may further include two outlets 107, the two outlets 107 are located beside the corresponding picking stations, and after the picking operation is completed, the robot leaves the station 101 from the picking station 102 through the outlet 107. Normally, the entry point, the rotation station, the picking station and the exit of one station can only be occupied by the robot with the destination of the station, and other robots cannot be temporarily parked at the entry point, the rotation station, the picking station and the exit of the station. Unless otherwise specified.
Fig. 1 shows only two picking stations, each station may also include 4 picking stations, for example, in fig. 1, two picking stations and corresponding entry points, rotation stations and picking stations may be disposed below and on the left and right sides of the station 101. At least two picking stations can be set according to actual conditions, and the number of the picking stations is not limited by the embodiment of the invention.
Fig. 2 is a flowchart of steps of a picking scheduling method according to an embodiment of the present invention, where the method is performed by a picking scheduling apparatus, and the picking scheduling apparatus is typically implemented in hardware and/or software. Referring to fig. 1 and 2, the method may include:
step S210, determining whether a target station of the robot has a free buffer bit, where the buffer bit is a temporary parking area of the robot at the target station.
Whether there are free buffer bits can be determined by the state information of the various stations in the warehousing system stored in the storage medium (e.g., memory). For example, buffer slots for stations in a warehousing system may be managed by a scheduling system. The scheduling system may allocate a buffer bit for each station and lock the buffer bit and update the state information of the buffer bit in the system after the robot arrives at the buffer bit, the state of the buffer bit after locking is not idle, and no other robot will be scheduled to this buffer bit during the locking period. When the robot leaves the buffer bit, the dispatching system releases the buffer bit and updates the state information of the buffer bit, and the state of the buffer bit is idle after the release, so that other robots can be dispatched to the buffer bit.
As shown in fig. 1, both the entry point and the rotation station may be used as buffer positions, and the rotation station may not be set at the target station, for example, in some scenarios, the shelf does not distinguish between the working surface and other surfaces, and at this time, the shelf does not need to be rotated so that the working surface faces the worker, and the rotation station does not need to be set in this scenario.
Step S220, if the target station has an idle buffer position, the scheduling robot moves to the buffer position, and when the target picking station corresponding to the buffer position in at least two picking stations of the target station is determined to be idle, the scheduling robot moves to the target picking station from the buffer position to complete the picking operation, and the buffer position is released.
Or, if the target station of the robot does not have a free buffer bit, the robot is scheduled to move to a shared buffer area, and the shared buffer area is a temporary parking area shared by the robots of the plurality of stations.
The target station may be provided with at least two picking stations, and taking fig. 1 as an example, the target station is provided with two picking stations. And if the target station has an idle buffer position, the scheduling robot moves to the buffer position, and when the picking station corresponding to the buffer position is idle, the scheduling robot schedules the idle buffer position to the idle picking station, wherein the idle picking station is the target picking station. And if the target station of the robot does not have an idle buffer position, the robot is scheduled to move to a shared buffer area which is closest to the robot in the shared buffer area with the idle position, and the shared buffer area is a temporary parking area shared by the robots of the plurality of stations.
It should be noted that the shared buffer area may be preset, or may be temporarily set according to the current road condition in the working space of the warehousing system and the path of the robot carrying the goods in the working space, so as to avoid the interference caused by the setting of the shared buffer area to the normal carrying of the robot. For example, a reserved area may be provided near a plurality of stations, which reserved area does not affect the movement of the robot in the workspace.
The rotation station corresponding to the entry point refers to the rotation station that is adjacent to the entry point and through which the robot passes when reaching the picking station.
Specifically, if the buffer bit includes only an entry point, the target picking station corresponding to the buffer bit refers to a picking station adjacent to the entry point. If the buffer position includes an entry point and a rotation station, the target picking station corresponding to the buffer position refers to a picking station that the robot can reach through the entry point and the rotation station in sequence.
If the target station has an idle buffer bit, the scheduling robot moves to the buffer bit in the following two ways:
one way is as follows: the robot can report the position of the robot to the picking scheduling device in real time or periodically, and the picking scheduling device can actively schedule the robot to move to an idle buffer position of a target station according to the position of the robot and the target station of the robot.
The other mode is as follows: the robot may send a request message to the picking scheduling device according to its own position and the current idle state of the target station, requesting to move to an idle buffer bit of the target station, and the picking scheduling device may determine whether to schedule the robot to the buffer bit according to the request message sent by the robot. For example, if there are multiple other robots simultaneously requesting to move to a free buffer bit at the site, it may be determined whether to grant the robot to move to the buffer bit based on the priorities of the multiple robots and the state (e.g., remaining capacity) of the buffer bit.
Similarly, if there is no free buffer bit at the target station of the robot, the scheduling robot to move to the shared buffer area may be implemented by the two methods: namely, the picking scheduling device actively schedules the robot to move to the shared buffer area or determines whether to schedule the robot to the shared buffer area according to the received request information sent by the robot.
In this embodiment, by setting the buffer position as the temporary parking area of the robot at the target station, the problem that the robot cannot be scheduled when the picking station of the target station is occupied is avoided, and further, by at least two picking stations of the target station, when the target picking station corresponding to the buffer position is idle, one picking station is selected from the at least two picking stations as the target picking station, and the robot is scheduled to the target picking station from the buffer position. Because the target station has at least two picking stations, the target station has two picking stations as an example for description, under the condition of large picking workload, after a picking worker completes picking operation on a robot at one picking station, the picking worker can go around and then pick another robot at another picking station, thereby realizing uninterrupted picking operation of the picking worker and improving the picking operation efficiency.
In the picking scheduling method provided in this embodiment, whether a target station of the robot has an idle buffer bit is determined, if the target station has the idle buffer bit, the robot is scheduled to move to the buffer bit, and when it is determined that a target picking station of at least two picking stations of the target station is idle, the robot is scheduled to move from the buffer bit to the target picking station to complete a picking operation, and the buffer bit is released. The problem of the limited rate of arriving at the sorting station among the prior art is solved, select efficiency has been improved.
Optionally, if the buffer bit is an entry point of the destination station.
After the scheduling robot moves to the buffer bit, the pick scheduling method may further include the steps of:
determining whether a rotational station corresponding to the entry point is idle; if the rotary station is idle, the scheduling robot moves from the entry point to the rotary station and rotates the shelf at the rotary station.
It should be noted that the rotation station corresponding to the entry point refers to a rotation station that is adjacent to the entry point and that the robot must pass when reaching the picking station through the entry point.
After the robot is scheduled to move from the entry point to the rotation station, the robot may then be scheduled to move from the rotation station to the target picking station when the target picking station is idle.
Optionally, if the buffer position is a rotation position of the target station.
Scheduling the robot to move to the buffer bit may include the steps of:
the dispatch robot moves to the rotation station via an entry point corresponding to the rotation station and rotates the rack at the rotation station.
It should be noted that the entry point corresponding to the rotation station refers to the entry point adjacent to the rotation station and through which the robot passes to reach the picking station.
Optionally, after the robot is scheduled to move to the rotation station, the method may further include the following steps:
another robot is scheduled to move to an entry point corresponding to the rotation station.
After the robot moves to the rotation station, the entry point corresponding to the rotation station is released, and then another robot can be scheduled to move to the entry point corresponding to the rotation station. After the rotating station is released, another robot may be scheduled to move from the entry point to the rotating station, and further, when the picking station corresponding to the rotating station is idle, the another robot may be scheduled from the rotating station to the picking station, so as to implement continuous robot scheduling, referring to fig. 1, for example, when a picking worker performs a picking operation on a robot on the left side of the station 101, the another robot is moved to the entry point 104.
It should be noted that, as shown in fig. 1, the robot scheduling method and process on the right side of the station 101 are the same as those of the left-side robot, and after the picking worker finishes picking the left-side robot, the picking worker turns to the right side to perform picking operation on the robot on the right-side picking station. At the same time, another robot at the left buffer position (e.g., a rotation station or entry point) moves to the left picking station. After the right side robot is selected and finishes, then select the staff and can select the operation to the left robot that is in to select the station to realize incessant operation of selecting, improved greatly and selected the operating efficiency.
Optionally, after the picking operation is completed on the shelves and/or the articles carried by the robot, prompt information is output to prompt the staff of the target station to perform the picking operation on the shelves and/or the articles carried by another robot on another picking station of the target station.
Wherein, the prompt information such as characters, voice prompt, light indication and the like can be displayed through the display screen. The prompt may prompt that the picking operation at the picking station is complete. After receiving the prompt information, the staff at the station can turn to the picking station at the other side to carry out picking operation.
Optionally, after the scheduling robot moves to the shared buffer area, the method may further include:
and if the target station is monitored to have an idle buffer position, the scheduling robot moves to the buffer position, and when the target picking station corresponding to the buffer position in at least two picking stations of the target station is determined to be idle, the scheduling robot moves to the target picking station from the buffer position to complete the picking operation, and the buffer position is released.
It should be noted that, no idle buffer bit exists at the target station of the robot, the robot may be scheduled to the shared buffer area first, that is, a two-stage buffer area is set for the robot, and the two-stage buffer area includes the shared buffer area and the buffer bit of the target station, so as to avoid the situation that the robot cannot be scheduled when the target station is in a busy working state, and implement that the robot is scheduled to the shared buffer area to wait for the buffer bit of the target station to be idle when the buffer bit of the target station is busy. And then when determining that a target picking station corresponding to the buffer position in at least two picking stations of the target station is idle, the scheduling robot moves to the target picking station from the buffer position to complete the picking operation, and releases the buffer position.
Fig. 3 is a schematic structural diagram of a picking scheduling apparatus according to an embodiment of the present invention, where the apparatus of this embodiment is suitable for a case where at least two picking stations are provided for a robot to perform picking scheduling. The apparatus is often implemented in hardware and/or software. Referring to fig. 3, the pick scheduling apparatus includes the following modules: a determination module 310 and a scheduling module 320.
The determining module 310 is configured to determine whether a target station of the robot has a free buffer bit, where the buffer bit is a temporary parking area of the robot at the target station; the scheduling module 320 is configured to, if an idle buffer bit exists in the target station, schedule the robot to move to the buffer bit, and when it is determined that a target picking station of at least two picking stations of the target station is idle, schedule the robot to move from the buffer bit to the target picking station to complete a picking operation, and release the buffer bit; or, the scheduling module 320 is further configured to, if there is no free buffer bit at the target station of the robot, schedule the robot to move to a shared buffer area, where the shared buffer area is a temporary parking area shared by robots of multiple stations.
The picking scheduling device provided in this embodiment determines whether a target station of the robot has an idle buffer position, and if the target station has the idle buffer position, the robot is scheduled to move to the buffer position, and when it is determined that a target picking station of at least two picking stations of the target station is idle, the robot is scheduled to move from the buffer position to the target picking station to complete a picking operation, and the buffer position is released, so that an uninterrupted picking operation of a picking worker is realized, and the picking operation efficiency is improved.
Further, the buffer bit is an entry point of the destination station.
After the scheduling robot moves to the buffer location, the determining module 310 is further configured to determine whether a rotation station corresponding to the entry point is idle; the scheduling module 320 is also used to schedule the robot to move from the entry point to the rotation station if the rotation station is idle, and to rotate the rack at the rotation station.
The scheduling module 320 is specifically configured to schedule the robot to move from the rotation station to the target picking station.
Optionally, the buffer position is a rotation station of the target station.
The scheduling module 320 is specifically configured to schedule the robot to move to a rotation station via an entry point corresponding to the rotation station and rotate the rack at the rotation station.
Optionally, after the robot is scheduled to move to the rotation station, the scheduling module 320 is further configured to schedule another robot to move to the entry point corresponding to the rotation station.
Optionally, the picking scheduling device may further include an output module, and the output module is configured to output prompt information after the picking operation is completed on the rack and/or the item carried by the robot, so as to prompt the staff at the target station to perform the picking operation on the rack and/or the item carried by another robot at another picking station at the target station. For example, the output module may be at least one of a display screen, a speaker, and a light emitting module.
Optionally, after the scheduling robot moves to the shared buffer area, if it is monitored that the target station has an idle buffer position, the scheduling module 320 is further configured to move the scheduling robot to the buffer position, and when it is determined that a target picking station corresponding to the buffer position in the at least two picking stations of the target station is idle, the scheduling robot moves from the buffer position to the target picking station to complete the picking operation, and releases the buffer position.
In addition, an embodiment of the present invention further provides a picking scheduling device, as shown in fig. 4, fig. 4 is a schematic structural diagram of another picking scheduling device provided in the embodiment of the present invention. The picking scheduling device 400 includes a processor 410, a memory 420 and a computer program stored in the memory 420 and capable of running on the processor 410, wherein the computer program, when executed by the processor 410, implements the processes of the picking scheduling method embodiments of the embodiments described above, and can achieve the same technical effects, and for avoiding repetition, the details are not repeated here.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned picking scheduling method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
The embodiment of the invention also provides a computer program, and the computer program can be stored on a cloud or a local storage medium. When being executed by a computer or a processor, for performing the corresponding steps of the pick scheduling method according to an embodiment of the present invention, and for implementing the corresponding modules in the pick scheduling apparatus according to an embodiment of the present invention.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A pick scheduling method, comprising:
determining whether a target station of a robot has an idle buffer bit, wherein the buffer bit is a temporary parking area of the robot of the target station;
if the target station has an idle buffer position, the robot is scheduled to move to the buffer position, and when the idle target picking station in at least two picking stations of the target station is determined, the robot is scheduled to move from the buffer position to the target picking station to complete the picking operation, and the buffer position is released;
if the target station of the robot does not have an idle buffer bit, scheduling the robot to move to a shared buffer area, wherein the shared buffer area is a temporary parking area shared by the robots of a plurality of stations;
wherein the buffer position is an entry point of the target station or an entry point of the target station and a rotation station of the target station, the idle buffer position is an entry point of the target station or a rotation station of the target station, and in the case that the idle buffer position is a rotation station of the target station, the scheduling the robot to move to the buffer position includes:
scheduling the robot to move to the rotation station via an entry point corresponding to the rotation station and rotating a rack carried by the robot at the rotation station;
the rotation station is adjacent to the picking station;
the robot passes through the rotation station as it moves from the entry point to a picking station, the entry point being adjacent the rotation station.
2. The method of claim 1, wherein in the case where the buffer bit is an entry point of the target station,
after the scheduling the robot to move to the buffer bit, the method further comprises:
determining whether a rotary station corresponding to the entry point is idle;
if the rotating station is idle, scheduling the robot to move from the entry point to the rotating station and rotating a shelf at the rotating station;
the scheduling the robot to move from the buffer location to the target picking station to complete a picking operation, comprising:
scheduling the robot to move from the rotation station to the target picking station.
3. The method of claim 2, wherein after scheduling the robot to move to a rotation station, the method further comprises:
another robot is scheduled to move to an entry point corresponding to the rotational station.
4. The method of claim 1, wherein after completion of a picking operation on a rack and/or item handled by the robot, outputting a prompt to prompt a worker at the target site to perform a picking operation on a rack and/or item handled by another robot at another picking station at the target site.
5. The method of claim 1, wherein after scheduling the robot to move to the shared buffer area, the method further comprises:
and if the target station is monitored to have an idle buffer position, scheduling the robot to move to the buffer position, and when the idle target picking station corresponding to the buffer position in at least two picking stations of the target station is determined, scheduling the robot to move from the buffer position to the target picking station to finish picking operation and releasing the buffer position.
6. A warehousing system, comprising:
the system comprises a plurality of stations, each station comprises at least two picking stations, wherein at least one buffer position is arranged beside each picking station, and the buffer position is a temporary parking area of a robot of the station;
at least one shared buffer area, each shared buffer area being a temporary parking area shared by robots of the plurality of stations;
at least one robot for handling racks and/or items;
scheduling system for scheduling the at least one robot handling racks and/or items according to the method of any of claims 1 to 5,
wherein the buffer position is an entry point of the target station or an entry point of the target station and a rotation station of the target station, the idle buffer position is an entry point of the target station or a rotation station of the target station, and in the case that the idle buffer position is a rotation station of the target station, the scheduling the robot to move to the buffer position includes:
scheduling the robot to move to the rotation station via an entry point corresponding to the rotation station and rotating a rack carried by the robot at the rotation station;
the rotation station is adjacent to the picking station;
the robot passes through the rotation station as it moves from the entry point to a picking station, the entry point being adjacent the rotation station.
7. The system of claim 6, wherein each station includes two picking stations distributed on either side of the station staff's operating area, the buffer station includes an entry point for the station and a rotation station, and any robot enters the station from an entry point on one side of the station to reach a picking station via a corresponding rotation station.
8. A pick scheduling apparatus, comprising:
the system comprises a determining module, a storage module and a control module, wherein the determining module is used for determining whether an idle buffer bit exists in a target station of the robot, and the buffer bit is a temporary parking area of the robot of the target station;
the scheduling module is used for scheduling the robot to move to the buffer position if the target station has an idle buffer position, and when determining that a corresponding target picking station in at least two picking stations of the target station is idle, scheduling the robot to move from the buffer position to the target picking station to complete a picking operation and release the buffer position;
the scheduling module is further configured to schedule the robot to move to a shared buffer area if the target station of the robot does not have an idle buffer bit, where the shared buffer area is a temporary parking area shared by robots of multiple stations;
wherein the buffer position is an entry point of the target station or an entry point of the target station and a rotation station of the target station, the idle buffer position is an entry point of the target station or a rotation station of the target station, and in the case that the idle buffer position is a rotation station of the target station, the scheduling the robot to move to the buffer position includes:
scheduling the robot to move to the rotation station via an entry point corresponding to the rotation station and rotating a rack carried by the robot at the rotation station;
the rotation station is adjacent to the picking station;
the robot passes through the rotation station as it moves from the entry point to a picking station, the entry point being adjacent the rotation station.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the pick scheduling method according to any one of claims 1 to 5.
10. A pick scheduling apparatus comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program when executed by the processor implementing the steps of the pick scheduling method as claimed in any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910199760.2A CN110059926B (en) | 2019-03-15 | 2019-03-15 | Sorting scheduling method and device, warehousing system and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110059926A CN110059926A (en) | 2019-07-26 |
| CN110059926B true CN110059926B (en) | 2021-12-24 |
Family
ID=67316170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910199760.2A Active CN110059926B (en) | 2019-03-15 | 2019-03-15 | Sorting scheduling method and device, warehousing system and readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6924804B2 (en) |
| CN (1) | CN110059926B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712907B (en) * | 2019-09-11 | 2022-07-01 | 上海快仓智能科技有限公司 | Control method for AGV and intelligent warehousing system |
| CN112486050B (en) * | 2019-09-12 | 2023-09-26 | 北京京东乾石科技有限公司 | Scheduling method and device for shelf surface replacement, electronic equipment and computer readable medium |
| CN112987708B (en) * | 2019-11-29 | 2024-01-19 | 杭州海康机器人股份有限公司 | Dispatching method and device for automatic guided transport vehicle |
| CN111746994B (en) * | 2020-05-27 | 2022-08-12 | 北京京东乾石科技有限公司 | AGV trolley following method and sorting system |
| CN112116247A (en) * | 2020-09-18 | 2020-12-22 | 深圳市海柔创新科技有限公司 | Order processing and ex-warehouse method, equipment, system and storage medium |
| CN112644946A (en) * | 2020-12-23 | 2021-04-13 | 深圳市海柔创新科技有限公司 | Storage robot control method, device, equipment and storage medium |
| CN113501242B (en) * | 2021-06-30 | 2022-09-16 | 昆船智能技术股份有限公司 | Method and system for stacker multi-lane operation |
| CN113387102B (en) * | 2021-08-18 | 2022-02-01 | 深圳市库宝软件有限公司 | Cargo scheduling method, device, equipment, warehousing system and storage medium |
| CN113978983B (en) * | 2021-11-02 | 2023-01-31 | 深圳市海柔创新科技有限公司 | Method and device for discharging material box out of warehouse, scheduling equipment, robot and warehousing system |
| CN116137108B (en) * | 2021-11-18 | 2023-12-29 | 沈阳精一智驾科技有限公司 | Parking system and parking method based on Internet of vehicles |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182795A (en) * | 2015-08-17 | 2015-12-23 | 国家电网公司 | Electric energy measuring instrument calibration system scheduling method based on multi-Agent simulation |
| CN106219124A (en) * | 2016-09-20 | 2016-12-14 | 刘哲 | A kind of electric pole formula automated warehousing robot |
| CN106843238A (en) * | 2017-04-10 | 2017-06-13 | 锥能机器人（上海）有限公司 | A kind of warehouse automation sorting system and method |
| CN108062650A (en) * | 2017-12-29 | 2018-05-22 | 北京悦畅科技有限公司 | Vehicles dispatching system method, management and running platform and dispatching management information system |
| CN108858179A (en) * | 2017-05-09 | 2018-11-23 | 北京京东尚科信息技术有限公司 | The method and apparatus for determining sorting machine man-powered vehicle path |
| CN109250380A (en) * | 2018-09-10 | 2019-01-22 | 北京极智嘉科技有限公司 | Storage access system and method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8483869B2 (en) * | 2005-07-19 | 2013-07-09 | Amazon Technologies, Inc. | Method and system for fulfilling requests in an inventory system |
| US9008827B1 (en) * | 2012-12-13 | 2015-04-14 | Amazon Technologies, Inc. | Inventory system with climate-controlled inventory |
| US9429951B2 (en) * | 2013-10-21 | 2016-08-30 | Hitachi, Ltd. | Transport management apparatus, transport system, and transport management program |
| US9111251B1 (en) * | 2014-03-31 | 2015-08-18 | Amazon Technologies, Inc. | Shuffling inventory holders |
| JP2016055963A (en) * | 2014-09-08 | 2016-04-21 | 株式会社日立製作所 | Arrival and shipment support system, unmanned vehicle and arrival and shipment support method |
| JP6748592B2 (en) * | 2017-03-13 | 2020-09-02 | 株式会社日立インダストリアルプロダクツ | Picking management system and picking management method |
-
2019
- 2019-03-15 CN CN201910199760.2A patent/CN110059926B/en active Active
- 2019-09-12 JP JP2019165858A patent/JP6924804B2/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182795A (en) * | 2015-08-17 | 2015-12-23 | 国家电网公司 | Electric energy measuring instrument calibration system scheduling method based on multi-Agent simulation |
| CN106219124A (en) * | 2016-09-20 | 2016-12-14 | 刘哲 | A kind of electric pole formula automated warehousing robot |
| CN106843238A (en) * | 2017-04-10 | 2017-06-13 | 锥能机器人（上海）有限公司 | A kind of warehouse automation sorting system and method |
| CN108858179A (en) * | 2017-05-09 | 2018-11-23 | 北京京东尚科信息技术有限公司 | The method and apparatus for determining sorting machine man-powered vehicle path |
| CN108062650A (en) * | 2017-12-29 | 2018-05-22 | 北京悦畅科技有限公司 | Vehicles dispatching system method, management and running platform and dispatching management information system |
| CN109250380A (en) * | 2018-09-10 | 2019-01-22 | 北京极智嘉科技有限公司 | Storage access system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110059926A (en) | 2019-07-26 |
| JP6924804B2 (en) | 2021-08-25 |
| JP2020147444A (en) | 2020-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110059926B (en) | Sorting scheduling method and device, warehousing system and readable storage medium | |
| CN109118137B (en) | Order processing method, device, server and storage medium | |
| CN109878959B (en) | Sorting scheduling method and device, warehousing system and readable storage medium | |
| US11597600B2 (en) | Article picking method, server and system | |
| US11052539B2 (en) | Method, server and storage medium for robot routing | |
| EP3401750B1 (en) | Method and device for returning robots from site | |
| CN110348749B (en) | Queuing method and system for goods shelf | |
| CN110084471B (en) | Sorting scheduling method and device, warehousing system and readable storage medium | |
| US20190152057A1 (en) | Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler | |
| US9663292B1 (en) | Forecasted robotic drive unit dispatch | |
| CN111311116B (en) | Intelligent park-based vehicle scheduling method, device, equipment and storage medium | |
| WO2022095835A1 (en) | Warehousing management system and method | |
| CN109471427A (en) | Carry the method, scheduling system and computer readable storage medium of article | |
| CN110356760B (en) | Control method and device based on transfer robot | |
| JP2023541995A (en) | Order processing and shipping methods, equipment, systems, and storage media | |
| CN114620386B (en) | Warehouse system and control method thereof | |
| CN110683263A (en) | Warehousing method based on walking object placing device | |
| TWI829045B (en) | Control method, control device, dispatch server and storage medium for a warehouse robot | |
| WO2024021809A1 (en) | Method and apparatus for allocating container carrying task | |
| Raviv et al. | Optimal retrieval in puzzle-based storage systems using automated mobile robots | |
| US20230376863A1 (en) | Route planning method and device, equipment and storage medium | |
| EP4160347A1 (en) | Inventory management method and system | |
| CN114229312A (en) | Cargo handling method, device, server and storage medium | |
| TWI701622B (en) | Method and device for robot field return | |
| WO2023155722A1 (en) | Warehousing system and control method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211208 Address after: 100193 106-1, area 2, building 9, 8 Dongbeiwang West Road, Haidian District, Beijing Applicant after: BEIJING KUANGSHI ROBOT TECHNOLOGY Co.,Ltd. Applicant after: BEIJING KUANGSHI TECHNOLOGY Co.,Ltd. Applicant after: Shanghai kuangjing Boxuan Technology Co.,Ltd. Address before: 100193 106-1, area 2, building 9, 8 Dongbeiwang West Road, Haidian District, Beijing Applicant before: BEIJING KUANGSHI ROBOT TECHNOLOGY Co.,Ltd. Applicant before: Beijing Kuangshi Technology Co., Ltd |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |