CN111815226A - Automatic guided transport vehicle scheduling method, scheduling system and storage device - Google Patents
Automatic guided transport vehicle scheduling method, scheduling system and storage device Download PDFInfo
- Publication number
- CN111815226A CN111815226A CN202010526051.3A CN202010526051A CN111815226A CN 111815226 A CN111815226 A CN 111815226A CN 202010526051 A CN202010526051 A CN 202010526051A CN 111815226 A CN111815226 A CN 111815226A
- Authority
- CN
- China
- Prior art keywords
- task
- executed
- point
- area
- point location
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000002360 preparation method Methods 0.000 claims abstract description 70
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 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
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
-
- 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
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
Landscapes
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Entrepreneurship & Innovation (AREA)
- Quality & Reliability (AREA)
- Operations Research (AREA)
- Marketing (AREA)
- Development Economics (AREA)
- Tourism & Hospitality (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Educational Administration (AREA)
- Game Theory and Decision Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a dispatching method, a dispatching system and a storage device for an automatic guided vehicle, wherein the dispatching method comprises the following steps: obtaining the states of at least part of point locations in a working area, a material preparation area and a return area to generate a task to be executed; calculating the cost of the idle automatic guided vehicle for executing the task to be executed; and issuing the calculated task with the cost corresponding to the idle automatic guided vehicle meeting the condition to the idle automatic guided vehicle. Through the mode, the task of the automatic guided transporting vehicle can be reasonably distributed, and the efficiency of the automatic guided transporting vehicle for executing the task is improved.
Description
Technical Field
The application relates to the field of logistics, in particular to a dispatching method, a dispatching system and a storage device for an automatic guided transport vehicle.
Background
At present, with the continuous development of online shopping, the speed requirement for logistics distribution is also continuously increased, and in automatic logistics, articles are often conveyed by an Automatic Guided Vehicle (AGV) so as to liberate manpower and improve the efficiency of conveying articles.
However, the current allocation method for allocating tasks to AGVs is: the assignment of tasks to free AGVs is random and makes the AGVs less efficient at performing tasks.
Disclosure of Invention
The technical problem mainly solved by the application is to provide the dispatching method, the dispatching system and the storage device of the automatic guided transport vehicle, so that the tasks of the automatic guided transport vehicle can be reasonably distributed, and the efficiency of the automatic guided transport vehicle for executing the tasks is improved.
In order to solve the technical problem, the application adopts a technical scheme that: provided is an automated guided vehicle scheduling method, including: obtaining the states of at least part of point locations in a working area, a material preparation area and a return area to generate a task to be executed; calculating the cost of the idle automatic guided vehicle for executing the task to be executed; and issuing the calculated task with the cost corresponding to the idle automatic guided vehicle meeting the condition to the idle automatic guided vehicle.
The step of obtaining the states of at least part of point locations in the working area, the material preparation area and the return area to generate the task to be executed includes: obtaining the states of at least part of point locations in the working area, the material preparation area and the returning area, generating a loading task if no goods shelf is stored in the point locations in the working area, and generating a returning goods shelf task if an empty goods shelf is stored in the working area; wherein, the material loading task includes: taking the goods shelves filled with the materials from the point position in the material preparation area, and conveying the goods shelves filled with the materials to the point position without the goods shelves in the working area; the return shelf task includes: and moving to the point position with the empty goods shelf in the working area to take the empty goods shelf, and sending the empty goods shelf to the idle point position in the return area.
Before the step of calculating the cost of the idle automatic guided vehicle for executing the task to be executed, judging whether a task point position corresponding to the task to be executed is available; if the task point location corresponding to the task to be executed is available, planning a complete task path from the idle automatic guided vehicle to the available point location corresponding to the task to be executed; if the point location in the material preparation area corresponding to the feeding task is unavailable, planning a path from the idle automatic guided vehicle to any point location in the material preparation area, and further planning a complete task path from the point location in the material preparation area to the point location in the working area corresponding to the feeding task; and if the point location in the return area corresponding to the return shelf task is unavailable, planning a path from the idle automatic guided vehicle to the point location in the working area corresponding to the return shelf task, and further planning a complete task path from the point location in the working area to any point location in the return area.
Wherein the step of calculating the cost of the idle automated guided vehicle to perform the task to be performed comprises: calculating task waiting time to obtain area priority time and point position priority time; calculating the cost of the task to be executed, wherein the cost of the task to be executed is as follows: and subtracting the task waiting time, the area priority time and the point location priority time from the driving time required by the idle automatic guided vehicle to drive the complete task path.
The task waiting time is a conversion value of a time interval from generation to current time of the task to be executed; the region priority time is a conversion value of the priority degree of the task to be processed in the working region, and the higher the priority degree of the task to be processed in the working region is, the larger the value of the region priority time corresponding to the task to be processed in the working region is; the point location priority time is a conversion value of the priority degree of the point location in the same working area or the same material preparation area, and the higher the priority degree of the point location in the same working area or the same material preparation area is, the larger the value of the point location priority time corresponding to the point location in the same working area or the same material preparation area is.
The step of issuing the calculated task with the cost corresponding to the idle automatic guided vehicle meeting the condition to the idle automatic guided vehicle includes: the cost of all the tasks to be executed is obtained, and the tasks with the lowest cost, the corresponding automatic guided vehicles and the corresponding task point positions are placed in a list to be executed; comparing tasks to be executed outside the list to be executed with the tasks in the list to be executed according to the order of the cost from low to high, if the tasks to be executed outside the list to be executed conflict with the tasks in the list to be executed, discarding the tasks to be executed which conflict, if the tasks to be executed outside the list to be executed do not conflict with the tasks in the list to be executed, putting the tasks to be executed which do not conflict into the list to be executed until all the idle automatic guided vehicles are allocated or all the tasks to be executed are allocated, and issuing the tasks in the list to be executed to the corresponding automatic guided vehicles.
Wherein, after the step of issuing the task with the calculated cost corresponding to the idle automated guided vehicle meeting the condition to the idle automated guided vehicle, the method comprises the following steps: and when the situation that the point locations corresponding to the task being executed by any automatic guided transport vehicle are unavailable is monitored, updating and issuing the point location with the lowest cost in the point locations still available for the task being executed to the automatic guided transport vehicle with the changed point location state corresponding to the task in the working area, the material preparation area and the return area.
Wherein, after monitoring that the point locations corresponding to the task being executed by any of the automated guided vehicles are unavailable, the step of updating the point location with the lowest cost among the point locations still available for the task being executed in the working area, the material preparation area and the return area, and issuing the point location to the automated guided vehicle with the changed point location state corresponding to the task includes: if the point location corresponding to the task being executed by any automatic guided vehicle is unavailable, and other point locations are still available for the task being executed in the working area, the material preparation area and the return area, calculating the cost of the automatic guided vehicle with the point location state change corresponding to the task from the available point location before, and updating and issuing the point location with the minimum cost to the automatic guided vehicle with the point location state change corresponding to the task; if the point location state corresponding to the task being executed by any automatic guiding transport vehicle changes and no other point locations are available for the task being executed in the working area, the material preparation area and the return area, the automatic guiding transport vehicle with the changed point location state corresponding to the task continues to drive to the point location corresponding to the task, and when the point location corresponding to the task is still unavailable after the distance from the point location corresponding to the task reaches a first threshold value, alarm information is sent.
In order to solve the above technical problem, another technical solution adopted by the present application is: the dispatching system comprises a sensing device, a control device, a processor and a memory which are electrically coupled, wherein the memory stores program data, and the program data are executed by the processor so as to execute the dispatching method of the automated guided transport vehicle between the sensing device and the control device.
In order to solve the above technical problem, the present application adopts another technical solution: there is provided an apparatus having a storage function, on which program data is stored, which when executed by a processor, implements the automated guided vehicle scheduling method described above.
The beneficial effect of this application is: after the point location state is obtained and the to-be-executed tasks are generated, cost calculation is carried out on the to-be-executed tasks, the tasks with the cost meeting the conditions are issued to the idle automatic guided transport vehicles instead of the tasks being randomly distributed to the idle automatic guided transport vehicles, therefore, the cost of the automatic guided transport vehicles for executing the tasks is low as much as possible, the tasks are distributed more reasonably, and the efficiency of all the automatic guided transport vehicles for executing the tasks is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for automated guided vehicle dispatch according to the present application;
FIG. 2 is a schematic view of an application scenario of an embodiment of the automated guided vehicle scheduling method according to the present application;
fig. 3a is a schematic view of an application scenario of another embodiment of the automated guided vehicle scheduling method according to the present application;
FIG. 3b is a schematic view of an application scenario of another embodiment of the automated guided vehicle dispatching method according to the present application;
FIG. 4 is a schematic diagram of an embodiment of an automated guided vehicle dispatch system according to the present application;
fig. 5 is a schematic structural diagram of an embodiment of the apparatus with a storage function according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Further, the term "plurality" herein means two or more than two.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating an embodiment of an automated guided vehicle scheduling method according to the present application, including:
step S101: and obtaining the states of at least part of point positions in the working area, the material preparation area and the return area to generate the task to be executed.
Specifically, in step S101, after the states of at least some point locations in the working area, the material preparation area, and the return area are obtained, a task to be executed is generated according to the states of the point locations. For example, the state of the point locations in the work area is obtained, if the point locations in the work area have no shelf, a task of taking a shelf with materials is generated to wait for execution, and if the point locations in the work area have empty shelves, a task of returning the empty shelves to the return area is generated to wait for execution.
It can be understood that, after the states of all the point locations in the working area, the material preparation area and the return area are obtained, the task to be executed is generated according to the states of all the point locations.
Step S102: the cost of the idle automated guided vehicle to perform the task to be performed is calculated.
Specifically, in step S102, after the tasks to be executed are generated, the cost to be spent for each task to be executed is calculated.
In one embodiment, cost calculation is performed according to the distance between the corresponding point locations of the task, when the task is estimated to be executed, the distance of a path taken by the automatic guided vehicle in the point location reciprocating process determines the cost, and the longer the distance is, the greater the cost is.
In another embodiment, the cost is calculated according to the time spent on executing the task, the time spent by the automated guided vehicle in the process of returning the points is estimated to determine the cost when executing the task, the speed of the automated guided vehicle, the distance of the paths between the points and the possible congestion condition are considered in calculating the time, and the time spent on executing the task is further calculated, wherein the longer the time, the larger the cost.
Step S103: and issuing the calculated task with the cost corresponding to the idle automatic guided vehicle meeting the condition to the idle automatic guided vehicle.
Specifically, in step S103, the task is issued to the corresponding idle automatic guided vehicle according to the cost to be spent on executing the task.
In one embodiment, a threshold value of the cost is set, only tasks to be executed below the threshold value are executed, the tasks exceeding the threshold value are not executed temporarily, and when the idle automatic guided vehicle finishes executing the current task and reaches other point locations, the cost for executing other tasks is recalculated.
In another embodiment, in the tasks to be executed, all task points and tasks where the corresponding automated guided vehicles do not conflict with other tasks are screened out, and then the task with the lowest cost corresponding to each idle automated guided vehicle is issued to the corresponding automated guided vehicle according to the base paper with the lowest cost.
According to the method for dispatching the automatic guided transporting vehicles, after the point position state is obtained and the tasks to be executed are generated, the tasks to be executed are subjected to cost calculation, the tasks with the cost meeting the conditions are issued to the idle automatic guided transporting vehicles, the tasks are not randomly distributed to the idle automatic guided transporting vehicles, therefore, the cost for the automatic guided transporting vehicles to execute the tasks is low as far as possible, the tasks are distributed reasonably, and the efficiency of all the automatic guided transporting vehicles to execute the tasks is improved.
For convenience of understanding, in an application manner, please refer to fig. 2 in combination, fig. 2 is a schematic view of an application scenario of an embodiment of the automated guided vehicle scheduling method of the present application, fig. 2 is a schematic view of the application scenario of the automated guided vehicle, where a circle filled with oblique lines represents a travel path of the automated guided vehicle, an area a is a stock preparation area, an area B is a work area, and an area C is a return area, it should be noted that in an actual application, a plurality of work areas, stock preparation areas, and return areas may be included, and the number of points in each area is also shown as specific.
Specifically, in step S101, after obtaining the states of at least some of the point locations in the working area, the material preparation area, and the returning area, if there is no shelf at the point location in the working area, a loading task is generated, and if there is an empty shelf in the working area, a returning task is generated. Wherein, the material loading task specifically divide into: and the subtasks of two steps of taking the goods shelves filled with the materials from the point position in the material preparation area and sending the goods shelves filled with the materials to the point position without the goods shelves in the working area are carried out. The shelf returning task is specifically divided into: and the subtasks of two steps of taking the empty goods shelf from the point position where the empty goods shelf exists in the working area and sending the empty goods shelf to the idle point position in the return area are carried out.
In a specific application scenario, if the point B1 in the work area is no shelf, and the point a1 and point a2 in the stock area are shelves containing materials, a possible loading task is generated according to each idle automatic guided vehicle, where the loading task includes that the idle automatic guided vehicle goes to a point a1 or a point a2 from the current position to take the shelf containing the materials, and moves the shelf containing the materials back to a point B1.
In another specific application scenario, in an obtaining working area, the point B1 is empty, the point B2 is a shelf with materials, the point B3 is empty, the point a1 and the point a2 in a material preparation area are shelves with materials, the point A3 is empty, the point C1 is a point empty, and the point C2 and the point C3 are shelves, so that possible loading tasks and returning tasks are generated according to each idle automatic guided transport vehicle. The loading task at this time includes: and the idle automatic guided vehicle is enabled to go to the point A1 or A2 from the current position to take the goods shelf filled with the materials, and the goods shelf filled with the materials is moved back to the point B1. The shelf returning task at this time includes: the empty automated guided vehicle is allowed to move from the current position to point B3 to pick up an empty rack and from point B3 to point C1. It can be understood that in other specific application scenarios, there may be more point locations in each region, and further, the number of possible tasks to be executed generated according to the point location state may also be correspondingly increased. The corresponding subdivision of the tasks is beneficial to adjusting the running path of the automatic guided vehicle in time when the point position state changes.
In other embodiments, there may be no returning area, the empty shelves in the working area are directly transported to the idle point locations in the material preparation area, and after the states of at least part of the point locations in the working area and the material preparation area are obtained, the loading task and/or the returning shelf task may be generated, where the returning shelf task includes: and taking the empty goods shelf from the point position with the empty goods shelf in the working area, and conveying the empty goods shelf to the point position without the goods shelf in the material preparation area.
Further, before step S102, it is further required to determine whether the task point location corresponding to the task to be executed is available, and in an ideal state, when there are N points in the working area without shelves, there are at least N points in the material preparation area with shelves filled with materials, and when there are N points in the working area with shelves empty, there are at least N points in the return area with shelves empty. And if the corresponding point locations of the tasks are in the available state, planning a complete task path from the idle automatic guided vehicle to all the combinations of the available point locations corresponding to the tasks to be executed.
However, if the point location in the material preparation area corresponding to the loading task is unavailable, a path from the idle automatic guided vehicle to any point location in the material preparation area is planned, and then a complete task path from the point location in the material preparation area to the point location in the working area corresponding to the loading task is planned.
In a specific application scenario, the point B1 in the working area is in a no-shelf state, and no shelf with materials is arranged at the point a1, the point a2 and the point A3 in the material preparation area, and then a complete task path for all combinations of the point a1-A3 is planned for each idle automated guided vehicle, and the point B1 is returned.
In another specific application scenario, if there is a point location that is not enabled, planning is performed only for the enabled point location. And if the B1 point in the working area is in a no-shelf state, neither A1 nor A2 in the material preparation area has a shelf with materials and the A3 point is not started, planning a complete task path of each idle automatic guided vehicle to any point in A1-A2 and returning to all combinations of the B1 points.
In another specific application scenario, if the number of the point locations of the shelves filled with the materials in the material preparation area is less than the point location of no shelf in the working area, planning a complete path of the idle automatic guided vehicle to any point location of the material preparation area, and returning to the point location of no shelf in the working area. And (3) the point positions B1 and B2 in the working area are in a goods shelf-free state, neither A1 nor A2 in the material preparation area have goods shelves filled with materials, and the point position A3 has a goods shelf filled with materials, so that the whole task path of all combinations of each idle automatic guided transport vehicle going to any point position A1-A3 and returning to any point position B1 or B2 is planned.
Further, if the point location in the returning area corresponding to the returning shelf task is unavailable, a path from the idle automatic guided vehicle to the point location in the working area corresponding to the returning shelf task is planned, and then a complete task path from the point location in the working area to any point location in the returning area is planned.
In a specific application scenario, the point B1 in the working area is in an empty rack state, and the point C1, the point C2 and the point C3 in the returning area are not idle, and then a complete task path of all combinations of each idle automatic guided vehicle to the point B1 is planned, and returns to any point of the point C1-the point C3.
In another specific application scenario, if there is a point location that is not enabled, planning is performed only for the enabled point location. And if the B1 point in the working area is in an empty shelf state, the C1 and the C2 in the return area are not idle and the C3 point is not started, planning a complete task path of all combinations of each idle automatic guided vehicle going to the B1 point and returning to any one of the C1 or the C2.
In another specific application scenario, if the number of the idle point locations in the return area is less than the point locations with empty shelves in the working area, a complete path for the idle automated guided vehicle to go to the point locations with empty shelves in the working area and then return to any point location in the return area is planned. And if the B1 point and B2 point in the working area are empty racks, the C1 point and C2 point in the return area are not idle, and the C3 point is idle, planning a complete task path of all combinations of any point in the C1-C3, wherein each idle automatic guided vehicle goes to any point in the B1 or the B2.
Before the cost calculation, all possible tasks are traversed, and even if the point positions corresponding to the tasks are unavailable, a complete task path is planned so as to utilize all idle automatic guided vehicles as far as possible. For example, when a loading task needs to be executed, the material preparation area is not provided with a shelf with materials, but an idle automatic guided vehicle is planned to wait at a point position in the material preparation area, and after the shelf is placed on the material preparation area, the automatic guided vehicle can move the shelf with the materials nearby, so that the task completing efficiency is improved.
Further, in step S102, when calculating the cost of the task to be executed, the travel time required for the idle automated guided vehicle to travel the complete task route needs to be estimated, and the speed, the angular speed, the speed limit on the route, and the congestion that may occur on the route of the automated guided vehicle are comprehensively considered during estimation, so as to obtain the travel time. And calculating task waiting time, and acquiring area priority time and point location priority time. And then the cost of the task to be executed is that the running time subtracts the task waiting time, subtracts the area priority time and subtracts the point priority time.
Specifically, the task waiting time is a conversion value of a time interval from generation to current time of the task to be executed. When the number of the tasks to be executed is larger than that of the idle automatic guided vehicles, the tasks to be executed cannot be executed immediately after being generated, the time interval from the generation start to the current time of the tasks to be executed is calculated, and the conversion value of the time interval is recorded as the task waiting time. For tasks far away from the automatic guided vehicle, the running time required for running a complete task path is relatively long, if the cost is judged according to the running time, some tasks are probably in a state to be executed for a long time when the idle automatic guided vehicle is not enough, but after the task waiting time is introduced, for the tasks which have been generated for a long time, the cost corresponding to the tasks is reduced after the running time minus the task waiting time, and then the tasks are executed after a period of time lag, so that the tasks are not delayed for a long time due to the fact that the tasks are far away from the idle automatic guided vehicle.
Specifically, the area priority time is a conversion value of the priority degree of the to-be-processed task in the working area, and the higher the priority degree of the to-be-processed task in the working area is, the larger the value of the area priority time corresponding to the to-be-processed task in the working area is. Because, in practical applications, it is likely that there is only one work area, stock preparation area and return area, rather than as shown in fig. 2. When there are multiple areas, for example, the empty shelves need to be removed as soon as possible from a point in one or more working areas, or the shelves with the materials need to be kept in the state of the shelves in one or more working areas, or even the shelves with the materials in one or more point preparation areas need to be removed as soon as possible. The user can correspondingly improve the priority level of the area, a priority value of the area is given according to the importance degree of the area, the priority value is converted into a numerical value of area priority time by the system, after the area priority time is subtracted from the driving time, the cost corresponding to the tasks of the point locations in the corresponding area is reduced, and then the tasks in the corresponding area are executed as soon as possible. Compared with the prior art, the method for determining the high, medium and low importance degrees simply converts the importance degrees into time values, brings the time values into cost calculation, enables a user to set the priority degree by himself, and enables cost to be continuously distinguishable when time is used as measurement, and therefore task execution sequence can be controlled more flexibly.
Specifically, the point location priority time is a conversion value of the priority degree of the point location in the same working area or the same material preparation area, and the higher the priority degree of the point location in the same working area or the same material preparation area is, the larger the value of the point location priority time corresponding to the point location in the same working area or the same material preparation area is. In practical application, the priority degrees of point locations in the same working area or the same material preparation area which need to be processed may also be different, so that a user can correspondingly improve the priority level of the corresponding point location, the priority value of the point location is given according to the importance degree of the point location, the system converts the priority value into the numerical value of the point location priority time, after the running time is subtracted by the point location priority time, the cost corresponding to the task of the corresponding point location is reduced, and the task corresponding to the corresponding point location is executed as soon as possible.
It can be understood that when the area priority time and the point location priority time do not need to be considered, the area priority time and the point location priority time are marked as 0, and when the task waiting time does not need to be considered, the task waiting time is not calculated, a user can freely select and combine the area priority time and the point location priority time according to actual requirements, and the task waiting time, the area priority time and the point location priority time are not necessarily started at the same time in actual application.
Further, in step S103, in order to reduce the cost for executing the task, improve the efficiency of executing the task, obtain the cost of all the tasks to be executed, and place the task with the lowest cost and the corresponding automated guided vehicle and the corresponding task point location in the list to be executed. Comparing tasks to be executed outside the list to be executed with the tasks in the list to be executed according to the order from low cost to high cost, if the tasks to be executed outside the list to be executed conflict with the tasks in the list to be executed, discarding the tasks to be executed which conflict, if the tasks to be executed outside the list to be executed do not conflict with the tasks in the list to be executed, putting the tasks to be executed which do not conflict into the list to be executed until all idle automatic guided vehicles are allocated or all the tasks to be executed are allocated, and issuing the tasks in the list to be executed to the corresponding automatic guided vehicles.
In a specific application scenario, after performing cost operation on all tasks to be executed generated in the above steps, placing the task with the lowest cost and the corresponding automated guided vehicle and the task point location into a temporary list to be executed, wherein the task with the lowest cost may be a task with both task point locations and a task with only point locations available in a working area. And comparing all other tasks outside the list to be executed with the tasks in the list to be executed to determine whether conflict occurs, wherein the conflict conditions comprise automatic guided vehicle superposition, task superposition and the fact that the automatic guided vehicle exceeds the limit at the same task point. And (4) putting the tasks which are not in conflict into the list to be executed, discarding the tasks which are in conflict, after one round of comparison, if the idle automatic guided vehicles and the tasks to be executed are not distributed completely, repeating the steps S102-S103 until all the idle automatic guided vehicles are distributed or all the tasks to be executed are distributed completely, and issuing the tasks in the list to be executed to the corresponding automatic guided vehicles.
In another specific application scenario, after performing cost operation on all the tasks to be executed generated in the above steps, tasks with available task corresponding point locations are screened out, among the tasks with available task corresponding point locations, the task with the lowest cost and the corresponding automated guided vehicle and the task point locations are placed into a temporary list to be executed, and for all the tasks with available task corresponding point locations outside the list to be executed, whether conflict occurs or not is compared with the tasks in the list to be executed, wherein the conflict conditions include that the automated guided vehicles are overlapped, the tasks are overlapped, and the automated guided vehicles on the same task point location exceed a limit. And putting the tasks which do not conflict into the list to be executed, and discarding the tasks which conflict. After one round of comparison, if the idle automatic guided vehicles and the tasks to be executed which are available at the corresponding point positions of the tasks are not distributed, repeating the steps S102-S103 until all the idle automatic guided vehicles are distributed, and issuing the tasks in the list to be executed to the corresponding automatic guided vehicles; or after the tasks to be executed, which are available at the point positions corresponding to all the tasks, are distributed, idle automatic guided vehicles are arranged, then the tasks which do not conflict with the tasks to be executed in the list to be executed are also placed in the list to be executed, the steps S102-S103 are repeated until all the idle automatic guided vehicles are distributed or all the tasks to be executed, which are available at the point positions in the working area are distributed, and the tasks in the list to be executed are issued to the corresponding automatic guided vehicles.
Further, after the task is issued, in the task being executed, a situation that a certain point location in the point locations corresponding to the task is unavailable may exist, so that an alarm signal can be sent out before the automatic guided vehicle reaches the unavailable point location, manual intervention is applied, and the state of the point location is changed.
Further, when the task is being executed, the point location state corresponding to the task may change due to human intervention, and when it is monitored that the point location corresponding to the task being executed by any automated guided vehicle is unavailable, the point location with the lowest cost among the still available point locations for the task being executed is updated and issued to the automated guided vehicle of which the point location state corresponding to the task changes in the working area, the material preparation area, and the return area. The state of the point locations in each area is monitored in real time, and after the state of the task point locations changes, the point locations which can be used are updated in real time to the automatic guided vehicle, so that the response capability of the automatic guided vehicle to emergency situations is improved, the task execution efficiency is improved, and the situation that the point locations are unavailable is not found until the automatic guided vehicle reaches the point locations.
Specifically, if the point location corresponding to the task being executed by any automated guided vehicle is unavailable, and other point locations are still available for the task being executed in the working area, the material preparation area and the return area, the cost of the point location corresponding to the task before the automated guided vehicle with the changed point location state is calculated, and the point location with the minimum cost is updated and issued to the automated guided vehicle with the changed point location state corresponding to the task. If the point location state corresponding to the task being executed by any automatic guided transport vehicle changes and no other point locations are available for the task being executed in the working area, the material preparation area and the return area, the automatic guided transport vehicle with the changed point location state corresponding to the task continues to drive to the point location corresponding to the task, and when the point location corresponding to the task is still unavailable after the distance from the point location corresponding to the task reaches the first threshold value, alarm information is sent. Furthermore, the strain capacity of the automatic guided vehicle is improved, and the efficiency of task execution is improved.
In one application, please refer to fig. 2 again, wherein a area a is a stock area, B is a work area, and C is a return area.
In a specific application scenario, a task being executed by an automated guided vehicle is a loading task of taking a shelf containing materials from a point a1 and then sending the shelf to a point B1, but in the process of going to a point a1, the shelf containing materials from the point a1 has been taken away by a human or other machine, but at this time, the shelf containing materials also exists at a point a2, and the point a2 does not conflict with other tasks being executed, the point of the loading task is changed to a point a2 in a stock preparation area, and the point a2 is sent to the automated guided vehicle.
In another specific application scenario, an automated guided vehicle is executing a task of getting a shelf containing materials from a point a1 and then sending the shelf to a point B1, but in the process of getting a shelf containing materials and returning to a point B1, an empty shelf or a shelf containing materials is placed on the point B1 by a person or other machine, so that the point B1 is unavailable, but when the point B2 is monitored to have no shelf, and the point B2 does not conflict with other tasks being executed, the point B of the loading task is changed to get a shelf containing materials and return to a point B2, and the point B2 is sent to the automated guided vehicle.
In another specific application scenario, an automated guided vehicle is performing a task of taking a shelf containing materials from a point a1 and then sending the shelf to a task of loading materials from a point B1, but on the way to a1, the shelf containing materials from the point a1 is taken away by a human or other machine, and no other points are available in a stock preparation area, and then the vehicle continues to travel to the point a1, and after the distance from the point a1 reaches a first threshold, no shelf is still located at the point a1, and then an alarm message is sent to request human intervention.
In another specific application scenario, an automated guided vehicle is performing a task of taking a shelf containing materials from a point a1 and sending the shelf to a point B1, but during the process of going to a point a1, the shelf containing materials from the point a1 has been taken away by a human or other machine, but at this time, the shelf containing materials also exists at the point a2, although the point a2 is included in the task of another automated guided vehicle, but the current automated guided vehicle is closer to the point a2, the point location of the current loading task of the current automated guided vehicle is changed to the point a2 in the stock preparation area, the point a2 is sent to the current automated guided vehicle, and then a new point location is assigned to another automated guided vehicle that needs to use the point a2 by using the above method, if a new point is available, and if no new point is available, alarm information is sent.
In another application, please refer to fig. 3a, where fig. 3a is an application scenario diagram of another embodiment of the automated guided vehicle scheduling method of the present application, where D is a first material preparation area, E is a second material preparation area, F is a first working area, G is a second working area, and H is a first returning area, and the shelves in the first working area that need the first material preparation area are filled with materials, the shelves in the second working area that need the second material preparation area are filled with materials, and the empty shelves are returned to the first returning area uniformly. Wherein, the circle filled with oblique lines represents the driving path of the automatic guided vehicle, the circle filled with dark dots (such as F1) represents the point-to-point non-use, the circle filled with light dots (such as D1) represents the point-to-point goods shelf, the circle filled with grid (such as H1) represents the empty goods shelf, and the circle without filling (such as E1) represents the empty goods shelf.
In a specific application scenario, in the state shown in fig. 3a, if the G3 point in the second working area has no shelf, a loading task is generated, the system receives the loading task, and further obtains two subtasks, that is, taking the shelf filled with the material from the point in the second material preparation area in the loading task, and sending the shelf filled with the material to the point in the second working area having no shelf. Therefore, firstly, the task of taking the goods shelves at the points E1, E2 and E3 in the preparation area II by all the idle automatic guided vehicles is calculated, the points E2 and E3 have goods shelves filled with materials, the users do not need to go to the point E1, supposing that the automatic guided vehicle No. 1 waits at the point D1, the automatic guided vehicle No. 2 waits at the point E1, and after the cost of the idle automatic guided vehicle going to the task point is calculated, the automatic guided vehicle No. 2 is dispatched to the point E2 to take the goods shelves filled with the materials to go to the point G3 for feeding.
Further, please refer to fig. 3b, where fig. 3b is an application scenario diagram of another embodiment of the method for dispatching an automated guided vehicle according to the present application, in a normal state, the automatic guided vehicle No. 2 sends the rack containing the material to the point G3, so that the current loading task can be completed, but assuming that the automatic guided vehicle No. 2 takes the material to the point G3 on the way, the point G3 is manually placed with the rack containing the material, and the rack at the point G2 has been moved away, at this time, the point b in the working area is in a state that there is no rack at the point G3 at the point G2, that is, the state shown in fig. 3b, after the system detects that the state of the point changes, the system performs cost calculation on the available point, updates the point G2 with the smallest cost to the automatic guided vehicle No. 2 heading to the point G3, and makes the automatic guided vehicle heading to the currently available point G2 with the smallest cost.
It can be understood that, for tasks and point location states in other specific application scenarios, if the tasks and point location states change, further reasoning can be performed, and details are not described here.
In addition, for the task being executed, when a situation that a certain point location is unavailable in the point locations corresponding to the task is present from the beginning, the first threshold value may also be set, and when the point location where the distance of the automated guided vehicle is unavailable reaches the first threshold value, the unavailable point location is still unavailable, an alarm message is sent to request human intervention, or of course, according to actual needs, the second threshold value may be set by the user, and no specific limitation is made here.
Further, if the number of the idle automatic guided vehicles is larger than the number of the tasks to be executed, the idle automatic guided vehicles are dispatched to the work area with lower cost or the point location in the material preparation area for standby, or the point location with higher priority level for standby.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the automated guided vehicle dispatching system of the present application, wherein the dispatching system 10 includes: the sensing device 12, the control device 14, the processor 16 and the memory 18 are electrically coupled, the memory 18 stores program data, and the program data is executed by the processor 16 to implement any of the above-mentioned automated guided vehicle scheduling methods between the sensing device 12 and the control device 14, and specific reference may be made to the above-mentioned method sections for relevant contents, which are not described herein again.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of a device with a storage function according to the present application, in which program data 200 is stored on the device with a storage function 20, and when the program data 200 is executed by a processor, any of the above methods for scheduling an automated guided vehicle is implemented.
Specifically, the device 20 with a storage function may be a server, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various devices capable of storing program codes.
In summary, the automated guided vehicle scheduling method, the scheduling system 10 and the device 20 with the storage function provided by the present application introduce the waiting time, the area priority time and the point priority time when performing the cost calculation, and when the time is taken as the measurement, the tasks are continuously distinguishable, so that the task execution sequence can be more flexibly controlled, and the task allocation rationality is improved. And the point location is updated to the automatic guided vehicle in time after the state of the corresponding point location of the task changes, so that the strain capacity of the automatic guided vehicle is improved, and the task execution efficiency is improved.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. An automated guided vehicle scheduling method, the scheduling method comprising:
obtaining the states of at least part of point locations in a working area, a material preparation area and a return area to generate a task to be executed;
calculating the cost of the idle automatic guided vehicle for executing the task to be executed;
and issuing the calculated task with the cost corresponding to the idle automatic guided vehicle meeting the condition to the idle automatic guided vehicle.
2. The scheduling method of claim 1, wherein the step of obtaining the status of at least some of the points in the work area, the stock area, and the return area to generate the task to be performed comprises:
obtaining the states of at least part of point locations in the working area, the material preparation area and the returning area, generating a loading task if no goods shelf is stored in the point locations in the working area, and generating a returning goods shelf task if an empty goods shelf is stored in the working area;
wherein, the material loading task includes: taking the goods shelves filled with the materials from the point position in the material preparation area, and conveying the goods shelves filled with the materials to the point position without the goods shelves in the working area;
the return shelf task includes: and moving to the point position with the empty goods shelf in the working area to take the empty goods shelf, and sending the empty goods shelf to the idle point position in the return area.
3. The scheduling method according to claim 2, wherein before the step of calculating the cost of the idle automated guided vehicle for executing the task to be executed, the method further comprises judging whether a task point corresponding to the task to be executed is available;
if the task point location corresponding to the task to be executed is available, planning a complete task path from the idle automatic guided vehicle to the available point location corresponding to the task to be executed;
if the point location in the material preparation area corresponding to the feeding task is unavailable, planning a path from the idle automatic guided vehicle to any point location in the material preparation area, and further planning a complete task path from the point location in the material preparation area to the point location in the working area corresponding to the feeding task;
and if the point location in the return area corresponding to the return shelf task is unavailable, planning a path from the idle automatic guided vehicle to the point location in the working area corresponding to the return shelf task, and further planning a complete task path from the point location in the working area to any point location in the return area.
4. The method of scheduling of claim 1 wherein the step of calculating the cost of an empty automated guided vehicle to perform the task to be performed comprises:
calculating task waiting time to obtain area priority time and point position priority time;
calculating the cost of the task to be executed, wherein the cost of the task to be executed is as follows: and subtracting the task waiting time, the area priority time and the point location priority time from the driving time required by the idle automatic guided vehicle to drive the complete task path.
5. The scheduling method of claim 4,
the task waiting time is a conversion value of a time interval from generation to current time of the task to be executed;
the region priority time is a conversion value of the priority degree of the task to be processed in the working region, and the higher the priority degree of the task to be processed in the working region is, the larger the value of the region priority time corresponding to the task to be processed in the working region is;
the point location priority time is a conversion value of the priority degree of the point location in the same working area or the same material preparation area, and the higher the priority degree of the point location in the same working area or the same material preparation area is, the larger the value of the point location priority time corresponding to the point location in the same working area or the same material preparation area is.
6. The scheduling method according to claim 1, wherein the step of issuing the calculated task whose cost corresponding to the idle automated guided vehicle meets the condition to the idle automated guided vehicle includes:
the cost of all the tasks to be executed is obtained, and the tasks with the lowest cost, the corresponding automatic guided vehicles and the corresponding task point positions are placed in a list to be executed;
comparing tasks to be executed outside the list to be executed with the tasks in the list to be executed according to the order of the cost from low to high, if the tasks to be executed outside the list to be executed conflict with the tasks in the list to be executed, discarding the tasks to be executed which conflict, if the tasks to be executed outside the list to be executed do not conflict with the tasks in the list to be executed, putting the tasks to be executed which do not conflict into the list to be executed until all the idle automatic guided vehicles are allocated or all the tasks to be executed are allocated, and issuing the tasks in the list to be executed to the corresponding automatic guided vehicles.
7. The scheduling method according to claim 1, wherein after the step of issuing the task with the calculated cost corresponding to the idle automated guided vehicle meeting the condition to the idle automated guided vehicle, the scheduling method comprises:
and when the situation that the point locations corresponding to the task being executed by any automatic guided transport vehicle are unavailable is monitored, updating and issuing the point location with the lowest cost in the point locations still available for the task being executed to the automatic guided transport vehicle with the changed point location state corresponding to the task in the working area, the material preparation area and the return area.
8. The scheduling method according to claim 7, wherein the step of updating, when it is monitored that the point location corresponding to the task being executed by any one of the automated guided vehicles is unavailable, the point location with the lowest cost among the point locations still available for the task being executed in the working area, the material preparation area, and the return area, to be issued to the automated guided vehicle with the point location state changed, includes:
if the point location corresponding to the task being executed by any automatic guided vehicle is unavailable, and other point locations are still available for the task being executed in the working area, the material preparation area and the return area, calculating the cost of the automatic guided vehicle with the point location state change corresponding to the task from the available point location before, and updating and issuing the point location with the minimum cost to the automatic guided vehicle with the point location state change corresponding to the task;
if the point location state corresponding to the task being executed by any automatic guiding transport vehicle changes and no other point locations are available for the task being executed in the working area, the material preparation area and the return area, the automatic guiding transport vehicle with the changed point location state corresponding to the task continues to drive to the point location corresponding to the task, and when the point location corresponding to the task is still unavailable after the distance from the point location corresponding to the task reaches a first threshold value, alarm information is sent.
9. An automated guided vehicle dispatch system comprising electrically coupled sensing devices, control devices, a processor, and a memory, wherein the memory stores program data that is executed by the processor to perform the method of any of claims 1-8 between the sensing devices and the control devices.
10. An apparatus having a storage function, on which program data are stored, characterized in that the program data, when being executed by a processor, are adapted to carry out the method according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010526051.3A CN111815226B (en) | 2020-06-11 | 2020-06-11 | Automatic guided transport vehicle dispatching method, dispatching system and storage device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010526051.3A CN111815226B (en) | 2020-06-11 | 2020-06-11 | Automatic guided transport vehicle dispatching method, dispatching system and storage device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111815226A true CN111815226A (en) | 2020-10-23 |
| CN111815226B CN111815226B (en) | 2024-04-16 |
Family
ID=72846510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010526051.3A Active CN111815226B (en) | 2020-06-11 | 2020-06-11 | Automatic guided transport vehicle dispatching method, dispatching system and storage device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111815226B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112541701A (en) * | 2020-12-22 | 2021-03-23 | 珠海格力智能装备有限公司 | Scheduling method and device based on scheduling system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040006416A1 (en) * | 2002-07-05 | 2004-01-08 | Samsung Electronics Co., Ltd. | Method of controlling automatic guided vehicle system |
| US20150026696A1 (en) * | 2013-07-21 | 2015-01-22 | General Electric Company | Systems and methods for scheduling vehicle-related tasks |
| CN105184527A (en) * | 2015-07-23 | 2015-12-23 | 广东嘉腾机器人自动化有限公司 | AGV-based storage method |
| 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 |
| US20180089616A1 (en) * | 2016-09-26 | 2018-03-29 | Cybernet Systems Corp. | Path and load localization and operations supporting automated warehousing using robotic forklifts or other material handling vehicles |
| CN108089558A (en) * | 2017-10-19 | 2018-05-29 | 真玫智能科技（深圳）有限公司 | A kind of AGV shelf outbound feeding control method and control system |
| CN108750511A (en) * | 2018-06-21 | 2018-11-06 | 上海托华机器人有限公司 | One kind plucking fruit formula method for sorting |
| CN109711723A (en) * | 2018-12-26 | 2019-05-03 | 广东嘉腾机器人自动化有限公司 | A kind of AGV method for allocating tasks, storage device and scheduling system |
| CN109917781A (en) * | 2017-12-13 | 2019-06-21 | 北京京东尚科信息技术有限公司 | For dispatching the method, apparatus and system of automated guided vehicle |
| WO2019154445A2 (en) * | 2019-04-11 | 2019-08-15 | 上海快仓智能科技有限公司 | Warehouse entry/exit control method for shelf array, and transportation system |
| WO2020010859A1 (en) * | 2018-07-12 | 2020-01-16 | 北京图森未来科技有限公司 | System for realizing automated transport of goods and related apparatus |
-
2020
- 2020-06-11 CN CN202010526051.3A patent/CN111815226B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040006416A1 (en) * | 2002-07-05 | 2004-01-08 | Samsung Electronics Co., Ltd. | Method of controlling automatic guided vehicle system |
| US20150026696A1 (en) * | 2013-07-21 | 2015-01-22 | General Electric Company | Systems and methods for scheduling vehicle-related tasks |
| CN105184527A (en) * | 2015-07-23 | 2015-12-23 | 广东嘉腾机器人自动化有限公司 | AGV-based storage method |
| US20180089616A1 (en) * | 2016-09-26 | 2018-03-29 | Cybernet Systems Corp. | Path and load localization and operations supporting automated warehousing using robotic forklifts or other material handling vehicles |
| 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 |
| CN108089558A (en) * | 2017-10-19 | 2018-05-29 | 真玫智能科技（深圳）有限公司 | A kind of AGV shelf outbound feeding control method and control system |
| CN109917781A (en) * | 2017-12-13 | 2019-06-21 | 北京京东尚科信息技术有限公司 | For dispatching the method, apparatus and system of automated guided vehicle |
| CN108750511A (en) * | 2018-06-21 | 2018-11-06 | 上海托华机器人有限公司 | One kind plucking fruit formula method for sorting |
| WO2020010859A1 (en) * | 2018-07-12 | 2020-01-16 | 北京图森未来科技有限公司 | System for realizing automated transport of goods and related apparatus |
| CN109711723A (en) * | 2018-12-26 | 2019-05-03 | 广东嘉腾机器人自动化有限公司 | A kind of AGV method for allocating tasks, storage device and scheduling system |
| WO2019154445A2 (en) * | 2019-04-11 | 2019-08-15 | 上海快仓智能科技有限公司 | Warehouse entry/exit control method for shelf array, and transportation system |
Non-Patent Citations (1)
| Title |
|---|
| 李睿;朱笑笑;栾楠;: "工厂环境多AGV动态调度系统的组合优化", 机械设计与研究, no. 06, 20 December 2019 (2019-12-20) * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112541701A (en) * | 2020-12-22 | 2021-03-23 | 珠海格力智能装备有限公司 | Scheduling method and device based on scheduling system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111815226B (en) | 2024-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190152057A1 (en) | Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler | |
| CN112198880B (en) | AGV task allocation method, logistics sorting method and system | |
| CN110309993B (en) | AGV task allocation method and device for automatic guided transport vehicle | |
| CN111661532B (en) | Storage container sorting method, storage container sorting device, storage container sorting equipment and storage medium | |
| CN113387089B (en) | Method for allocating warehouse positions, warehouse-in end and robot | |
| CN113361985B (en) | Goods space dynamic allocation method and device and electronic equipment | |
| CN112193953B (en) | Elevator resource scheduling method and device | |
| CN115649722B (en) | Dispatching method and device for storage vehicles | |
| US20240004403A1 (en) | Battery charge state based mission assignment for autonomous mobile robots | |
| CN111815226A (en) | Automatic guided transport vehicle scheduling method, scheduling system and storage device | |
| CN112214024B (en) | AGV task allocation method, logistics sorting method and system | |
| CN112644946A (en) | Storage robot control method, device, equipment and storage medium | |
| CN113033971A (en) | Server and waybill scheduling method, medium and device of delivery robot | |
| CN116455033A (en) | Charging control method and device for transfer robot and electronic equipment | |
| CN111950943A (en) | Dispatching method, device and equipment for distribution vehicle and storage medium | |
| CN114399247A (en) | Task allocation method, electronic device, storage medium, and computer program product | |
| CN113816049B (en) | Container scheduling method, device and system | |
| JP7335425B2 (en) | Warehouse flexible production method and apparatus, and computer readable storage medium | |
| CN114358680A (en) | Task allocation method, electronic device and computer program product | |
| CN110626689B (en) | Empty box processing method and device | |
| CN112034841A (en) | Goods picking method and system in unmanned environment and computer readable storage medium | |
| CN113177699A (en) | Distribution method and distribution system | |
| CN113159671A (en) | Material conveying method and device based on intelligent driving | |
| JP3665499B2 (en) | Autonomous distributed work allocation system | |
| CN113554250A (en) | Information processing method and device for transport vehicle |
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: 20201224 Address after: C10, 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Applicant after: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. Address before: No.1187 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: ZHEJIANG DAHUA TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| CB02 | Change of applicant information |
Address after: 310051 8 / F, building a, 1181 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Zhejiang Huarui Technology Co.,Ltd. Address before: C10, 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Applicant before: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |