CN110633926A - Method, apparatus and system for handling work-bin and storage medium - Google Patents
Method, apparatus and system for handling work-bin and storage medium Download PDFInfo
- Publication number
- CN110633926A CN110633926A CN201810647002.8A CN201810647002A CN110633926A CN 110633926 A CN110633926 A CN 110633926A CN 201810647002 A CN201810647002 A CN 201810647002A CN 110633926 A CN110633926 A CN 110633926A
- Authority
- CN
- China
- Prior art keywords
- agv
- point
- target
- unloading
- empty
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000003860 storage Methods 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims description 25
- 238000012856 packing Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 10
- 230000004044 response Effects 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 9
- 239000013589 supplement Substances 0.000 claims description 5
- 230000001502 supplementing effect Effects 0.000 claims description 2
- 230000002349 favourable effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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
- G06Q10/06—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
- G06Q10/06316—Sequencing of tasks or work
-
- 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
- G06Q10/083—Shipping
Abstract
The disclosure provides a method, equipment and a system for carrying a material box and a storage medium, and relates to the field of intelligent warehousing. The method comprises the following steps: dispatching the AGV loaded with the empty boxes to a target picking point, so that the AGV loads the bins at the target picking point; dispatching the AGV which finishes the loading task of the material box to a target unloading point, so that the AGV unloads the material box at the target unloading point; and dispatching the AGV which finishes the unloading task of the workbin to the target empty box loading point, so that the AGV loads the empty box at the target empty box loading point to prepare to execute the next workbin carrying task. Thereby reduce the manpower resources that the workbin handling occupied for the person of choosing the goods is absorbed in the work of choosing the goods, is favorable to improving the efficiency of choosing the goods.
Description
Technical Field
The present disclosure relates to the field of smart storage, and more particularly, to a method, apparatus, and system for transporting a bin, and a storage medium.
Background
In warehouses, there are two methods of handling bins.
The first method comprises the following steps: the goods picker pushes the goods picking vehicle to the rechecking table, moves down the material box with goods, then loads the empty box, returns to the goods picking area and continues to pick the goods.
The second method comprises the following steps: the goods picker pushes the goods picking vehicle to a delivery point of the conveying line, removes a material box filled with goods, then loads an empty box, returns to a goods picking area, and continues to pick the goods.
Disclosure of Invention
The inventor finds that the current method still needs to occupy more human resources from the picking station to the rechecking table or the line-throwing point when the bin is transported.
In view of this, the technical problem that this disclosure will solve is, reduce the manpower resources that occupy in the workbin handling process.
According to an aspect of the present disclosure, a method of handling a bin is presented, comprising:
dispatching an Automatic Guided Vehicle (AGV) loaded with empty boxes to a target picking point, so that the AGV loads the bins at the target picking point;
dispatching the AGV which finishes the loading task of the material box to a target unloading point, so that the AGV unloads the material box at the target unloading point;
and dispatching the AGV which finishes the unloading task of the workbin to the target empty box loading point, so that the AGV loads the empty box at the target empty box loading point to prepare to execute the next workbin carrying task.
Optionally, scheduling AGVs loaded with empty bins to target pick points comprises:
and determining target sorting points corresponding to the AGVs loaded with empty boxes according to at least one of the number and the priority of the bins to be carried in each sorting point and the distribution condition of each AGV, and scheduling the AGVs loaded with the empty boxes to corresponding target sorting points.
Optionally, at least one of the number of the to-be-carried bins, the priority of the to-be-carried bins, the distance between the AGVs and the picking points, and whether a path between the AGVs and the picking points has a congested road section is subjected to weighted calculation, and a target picking point corresponding to the AGV loaded with an empty bin is determined according to a calculation result.
Optionally, scheduling the AGV that completed the bin load task to an unloading point comprises:
and determining target unloading points corresponding to the AGV which finishes the work loading task of the bin according to at least one of the number of the work loading points and the distribution condition of the AGV, and scheduling the AGV which finishes the work loading task of the bin to the corresponding target unloading points.
Optionally, at least one of the number of tasks at the unloading point, the distance between the AGVs and the unloading point, and whether a path between the AGVs and the unloading point has a congested road segment is weighted, and a target unloading point corresponding to the AGV which completes the loading task of the bin is determined according to the calculation result.
Optionally, scheduling the AGV that completes the unloading task of the bin to go to the target empty bin point includes:
and determining target empty packing points corresponding to the AGV which finishes the work unloading task of the workbin according to at least one of the number of the tasks of each empty packing point and the distribution condition of each AGV, and scheduling the AGV which finishes the work unloading task of the workbin to the corresponding target empty packing points.
Optionally, at least one of the number of tasks at the empty filling point, the distance between the AGVs and the empty filling point, and whether a path between the AGVs and the empty filling point has a congested road segment is weighted, and a target empty filling point corresponding to the AGV which completes the work unloading task of the bin is determined according to the calculation result.
Optionally, the method further comprises: according to the number of the available electric piles of the charging points and the distance between the charging points and the AGVs, determining target charging points corresponding to the AGVs with insufficient electric quantity, scheduling the AGVs with insufficient electric quantity to go to the corresponding target charging points, and enabling the AGVs to supplement the charging amount at the target charging points.
Optionally, at least one of the number of available electric piles at the charging point, the distance between the charging point and the AGVs, and whether a path between the charging point and the AGVs has a congested road section is weighted and calculated, and the target charging point corresponding to the AGV with insufficient electric quantity is determined according to the calculation result.
Optionally, the pick-up point, the unload point, and the empty bin point are in communication via a loop.
According to another aspect of the present disclosure, a method of handling a bin is presented, comprising:
responding to the dispatching of a loading bin of an automatic guided transport vehicle (AGV) dispatching device, driving the AGV to a target sorting point indicated by the dispatching, and loading the loading bin at the target sorting point;
responding to the dispatching of the unloading box of the AGV dispatching device, enabling the AGV to travel to a target unloading point indicated by the dispatching, and unloading the unloading box at the target unloading point;
in response to the scheduling of the loaded empty box by the AGV scheduling device, the AGV travels to the target empty box loading point indicated by the scheduling, and loads the empty box at the target empty box loading point so as to prepare for the next work of transporting the bin.
Optionally, the method further comprises: and responding to the charging schedule of the AGV scheduling device, and driving the AGV with insufficient electric quantity to a charging point for supplementing the charging quantity.
According to another aspect of the present disclosure, an AGV dispatching device for an automatic guided vehicle is provided, including:
a memory; and
a processor coupled to the memory, the processor configured to perform the aforementioned method of handling a bin based on instructions stored in the memory.
According to another aspect of the disclosure, an automated guided vehicle AGV is provided, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the aforementioned method of handling a bin based on instructions stored in the memory.
According to another aspect of the present disclosure, a system for handling bins is presented, comprising:
the automatic guided vehicle AGV dispatching device is provided with a plurality of automatic guided vehicles;
and
the AGV as previously described.
According to another aspect of the disclosure, a computer-readable storage medium is proposed, on which a computer program is stored which, when being executed by a processor, carries out the aforementioned method of handling a bin.
The utility model discloses dispatch AGV removes the target and chooses to choose some loading workbins, removes target unloading some unloading workbins, and removes target vanning some loading empty boxs, can reduce the manpower resources that occupy in the workbin handling for the person of choosing goods is absorbed in the work of choosing goods, is favorable to improving the efficiency of choosing goods.
Drawings
The drawings that will be used in the description of the embodiments or the related art will be briefly described below. The present disclosure will be more clearly understood from the following detailed description, which proceeds with reference to the accompanying drawings,
it is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without undue inventive faculty.
Fig. 1 is a schematic top plan view of a warehouse of the present disclosure.
FIG. 2 is a schematic flow diagram of some embodiments of a method of handling bins according to the present disclosure.
FIG. 3 is a schematic flow diagram of other embodiments of the disclosed method of handling bins.
FIG. 4 is a schematic view of some embodiments of the disclosed system for handling bins.
FIG. 5 is a schematic diagram of some embodiments of AGV dispatchers or AGVs according to the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure.
An AGV (automatic Guided Vehicle) is a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.
Fig. 1 is a schematic top plan view of a warehouse of the present disclosure.
As shown in fig. 1, a plurality of storage locations 110 are provided in the warehouse for storing goods. The area in which the reservoir 110 is located is referred to as a reservoir. The bins 110 are divided into a logical picking area 120. The picker's picking tasks are performed at a logical picking area 120. Each logical pick zone 120 is provided with at least one pick point 130. The AGV loads bins at each pick point 130. The bin is filled with the sorted goods. Several unloading points 140 are also provided in the warehouse. The unloading point 140 may be, for example, a reviewing station or a delivery line drop point. The AGV unloads the bins at each unloading point 140. And the bin unloaded from the rechecking table is rechecked, packed and then taken out of the warehouse. The material boxes unloaded at the routing point are conveyed to a packing place by a conveying line to be packed and then discharged from the warehouse. A number of empty bin points 150 are also provided in the warehouse. The AGV loads an empty bin at each empty bin point 150 in preparation for the next bin transfer task. The filling point 150 may be provided, for example, in the vicinity of the unloading point 140, in order to facilitate the recycling of the empty containers. A number of charging points 160 are also provided in the warehouse. The AGV makes up the charge at the charging point.
As shown in FIG. 1, the pick point 130, the unload point 140, the load point 150, and the charge point 160 are in communication with one another, i.e., the AGV may travel from any one of them to any other one of them. As an example, the pick point 130, the unload point 140, the load point 150, and the charge point 160 are connected by a loop 170. The loop 170 may, for example, comprise at least two sub-loops of different directions of travel. This loop 170 enables a quick route so that the AGV can travel from any one of them to any other one of them more quickly.
FIG. 2 is a schematic flow diagram of some embodiments of a method of handling bins according to the present disclosure.
As shown in fig. 2, the method of this embodiment includes: 210-260, optionally, 270-280.
At step 210, the AGV dispatcher dispatches the AGV with the empty bin to the target picking point.
In some embodiments, the target sorting points corresponding to the AGVs loaded with empty bins are determined according to the number and priority of the bins to be transported in each sorting point and the distribution of the AGVs, and the AGVs loaded with empty bins are dispatched to the corresponding target sorting points. For example, at least one of the number of the to-be-carried bins, the priority of the to-be-carried bins, the distance between the AGV and the picking point and whether the path between the AGV and the picking point has a congested road section is weighted and calculated, and the target picking point corresponding to the AGV loaded with the empty bin is determined according to the calculation result.
For example, the three factors of the number of the to-be-transported bins, the priority of the to-be-transported bins and the distance between the AGV and the picking point are weighted, and according to the calculation result, the picking point with a larger number of the to-be-transported bins, a higher priority and a closer distance can be preferentially determined as the target picking point corresponding to the AGV loaded with the empty bin. Therefore, the bins with a large number and high priority are conveyed as early as possible, and the conveying efficiency of the AGV is improved.
For another example, the planned path should try to avoid congestion or avoid congestion. Therefore, the four factors of the number of the to-be-carried bins, the priority of the to-be-carried bins, the distance between the AGV and the picking point and whether congestion sections exist in the path between the AGV and the picking point are weighted and calculated, and according to the calculation result, the picking points which are large in number of the to-be-carried bins, high in priority, close in distance and good in road condition can be preferentially determined as the target picking points corresponding to the AGV loaded with empty bins. Therefore, the bins with a large number and high priority are conveyed as early as possible, the conveying efficiency of the AGV is improved, and the total time cost of the AGV is reduced.
The weight of each factor can be set or adjusted according to the service requirement. The factors of more interest to the current service may be weighted more heavily.
At step 220, the AGV travels to the target pick point indicated by the schedule in response to the schedule of load bins of the AGV scheduling device, loading the bins at the target pick point.
In step 230, the AGV scheduler schedules the AGV that completed the bin load task to the destination unloading point.
In some embodiments, according to the number of tasks at each unloading point and the distribution of each AGV, target unloading points corresponding to AGVs that complete the bin loading task are determined, and the AGVs that complete the bin loading task are scheduled to go to the corresponding target unloading points. For example, at least one of the number of tasks at the unloading point, the distance between the AGVs and the unloading point, and whether the route between the AGVs and the unloading point has a congested road section is weighted, and a target unloading point corresponding to the AGV which completes the loading task of the bin is determined according to the calculation result.
For example, the two factors of the number of tasks at the unloading point and the distance between the AGVs and the unloading points are weighted, and according to the calculation result, the unloading point with a smaller number of tasks and a shorter distance can be preferentially determined as the target unloading point corresponding to the AGV which completes the loading task of the bin. Therefore, the tasks of all unloading points are balanced, and the carrying efficiency of the AGV is improved.
For another example, the planned path should try to avoid congestion or avoid congestion. Therefore, the three factors of the number of tasks of the unloading points, the distance between the AGV and the unloading points and whether the congestion road section exists on the path between the AGV and the unloading points are weighted and calculated, and according to the calculation result, the unloading points with fewer tasks, closer distance and good road conditions can be preferentially determined as the target unloading points corresponding to the AGV which completes the loading task of the material box. Therefore, the tasks of all unloading points are balanced, the carrying efficiency of the AGV is improved, and the total time cost of the AGV is reduced.
The weight of each factor can be set or adjusted according to the service requirement. The factors of more interest to the current service may be weighted more heavily.
In step 240, the AGV travels to the target unloading point indicated by the schedule in response to the schedule of the unloading bins of the AGV scheduler, unloading the bins at the target unloading point.
In step 250, the AGV scheduler schedules the AGV that completed the bin unload task to the target empty bin point.
In some embodiments, according to the number of tasks at each empty packing point and the distribution of each AGV, target empty packing points corresponding to AGVs that complete the task of unloading the bin are determined, and the AGVs that complete the task of unloading the bin are scheduled to the corresponding target empty packing points. For example, at least one of the number of tasks at the empty filling point, the distance between the AGV and the empty filling point, and whether a path between the AGV and the empty filling point has a congested road segment is weighted, and a target empty filling point corresponding to the AGV which completes the unloading task of the bin is determined according to the calculation result.
For example, the two factors of the number of tasks at the empty packing points and the distance between the AGVs and the empty packing points are weighted, and according to the calculation result, the empty packing point with a larger number of tasks and a shorter distance can be preferentially determined as the target empty packing point corresponding to the AGV which completes the unloading task of the bin. Therefore, a large number of empty boxes are conveyed as early as possible, and the conveying efficiency of the AGV is improved.
For another example, the planned path should try to avoid congestion or avoid congestion. Therefore, the three factors of the number of tasks of the empty filling points, the distance between the AGV and the empty filling points and whether the congestion road sections exist on the path between the AGV and the empty filling points are weighted and calculated, and according to the calculation result, the empty filling points with more tasks, closer distance and good road conditions can be preferentially determined as the target empty filling points corresponding to the AGV which completes the unloading task of the material box. Therefore, a large number of empty boxes are conveyed as early as possible, the conveying efficiency of the AGV is improved, and the total time cost of the AGV is reduced.
The weight of each factor can be set or adjusted according to the service requirement. The factors of more interest to the current service may be weighted more heavily.
In step 260, the AGV travels to the target empty load point indicated by the schedule in response to the schedule of loading empty bins by the AGV scheduler, and loads empty bins at the target empty load point in preparation for the next bin transfer task.
In step 270, the AGV scheduler schedules the AGV with insufficient power to the charging point.
In some embodiments, according to the number of available power piles of the charging points and the distance between the charging points and the AGVs, target charging points corresponding to the AGVs with insufficient power are determined, and the AGVs with insufficient power are dispatched to the corresponding target charging points. For example, at least one of the number of available power piles at the charging point, the distance between the charging point and the AGVs, and whether a path between the charging point and the AGVs has a congested road section is weighted and calculated, and the target charging point corresponding to the AGV with insufficient power is determined according to the calculation result.
For example, the two factors of the number of available electric piles of the charging points and the distance between the charging points and the AGVs are weighted, according to the calculation result, the number of the available electric piles is large, and the charging point with the short distance can be preferentially determined as the target charging point corresponding to the AGV with insufficient electric quantity.
For another example, the planned path should try to avoid congestion or avoid congestion. Therefore, the weighting calculation is carried out on the three factors of the number of the available electric piles of the charging points, the distance between the charging points and the AGV and whether the congestion road section exists on the path between the charging points and the AGV.
The weight of each factor can be set or adjusted according to the service requirement. The factors of more interest to the current service may be weighted more heavily.
In step 280, the AGV with insufficient power travels to the charge point to replenish the charge in response to the charge schedule of the AGV scheduling device.
Above-mentioned embodiment dispatch AGV removes the target and chooses to choose some loading workbins, removes target unloading some unloading workbins, and removes target vanning some loading empty boxs, can reduce the manpower resources that occupy in the workbin handling for the person of choosing goods is absorbed in the work of choosing goods, is favorable to improving the efficiency of choosing goods. In addition, the handling efficiency of the AGV can be improved by optimizing a scheduling algorithm.
FIG. 3 is a schematic flow diagram of other embodiments of the disclosed method of handling bins.
As shown in fig. 3, the method of this embodiment includes: 310-390 b.
In step 310, the WMS (Warehouse Management System) builds a picking task from the order.
In some embodiments, the picking task is established based on the degree of overlap of the goods in each order, the business type of the order, and the latest time of delivery of the order. For example, for non-bulk type orders, the goods that are overlapped in each order are grouped into a picking task, and the picking task should meet the latest warehouse-out time requirement of each order. For a bulk type order, a picking task can be separately constructed due to the large quantity of goods in the order.
At step 320, the picker picks up and performs the picking task. After the goods are picked, the goods picking personnel send the material box loaded with the goods to a picking point and take the goods back to the empty box to pick the goods continuously. The system records the picking task of the goods to be picked and the task to be carried after the picking is finished.
At step 330, the AGV with the empty bin is driven to the target pick point, the empty bin is unloaded, and the bin is loaded to the AGV according to the schedule of the load bin of the AGV scheduler.
The unloading of empty bins and the loading of bins may be performed by an operator, for example.
If the AGV is not full, the AGV travels to the next destination pick point according to the dispatch of the load bin of the AGV dispatch device, where the bin is also loaded to the AGV, step 340.
At step 350, if the AGV is full, the AGV that completed the bin loading task travels to the destination unloading point according to the scheduling of the unloading bins of the AGV scheduling device, so that the bins are transported to the destination unloading point.
At step 360, the bin on the target unloading point AGV is unloaded. The unloading of the bin may be performed by an operator, for example.
In step 370, the AGV completing the bin unload task travels to the target empty bin point according to the loaded empty bin schedule of the AGV scheduler.
At step 380, the AGV is loaded with an empty bin at the target empty bin point in preparation for performing the next bin transfer task.
The loading of the empty boxes may be performed by an operator, for example.
At step 390a, if the power is sufficient, the AGV completing the empty bin load task performs the next bin transfer task and continues to step 330.
In step 390b, if the electric quantity of the AGV completing the empty box loading task is insufficient, the AGV travels to the target charging point to supplement the charging amount according to the charging schedule of the AGV scheduling device. After the charging is completed, the process continues to step 330.
The scheduling method of the AGV scheduler related to each step in the embodiment shown in fig. 3 refers to the corresponding description in the embodiment shown in fig. 2, and is not described again here.
Above-mentioned embodiment dispatch AGV removes the target and chooses to choose some loading workbins, removes target unloading some unloading workbins, and removes target vanning some loading empty boxs, can reduce the manpower resources that occupy in the workbin handling for the person of choosing goods is absorbed in the work of choosing goods, is favorable to improving the efficiency of choosing goods. In addition, the handling efficiency of the AGV can be improved by optimizing a scheduling algorithm.
FIG. 4 is a schematic view of some embodiments of the disclosed system for handling bins.
As shown in fig. 4, the system of this embodiment includes: an AGV scheduler 410 and a number of AGVs 420 being scheduled. In a warehouse, typically one AGV dispatcher 410 may dispatch multiple AGVs 420.
FIG. 5 is a schematic diagram of some embodiments of AGV dispatchers or AGVs according to the present disclosure.
As shown in FIG. 5, the AGV dispatching device or AGV of this embodiment includes: a memory 510 and a processor 520 coupled to the memory 510, the processor 520 configured to perform a method of handling a bin in any of the embodiments described above based on instructions stored in the memory 510.
The method of handling bins performed by the processor 520 of the AGV scheduling device may include, for example: dispatching the AGV loaded with the empty boxes to a target picking point, so that the AGV loads the bins at the target picking point; dispatching the AGV which finishes the loading task of the material box to a target unloading point, so that the AGV unloads the material box at the target unloading point; dispatching the AGV which finishes the unloading task of the workbin to a target empty box loading point, so that the AGV loads an empty box at the target empty box loading point to prepare for executing the next workbin carrying task; and dispatching the AGV with insufficient electric quantity to a charging point, so that the AGV can supplement the charging amount at the charging point and the like.
The method of handling bins performed by the processor 520 of the AGV includes, for example: responding to the dispatching of the loading bins of the AGV dispatching device, driving to a target sorting point indicated by the dispatching, and loading the bins at the target sorting point; responding to the dispatching of the unloading box of the AGV dispatching device, driving to a target unloading point indicated by the dispatching, and unloading the unloading box at the target unloading point; in response to the dispatching of the loaded empty boxes by the AGV dispatching device, driving to a target empty box loading point indicated by the dispatching, and loading the empty boxes at the target empty box loading point so as to prepare to execute the next work task of carrying the workbins; and the charge amount is compensated when the AGV dispatching device is in response to the charging dispatching and the driving is carried out to the charging point.
Memory 510 may include, for example, system memory, fixed non-volatile storage media, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader (Boot Loader), and other programs.
The AGV scheduler or AGV may also include an input output interface 530, a network interface 540, a storage interface 550, and the like. These interfaces 530, 540, 550 and the connections between the memory 510 and the processor 520 may be, for example, via a bus 560. The input/output interface 530 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 540 provides a connection interface for various networking devices. The storage interface 550 provides a connection interface for external storage devices such as an SD card and a usb disk.
The present disclosure also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of handling bins of any of the preceding embodiments.
Examples of methods for handling bins suitable for program execution in a computer readable storage medium of an AGV scheduler include: dispatching the AGV loaded with the empty boxes to a target picking point, so that the AGV loads the bins at the target picking point; dispatching the AGV which finishes the loading task of the material box to a target unloading point, so that the AGV unloads the material box at the target unloading point; dispatching the AGV which finishes the unloading task of the workbin to a target empty box loading point, so that the AGV loads an empty box at the target empty box loading point to prepare for executing the next workbin carrying task; and dispatching the AGV with insufficient electric quantity to a charging point, so that the AGV can supplement the charging amount at the charging point and the like.
Examples of methods for handling bins suitable for program execution in a computer readable storage medium of an AGV include: responding to the dispatching of the loading bins of the AGV dispatching device, driving to a target sorting point indicated by the dispatching, and loading the bins at the target sorting point; responding to the dispatching of the unloading box of the AGV dispatching device, driving to a target unloading point indicated by the dispatching, and unloading the unloading box at the target unloading point; in response to the dispatching of the loaded empty boxes by the AGV dispatching device, driving to a target empty box loading point indicated by the dispatching, and loading the empty boxes at the target empty box loading point so as to prepare to execute the next work task of carrying the workbins; and the charge amount is compensated when the AGV dispatching device is in response to the charging dispatching and the driving is carried out to the charging point.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (16)
1. A method of handling bins, comprising:
dispatching an Automatic Guided Vehicle (AGV) loaded with empty boxes to a target picking point, so that the AGV loads the bins at the target picking point;
dispatching the AGV which finishes the loading task of the material box to a target unloading point, so that the AGV unloads the material box at the target unloading point;
and dispatching the AGV which finishes the unloading task of the workbin to the target empty box loading point, so that the AGV loads the empty box at the target empty box loading point to prepare to execute the next workbin carrying task.
2. The method of claim 1, wherein scheduling AGVs loaded with empty bins to target pick points comprises:
and determining target sorting points corresponding to the AGVs loaded with empty boxes according to at least one of the number and the priority of the bins to be carried in each sorting point and the distribution condition of each AGV, and scheduling the AGVs loaded with the empty boxes to corresponding target sorting points.
3. The method of claim 1, wherein,
and performing weighted calculation on at least one of the number of the to-be-carried bins, the priority of the to-be-carried bins, the distance between the AGV and the picking point and whether a path between the AGV and the picking point has a congested road section, and determining a target picking point corresponding to the AGV loaded with an empty bin according to the calculation result.
4. The method of claim 1, wherein scheduling AGVs completing a bin load task to an intended unloading point comprises:
and determining target unloading points corresponding to the AGV which finishes the work loading task of the bin according to at least one of the number of the work loading points and the distribution condition of the AGV, and scheduling the AGV which finishes the work loading task of the bin to the corresponding target unloading points.
5. The method of claim 4, wherein,
and performing weighted calculation on at least one of the number of tasks of the unloading points, the distance between the AGV and the unloading points and whether the path between the AGV and the unloading points has a congested road section, and determining a target unloading point corresponding to the AGV which finishes the loading task of the material box according to the calculation result.
6. The method of claim 1, wherein scheduling an AGV that completes a bin unload task to target an empty bin point comprises:
and determining target empty packing points corresponding to the AGV which finishes the work unloading task of the workbin according to at least one of the number of the tasks of each empty packing point and the distribution condition of each AGV, and scheduling the AGV which finishes the work unloading task of the workbin to the corresponding target empty packing points.
7. The method of claim 6, wherein,
and performing weighted calculation on at least one of the number of tasks of the empty filling points, the distance between the AGV and the empty filling points and whether the path between the AGV and the empty filling points has a congested road section, and determining a target empty filling point corresponding to the AGV which finishes the unloading task of the material box according to the calculation result.
8. The method of claim 1, further comprising:
according to the number of the available electric piles of the charging points and the distance between the charging points and the AGVs, determining target charging points corresponding to the AGVs with insufficient electric quantity, scheduling the AGVs with insufficient electric quantity to go to the corresponding target charging points, and enabling the AGVs to supplement the charging amount at the target charging points.
9. The method of claim 8, wherein,
and performing weighted calculation on at least one of the number of available electric piles of the charging points, the distance between the charging points and the AGVs, and whether a path between the charging points and the AGVs is in a congested road section, and determining a target charging point corresponding to the AGV with insufficient electric quantity according to the calculation result.
10. The method of any one of claims 1-5, wherein the pick-up point, the unload point, and the load point communicate through a loop.
11. A method of handling bins, comprising:
responding to the dispatching of a loading bin of an automatic guided transport vehicle (AGV) dispatching device, driving the AGV to a target sorting point indicated by the dispatching, and loading the loading bin at the target sorting point;
responding to the dispatching of the unloading box of the AGV dispatching device, enabling the AGV to travel to a target unloading point indicated by the dispatching, and unloading the unloading box at the target unloading point;
in response to the scheduling of the loaded empty box by the AGV scheduling device, the AGV travels to the target empty box loading point indicated by the scheduling, and loads the empty box at the target empty box loading point so as to prepare for the next work of transporting the bin.
12. The method of claim 11, further comprising:
and responding to the charging schedule of the AGV scheduling device, and driving the AGV with insufficient electric quantity to a charging point for supplementing the charging quantity.
13. An Automated Guided Vehicle (AGV) scheduling apparatus comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of handling a bin of any of claims 1-10 based on instructions stored in the memory.
14. An Automated Guided Vehicle (AGV) comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of handling a bin of any of claims 11-12 based on instructions stored in the memory.
15. A system for handling bins, comprising:
the Automated Guided Vehicle (AGV) scheduler of claim 13;
and
the AGV of claim 14.
16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of handling bins of any one of claims 1-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810647002.8A CN110633926A (en) | 2018-06-22 | 2018-06-22 | Method, apparatus and system for handling work-bin and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810647002.8A CN110633926A (en) | 2018-06-22 | 2018-06-22 | Method, apparatus and system for handling work-bin and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110633926A true CN110633926A (en) | 2019-12-31 |
Family
ID=68967734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810647002.8A Pending CN110633926A (en) | 2018-06-22 | 2018-06-22 | Method, apparatus and system for handling work-bin and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110633926A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924410A (en) * | 2020-04-15 | 2020-11-13 | 北京旷视机器人技术有限公司 | Warehouse bin discharging method, device and system |
| CN112455991A (en) * | 2020-12-04 | 2021-03-09 | 太普动力新能源(常熟)股份有限公司 | Method for unmanned carrying system of thread ends |
| CN113256050A (en) * | 2021-03-01 | 2021-08-13 | 一汽物流有限公司 | Robot annular storage system and AGV hybrid scheduling method and system |
| CN113534751A (en) * | 2020-04-15 | 2021-10-22 | 北京旷视机器人技术有限公司 | Method, device and system for scheduling transport equipment, storage medium and electronic equipment |
| CN113666091A (en) * | 2021-08-06 | 2021-11-19 | 苏州长城开发科技有限公司 | Automatic material connection system and connection method |
| CN114281030A (en) * | 2021-11-26 | 2022-04-05 | 一汽物流有限公司 | Automatic three-dimensional container and AGV mixed scheduling method, system, equipment and storage medium |
| CN114442611A (en) * | 2021-12-28 | 2022-05-06 | 上海擎朗智能科技有限公司 | Meal delivery method of robot, robot and robot system |
| CN115156090A (en) * | 2022-05-31 | 2022-10-11 | 北京旷视机器人技术有限公司 | Bin distributing method, electronic device and storage medium |
| CN115285710A (en) * | 2022-07-27 | 2022-11-04 | 广州达宝文汽车设备集团有限公司 | Automatic charging basket switching equipment and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727099A (en) * | 2017-09-29 | 2018-02-23 | 山东大学 | The more AGV scheduling of material transportation and paths planning method in a kind of factory |
-
2018
- 2018-06-22 CN CN201810647002.8A patent/CN110633926A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727099A (en) * | 2017-09-29 | 2018-02-23 | 山东大学 | The more AGV scheduling of material transportation and paths planning method in a kind of factory |
Non-Patent Citations (2)
| Title |
|---|
| 刘玉平: ""多AG电商仓库拣货系统研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 黄一钧: ""车身车间ＡＧＶ物料搬运系统小车数量配置规划"", 《工业工程与管理》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924410A (en) * | 2020-04-15 | 2020-11-13 | 北京旷视机器人技术有限公司 | Warehouse bin discharging method, device and system |
| CN113534751A (en) * | 2020-04-15 | 2021-10-22 | 北京旷视机器人技术有限公司 | Method, device and system for scheduling transport equipment, storage medium and electronic equipment |
| CN111924410B (en) * | 2020-04-15 | 2022-03-29 | 北京旷视机器人技术有限公司 | Warehouse bin discharging method, device and system |
| CN112455991A (en) * | 2020-12-04 | 2021-03-09 | 太普动力新能源(常熟)股份有限公司 | Method for unmanned carrying system of thread ends |
| CN113256050A (en) * | 2021-03-01 | 2021-08-13 | 一汽物流有限公司 | Robot annular storage system and AGV hybrid scheduling method and system |
| CN113256050B (en) * | 2021-03-01 | 2024-01-09 | 一汽物流有限公司 | Robot annular storage system and AGV hybrid scheduling method and system |
| CN113666091A (en) * | 2021-08-06 | 2021-11-19 | 苏州长城开发科技有限公司 | Automatic material connection system and connection method |
| CN114281030A (en) * | 2021-11-26 | 2022-04-05 | 一汽物流有限公司 | Automatic three-dimensional container and AGV mixed scheduling method, system, equipment and storage medium |
| CN114442611A (en) * | 2021-12-28 | 2022-05-06 | 上海擎朗智能科技有限公司 | Meal delivery method of robot, robot and robot system |
| CN115156090A (en) * | 2022-05-31 | 2022-10-11 | 北京旷视机器人技术有限公司 | Bin distributing method, electronic device and storage medium |
| CN115156090B (en) * | 2022-05-31 | 2024-04-05 | 北京旷视机器人技术有限公司 | Material box distribution method, electronic equipment and storage medium |
| CN115285710A (en) * | 2022-07-27 | 2022-11-04 | 广州达宝文汽车设备集团有限公司 | Automatic charging basket switching equipment and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110633926A (en) | Method, apparatus and system for handling work-bin and storage medium | |
| CN109583800B (en) | Logistics warehouse parcel sorting method, device and system | |
| CN112978190B (en) | Goods taking task distribution method and goods sorting system thereof | |
| CN109835651B (en) | Goods sorting method, server and system | |
| JP6574899B2 (en) | Package sorting system and method | |
| CN110639818B (en) | Goods picking method and device for logistics storage, computer equipment and storage medium | |
| EP4044083A1 (en) | Inventory management system and method | |
| CN107272686A (en) | Processing method, device and the logistic storage system of logistics information | |
| CN107563708B (en) | Article sorting system and method | |
| US11826789B2 (en) | System, device, and method for item sorting and conveying | |
| CN110817224A (en) | Storage sorting system and method | |
| US10668509B2 (en) | Method for preparing orders listing unit loads | |
| CN113762680B (en) | Method, device, equipment, system and storage medium for picking goods | |
| CN114580996A (en) | Method for discharging bin | |
| CN113578757A (en) | Sorting method, electronic equipment and sorting system | |
| US20240004403A1 (en) | Battery charge state based mission assignment for autonomous mobile robots | |
| TW201928560A (en) | Apparatus control method and device | |
| CN113998352B (en) | Sorting and dispatching method and device, electronic equipment, storage medium and warehousing system | |
| CN110436108A (en) | A kind of high-efficiency dynamic goods sorting system based on AGV platform | |
| CN113800161B (en) | Goods picking system, method, device, processing terminal and picking robot | |
| CN206955007U (en) | A kind of mobile goods collecting system based on robot | |
| CN110577048B (en) | Method and system for warehousing scheduling | |
| CN108555968A (en) | Mobile robot with wireless charging function | |
| CN115258507A (en) | Warehousing system, control method and device thereof, electronic equipment and storage medium | |
| CN207489084U (en) | Goods sorting system |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210226 Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20210226 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100195 Beijing Haidian Xingshikou Road 65 West Cedar Creative Garden 4 District 11 Building East 1-4 Floor West 1-4 Floor Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191231 |