CN111832678A - Sorting robot scheduling method and device, sorting robot and storage medium - Google Patents

Sorting robot scheduling method and device, sorting robot and storage medium Download PDF

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CN111832678A
CN111832678A CN202010696738.1A CN202010696738A CN111832678A CN 111832678 A CN111832678 A CN 111832678A CN 202010696738 A CN202010696738 A CN 202010696738A CN 111832678 A CN111832678 A CN 111832678A
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position point
point
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CN111832678B (en
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丁斌
余玉刚
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University of Science and Technology of China USTC
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Abstract

A sorting robot scheduling method, a sorting robot scheduling device, a sorting robot and a storage medium are applied to the technical field of logistics and comprise the following steps: acquiring a current position point and a destination position point of the mobile terminal; selecting a next location point according to the location point and the destination location point; acquiring the state information of the next position point; if the state information of the next position point is in an idle state, setting the state information of the current position point to be in the idle state, setting the state information of the next position point to be in a reserved state, going to the next position point, taking the next position point as the current position point after the next position point is reached, and executing the step of selecting the next position point again according to the current position point and the destination position point until the destination position point is reached. The sorting efficiency can be improved.

Description

Sorting robot scheduling method and device, sorting robot and storage medium
Technical Field
The application relates to the technical field of logistics, in particular to a sorting robot scheduling method and device, a sorting robot and a storage medium.
Background
In recent years, with the rapid development of the express delivery industry in China, the application of a Sorting Robot (SR) in express delivery Sorting is rapidly increased. Often hundreds of sorting robots are operating simultaneously in a sorting yard, and the central dispatch system directs the sorting robots to sort tens of thousands of packages from a point of load (a human or loading robot places a package onto the sorting robot) to hundreds of lots.
For the dispatching of sorting robots, the current dispatching method is basically based on a Central Dispatching System (CDS). For each package to be sorted, the CDS plans a path of the SR according to the bar code or two-dimensional code information of the package list and the position of the SR loaded with the package, and sends an action instruction to the SR; the two-dimensional code position labels attached to the ground form position points, and the position points are connected to form a circuit. And the SR acquires the position information by optically scanning the two-dimensional code position label, feeds back the execution result and the position information to the CDS, and waits for the CDS to issue a next instruction. In this mode, all scheduling instructions are collectively issued by the CDS, and the SR is simply an execution instruction and feedback. Because the SR number is large, the information amount needing data interaction is large, the CDS calculation workload is huge, high-performance server processing is needed, the problems of local congestion, system stagnation and the like often occur in the SR running process, the SR working efficiency is low, the sorting system capacity cannot be effectively exerted, and the like. Meanwhile, the SR scans the two-dimensional code position label pasted on the ground in an optical mode, the response speed is low, and the two-dimensional code position label is easy to wear and generate errors.
Disclosure of Invention
The application mainly aims to provide a sorting robot scheduling method and device, a sorting robot and a storage medium, which can improve the working efficiency of the existing sorting robot.
In order to achieve the above object, a first aspect of embodiments of the present application provides a sorting robot scheduling method, including:
acquiring a current position point and a destination position point of the mobile terminal;
selecting a next location point according to the location point and the destination location point;
acquiring the state information of the next position point;
and if the state information of the next position point is in an idle state, setting the state information of the current position point to be in the idle state, setting the state information of the next position point to be in a reserved state, moving to the next position point, taking the next position point as the current position point after the next position point is reached, and executing the step of selecting the next position point again according to the current position point and the destination position point until the destination position point is reached.
Optionally, the method further includes:
and if the state information of the next position point is in a non-idle state, after waiting for a preset time length, executing the step of acquiring the state information of the next position point again, wherein the non-idle state comprises a reservation state or an occupation state.
Optionally, the method further includes:
and if the state information of the next position point is still in a non-idle state after the step of obtaining the state information of the next position point is executed for the preset times, selecting another position point around the current position point as the next position point.
Optionally, the selecting a next location point according to the location point and the destination location point includes:
selecting a position point in one direction closest to the destination position point from four directions, namely front, back, left and right, of the current position point;
and taking the position point as the next position point.
Optionally, the obtaining the current location point and the destination location point where the mobile terminal is located includes:
acquiring the loading state of the self, wherein the loading state comprises no load and load;
when the loading state is no-load, executing the step of acquiring the current position point and the destination position point of the self, wherein the destination position point is a loading point;
and when the loading state is a load, executing the step of acquiring the current position point and the destination position point of the load, wherein the destination position point is a sorting point.
Optionally, when the destination location point is a cargo loading point, after the cargo loading point is reached, loading the cargo, modifying the loading state of the destination location point into a load, and performing the step of obtaining the current location point and the destination location point of the destination location point again, where the destination location point is a sorting point;
and when the destination position point is a sorting point, unloading the load of the destination position point after the destination position point reaches the sorting point, and modifying the loading state of the destination position point to be idle.
In a second aspect of the present embodiment, a dispatching device for a sorting robot includes:
the first acquisition module is used for acquiring a current position point and a destination position point of the first acquisition module;
a selection module for selecting a next location point according to the location point and the destination location point;
the second acquisition module is used for acquiring the state information of the next position point;
and the motion module is used for setting the state information of the current position point into an idle state if the state information of the next position point is in the idle state, setting the state information of the next position point into a reservation state, moving to the next position point, taking the next position point as the current position point after the next position point is reached, and executing the step of selecting the next position point again according to the current position point and the destination position point until the destination position point is reached.
Optionally, the sorting robot is provided with an RFID reader for scanning the radio frequency tag on the location point.
A third aspect of the embodiments of the present application provides a sorting robot, including:
the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor executes the program to realize the sorting robot scheduling method provided by the first aspect of the embodiment of the application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the sorting robot scheduling method provided in the first aspect of the embodiments of the present application.
As can be seen from the foregoing embodiments of the present application, the sorting robot scheduling method and apparatus, the sorting robot, and the storage medium provided by the present application can achieve the following beneficial effects:
1) the RFID reader is arranged, the speed of the sorting robot for obtaining the position information is greatly increased, and the risk that the two-dimensional code label of the ground position point is stained is eliminated.
2) The sorting robot is independently scheduled, dynamically decides and has higher speed. The bypassing treatment when meeting the front obstacle can avoid the occurrence of the blocking condition of a plurality of sorting robots.
3) The CDS does not need to carry out path planning and real-time scheduling on each sorting robot any more, and the workload is greatly reduced.
4) Most of the systems are general equipment and components, and the reliability is high. If the existing system is modified, only the ground label needs to be replaced, the optical scanning device of the sorting robot is replaced by the RFID reader, and the existing CDS, communication system and other facilities are utilized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a sorting robot scheduling method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a dispatching device of a sorting robot according to an embodiment of the present application;
fig. 3 shows a hardware structure diagram of a sorting robot.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying 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.
Referring to fig. 1, fig. 1 is a schematic flow chart of a sorting robot scheduling method according to an embodiment of the present application, the method mainly includes the following steps:
s101, acquiring a current position point and a destination position point of the mobile terminal;
s102, selecting a next position point according to the current position point and the destination position point;
s103, acquiring the state information of the next position point;
s104, if the state information of the next position point is in an idle state, setting the state information of the current position point to be in the idle state, setting the state information of the next position point to be in a reserved state, moving to the next position point, taking the next position point as the current position point after the next position point is reached, and executing the step of selecting the next position point again according to the current position point and the destination position point until the destination position point is reached.
The destination location point obtained in step S101 may be from the CDS, or may be directly input by a worker.
The status information of the next location point obtained in step S103 may be obtained from the central dispatching system (the central dispatching system stores the status information of each location point), or may be obtained from the status processor of the location point by installing a status processor at each location point.
In one embodiment of the present application, the method further comprises: and if the state information of the next position point is in a non-idle state, after waiting for a preset time length, executing the step of acquiring the state information of the next position point again, wherein the non-idle state comprises a reservation state or an occupation state.
Wherein the preset time period may be several milliseconds or several seconds. Can be set according to actual conditions.
The non-idle state can be a reservation state or an occupied state, the reservation state indicates that the sorting robot at the position point makes a reservation, the sorting robot is about to enter the position point, and the occupied state indicates that the sorting robot at the position point is occupied currently.
In one embodiment of the present application, the method further comprises: if the state information of the next position point is still in a non-idle state after the step of obtaining the state information of the next position point is executed for the preset times, another position point around the current position point is selected as the next position point.
For example, if the original next position point is a point to the left of the current position point, the position point on the right, front, or back side around the current position point may be selected as the new next position point. The position point on the right side, the front side or the rear side can be randomly selected as a new next position point, or the position point on the side closest to the destination position point among the three can be selected as a new next position point. The present embodiment does not limit this.
In one embodiment of the present application, step S102 includes: selecting a position point in one direction closest to the destination position point from four directions, namely front, back, left and right, of the current position point; this position point is taken as the next position point.
The four directions of the front, the back, the left and the right are respectively set as the four directions of X +, X-, Y + and Y-, and the position point in one direction closest to the destination position point is selected as the next position point.
More, more directions can be designed for selection.
In one embodiment of the present application, step S101 includes: acquiring the loading state of the self, wherein the loading state comprises no load and load; when the loading state is no-load, step S101 is executed: acquiring a current position point and a destination position point of the self, wherein the destination position point is a cargo carrying point; when the loading state is a load, step S101 is executed: and acquiring a current position point and a destination position point of the self, wherein the destination position point is a sorting point.
In one embodiment of the present application, when the destination location point is a cargo point, after the cargo point is reached, the cargo is loaded, and the loading status of the cargo is modified to be a load, and the step S101 is executed again: acquiring a current position point and a destination position point of the self, wherein the destination position point is a sorting point; when the destination position point is a sorting point, after the sorting point is reached, the load of the destination position point is unloaded, and the loading state of the destination position point is modified to be unloaded.
The present application is exemplified below in approximate chronological order:
step 1: before the system works every day, the CDS transmits the crossing coding information and the position point information to the sorting robot. All the sorting robots detect the loading state of the sorting robots, set the loading state to be a loading state or an idle state according to whether a load exists or not, and set the state information of the position points of the sorting robots to be a non-idle state and send the state information to the CDS.
And 2, informing the sorting robot in an idle state to go to a destination position point (namely a loading point) by the CDS. And setting the loading point as a destination position point by the sorting robot, and planning the next position point. Since hundreds and thousands of sorting robots are operated simultaneously, the state of each position point on the ground is unpredictable, and therefore, it is meaningless to perform the whole path planning. The sorting robot only needs to select the next position point to move forward, namely, every time one position point is reached, the next position point is searched, and the next position point approaches to the destination position point step by step.
Step 3, the sorting robot sends reservation information to the CDS, a next location point is reserved, the CDS obtains the state information of the next location point, if the state information of the next location point is in an idle state, a message that reservation is successful is returned to the sorting robot, the state information of the current location point is set to be in the idle state, the state information of the next location point is set to be in the reservation state, and the sorting robot goes to the next location point after receiving the message that reservation is successful. The sorting robot may also acquire the status information of the next location point from the CDS or the status processor on the location point, and if the status information of the next location point is in an idle state, the sorting robot executes step S104.
And 4, the sorting robot reaches a loading point, after the package is manually or mechanically loaded, the loading state of the package is changed into a loading state, then when the package passes through the scanning frame, the scanning equipment acquires the label information of the package and transmits the label information to the CDS, and the CDS retrieves the destination position point (namely, the sorting point) of the package and sends the destination position point to the sorting robot.
And 5, repeating the step 3 by the sorting robot according to the current position point and the destination position point until the destination position point is reached. And after the sorting robot unloads the load of the robot, the loading state of the robot is changed into no-load, the robot goes to a waiting area, receives a CDS instruction and returns to the step 2.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a dispatching device of a sorting robot according to an embodiment of the present application, the dispatching device mainly includes:
a first obtaining module 201, configured to obtain a current location point and a destination location point where the first obtaining module is located;
a selecting module 202, configured to select a next location point according to the location point and the destination location point;
a second obtaining module 203, configured to obtain state information of the next location point;
and a moving module 204, configured to set the state information of the current location point to be in an idle state if the state information of the next location point is in the idle state, set the state information of the next location point to be in a reserved state, go to the next location point, take the next location point as the current location point after the next location point is reached, and perform the step of selecting the next location point again according to the current location point and the destination location point until the destination location point is reached.
In one embodiment of the present application, the sorting robot is provided with an RFID reader for scanning the radio frequency tags on the location points. The two-dimensional code of the ground position point is changed into the radio frequency label, and the RFID reader on the sorting robot is matched, so that the speed of the sorting robot for obtaining the position information is greatly increased, and the risk of fouling the two-dimensional code label is eliminated.
In one embodiment of the present application, the sorting robot further includes: and a waiting module, configured to, if the state information of the next location point is in a non-idle state, wait for a preset time period, and then perform the step of obtaining the state information of the next location point again, where the non-idle state includes a reservation state or an occupied state.
In one embodiment of the present application, the sorting robot further includes: and a reselection module, configured to select another location point around the current location point as the next location point if the status information of the next location point is still in a non-idle state after the step of obtaining the status information of the next location point is performed for a preset number of times.
In one embodiment of the present application, the selection module 202 includes: the selection submodule is used for selecting a position point in one direction closest to the destination position point from the front direction, the rear direction, the left direction and the right direction of the current position point; a submodule is provided for taking the location point as a next location point.
In one embodiment of the present application, the sorting robot further includes: the third acquisition module is used for acquiring the loading state of the third acquisition module, wherein the loading state comprises no load and load; the first obtaining module is further configured to, when the loading state is no-load, perform the step of obtaining a current location point and a destination location point where the first obtaining module is located, where the destination location point is a loading point; the first obtaining module is further configured to, when the loading status is a load, perform the step of obtaining a current location point and a destination location point where the first obtaining module is located, where the destination location point is a sorting point.
In one embodiment of the present application, the sorting robot further includes: a first state modification module, configured to, when the destination location point is a cargo point, load the cargo after the destination location point is reached, modify the loading state of the destination location point into a load, and perform the step of acquiring the current location point and the destination location point of the destination location point again, where the destination location point is a sorting point; and the second state modification module is used for unloading the load of the destination location point after the destination location point is a sorting point and modifying the loading state of the destination location point into no load after the destination location point is reached.
Referring to fig. 3, fig. 3 shows a hardware structure diagram of a sorting robot.
The sorting robot described in this embodiment includes:
a memory 41, a processor 42 and a computer program stored on the memory 41 and executable on the processor, the processor when executing the program implementing the sorting robot scheduling method described in the foregoing embodiment shown in fig. 1.
Further, the sorting robot further includes:
at least one input device 43; at least one output device 44.
The memory 41, processor 42 input device 43 and output device 44 are connected by a bus 45.
The input device 43 may be a camera, a touch panel, a physical button, or a mouse. The output device 44 may specifically be a display screen.
The Memory 41 may be a high-speed Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a magnetic disk Memory. The memory 41 is used for storing a set of executable program code, and the processor 42 is coupled to the memory 41.
Further, the embodiment of the present disclosure also provides a computer-readable storage medium, which may be provided in the sorting robot in the foregoing embodiments, and the computer-readable storage medium may be the sorting robot in the foregoing embodiment shown in fig. 3. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the sorting robot scheduling method described in the foregoing embodiment shown in fig. 1. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that each functional module in each embodiment of the present disclosure may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module 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 invention may be substantially or partially embodied in the form of a software product, or all or part of the technical solution that contributes to the prior art.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required of the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the dispatching method and device for a sorting robot, the sorting robot and the readable storage medium provided by the present invention, those skilled in the art will appreciate that the concepts according to the embodiments of the present invention may be modified in the specific implementation manners and the application ranges.

Claims (10)

1. A sorting robot scheduling method is characterized by comprising the following steps:
acquiring a current position point and a destination position point of the mobile terminal;
selecting a next location point according to the location point and the destination location point;
acquiring the state information of the next position point;
and if the state information of the next position point is in an idle state, setting the state information of the current position point to be in the idle state, setting the state information of the next position point to be in a reserved state, moving to the next position point, taking the next position point as the current position point after the next position point is reached, and executing the step of selecting the next position point again according to the current position point and the destination position point until the destination position point is reached.
2. The sorting robot scheduling method of claim 1, further comprising:
and if the state information of the next position point is in a non-idle state, after waiting for a preset time length, executing the step of acquiring the state information of the next position point again, wherein the non-idle state comprises a reservation state or an occupation state.
3. The sorting robot scheduling method of claim 2, further comprising:
and if the state information of the next position point is still in a non-idle state after the step of obtaining the state information of the next position point is executed for the preset times, selecting another position point around the current position point as the next position point.
4. The sorting robot scheduling method according to any one of claims 1 to 3, wherein the selecting a next location point based on the location point and the destination location point comprises:
selecting a position point in one direction closest to the destination position point from four directions, namely front, back, left and right, of the current position point;
and taking the position point as the next position point.
5. The sorting robot scheduling method according to claim 1, wherein the obtaining of the current location point and the destination location point of the robot comprises:
acquiring the loading state of the self, wherein the loading state comprises no load and load;
when the loading state is no-load, executing the step of acquiring the current position point and the destination position point of the self, wherein the destination position point is a loading point;
and when the loading state is a load, executing the step of acquiring the current position point and the destination position point of the load, wherein the destination position point is a sorting point.
6. The sorting robot scheduling method according to claim 5, wherein when the destination location point is a loading point, after the loading point is reached, the load is loaded, the loading state of the destination location point is modified into a load, and the step of acquiring the current location point and the destination location point where the destination location point is located is performed again, the destination location point being a sorting point;
and when the destination position point is a sorting point, unloading the load of the destination position point after the destination position point reaches the sorting point, and modifying the loading state of the destination position point to be idle.
7. A sorting robot scheduling device, comprising:
the first acquisition module is used for acquiring a current position point and a destination position point of the first acquisition module;
a selection module for selecting a next location point according to the location point and the destination location point;
the second acquisition module is used for acquiring the state information of the next position point;
and the motion module is used for setting the state information of the current position point into an idle state if the state information of the next position point is in the idle state, setting the state information of the next position point into a reservation state, moving to the next position point, taking the next position point as the current position point after the next position point is reached, and executing the step of selecting the next position point again according to the current position point and the destination position point until the destination position point is reached.
8. Sorting robot according to claim 7, characterised in that the sorting robot is provided with an RFID reader for scanning radio frequency tags on location points.
9. A sorting robot comprising: memory, processor and computer program stored on and executable on the memory, characterized in that the processor, when executing the computer program, carries out the steps of the sorting robot scheduling method according to any of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the individual steps of the sorting robot scheduling method according to any one of claims 1 to 6.
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