CN114348585B - Logistics robot system based on platform scheduling and control method thereof - Google Patents
Logistics robot system based on platform scheduling and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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Abstract
The application provides a logistics robot system based on platform scheduling and a control method thereof, wherein the method comprises the following steps: calculating an actual logistics delivery place list corresponding to each item of goods in the goods demand list according to the goods demand list of each logistics receiving place; generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all cargoes of all logistics receiving places; distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; and sequentially performing path planning according to the delivery bill and the addresses of the logistics receiving places of the delivery bill in the order from the near to the far and reaching all the logistics receiving places. According to the method and the system, intelligent analysis and task distribution can be carried out according to the goods demand of the logistics receiving place and the material storage of the logistics delivery place, so that the bill materials can be efficiently and time-effectively transported to the demand place from the material storage place.
Description
Technical Field
The application relates to the technical field of robots, in particular to a logistics robot system based on platform scheduling and a control method thereof.
Background
With the continuous popularization of robot technology, intelligent robots have appeared in application scenes such as industrial factories, restaurants and the like, and can transport materials or foods to destinations according to commands of people and built-in maps.
However, with the increasing complexity of factory logistics, only manual judgment is needed to instruct the robots to execute logistics tasks, and in many cases, the robots often get closer to transport logistics materials far away, so that the transport time is prolonged, and the transport cost is high. Moreover, under the condition of multiple machines, the task allocation lacks objectivity and scientificity.
Disclosure of Invention
In view of this, the present application aims at providing a control method of a logistics robot system based on platform scheduling, which can solve the problem of current robot logistics transportation in a targeted manner.
Based on the above objects, the present application proposes a control method of a logistics robot system based on platform scheduling, comprising:
acquiring addresses of a plurality of logistics delivery places and a goods storage list of each logistics delivery place, and acquiring addresses of a plurality of logistics receiving places and a goods demand list of each logistics receiving place;
calculating an actual logistics delivery place list corresponding to each item of goods in the goods demand list according to the goods demand list of each logistics delivery place, wherein the actual logistics delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place;
generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all cargoes of all logistics receiving places;
distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the shipping manifest comprises at least one address of a logistics receiving place and corresponding names and numbers of the cargos;
after each logistics robot receives the goods on the goods delivery list, sequentially executing path planning according to the addresses of the logistics receiving places of the goods delivery list and the addresses of all logistics receiving places according to the goods delivery list in the sequence from the near to the far, and until the transported goods are unloaded.
Further, the sum of the numbers of the goods sent from the respective logistics shipments in the physical distribution list corresponding to each goods is equal to the demand of the goods in the goods demand list.
Further, according to the bill of demand of each logistics receiving place, calculating a physical distribution place list corresponding to each item of goods in the bill of demand of goods, where the physical distribution place list corresponding to each item of goods includes at least one logistics place and the number of the items of goods sent from each logistics place, including:
sequentially searching in the goods storage lists of all the logistics delivery places according to the names of the goods in the goods demand lists of each logistics receiving place to obtain at least one logistics delivery place corresponding to each goods in the goods demand lists of each logistics receiving place, and forming a logistics delivery place alternative list;
and obtaining a physical distribution real delivery place list corresponding to each item in the item demand list according to the principles of nearby delivery and on-demand delivery according to the address of each physical distribution place in the physical distribution place alternative list and the storage quantity of each item in the item storage list, the address of each physical distribution receiving place and the demand quantity of each item in the item demand list, wherein the physical distribution real delivery place list corresponding to each item comprises at least one physical distribution place and the quantity of the item sent from each physical distribution place.
Further, the generating a bill of each logistics delivery place according to the physical logistics delivery place list corresponding to all the cargoes of all the logistics receiving places comprises the following steps:
searching the names and the quantity of the goods sent by each logistics delivery place and the names and the addresses of the corresponding logistics delivery places according to the physical logistics delivery place list corresponding to all the goods of all the logistics delivery places;
and generating an invoice of each logistics delivery place according to the name and address of each logistics delivery place, the names and quantity of the goods sent by each logistics delivery place and the corresponding logistics receiving place name and address.
Further, the method distributes corresponding quantity of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of the single logistics robot, and calculates the delivery list of each logistics robot; the shipping manifest includes an address of at least one of the logistics receiving locations and a corresponding cargo name, quantity, including:
calculating the number and types of the logistics robots needed by each logistics delivery place according to the invoice of each logistics delivery place and the bearing capacity of the single logistics robot, and distributing the logistics robots with the corresponding number and types to each logistics delivery place;
carrying out task splitting on the invoice of each logistics delivery place among the logistics robots distributed to the logistics delivery place according to the principle that the logistics receiving places of each logistics robot are small in number;
taking the result after the task is split as a shipping manifest of each logistics robot; the shipping manifest includes an address of at least one of the logistics receiving locations and a corresponding cargo name, quantity.
Further, after each logistics robot receives the goods on the freight list, according to the freight list and the order from the near to the far, sequentially executing path planning according to the addresses of the logistics receiving places of the freight list and reaching all logistics receiving places until the transported goods are unloaded, including:
after each logistics robot receives the goods on the goods delivery list, firstly selecting the address of the nearest logistics receiving place according to the goods delivery list from the near to the far according to the sequence of the goods delivery list, and carrying out path planning and navigation to reach the logistics receiving place;
after unloading the goods in the logistics receiving place, continuing to select the address of the next logistics receiving place nearest to the next logistics receiving place, planning a path and navigating to reach the next logistics receiving place;
and repeatedly executing the steps of unloading cargoes and selecting the next logistics receiving place, sequentially executing path planning and reaching all logistics receiving places until the transported cargoes are unloaded.
Further, the acquiring addresses of the plurality of logistics shipments and the goods storage inventory of each logistics shipments, and acquiring addresses of the plurality of logistics reception sites and the goods demand inventory of each logistics reception site, includes:
the method comprises the steps of obtaining addresses of a plurality of logistics delivery places through a positioning sensor, and obtaining a goods storage list of each logistics delivery place through manual uploading or automatic uploading;
the addresses of the logistics receiving places are obtained through the positioning sensor, and the goods demand list of each logistics receiving place is obtained through manual uploading or automatic uploading.
Based on the above purpose, the present application also provides a logistics robot system based on platform scheduling, comprising:
an address and inventory acquisition module for acquiring addresses of a plurality of logistics shipments and a goods storage inventory of each logistics shipments, and acquiring addresses of a plurality of logistics reception sites and a goods demand inventory of each logistics reception site;
the system comprises an actual delivery place list module, a physical distribution system module and a physical distribution system module, wherein the physical delivery place list module is used for calculating an actual delivery place list of logistics corresponding to each item of goods in a goods demand list according to a goods demand list of each logistics receiving place, and the physical distribution system module is used for calculating at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place;
the invoice module is used for generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all the cargoes of all the logistics reception places;
a bill of delivery module for distributing a corresponding number of logistics robots to each logistics delivery place according to the bill of delivery place and the bearing capacity of single logistics robot, and calculating the bill of delivery of each logistics robot; the shipping manifest comprises at least one address of a logistics receiving place and corresponding names and numbers of the cargos;
and the path planning module is used for sequentially executing path planning according to the order from the near to the far according to the freight list and according to the addresses of the logistics receiving places of the freight list after each logistics robot receives the cargoes on the freight list, and reaching all the logistics receiving places until the transported cargoes are unloaded.
Overall, the advantages of the present application and the experience brought to the user are:
according to the method and the system, intelligent analysis and task distribution can be carried out according to the goods demand of the logistics receiving place and the material storage of the logistics delivery place, so that the bill materials can be efficiently and time-effectively transported to the demand place from the material storage place.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the system architecture principle of the present application.
Fig. 2 shows a flowchart of a control method of a logistic robot system based on platform scheduling according to an embodiment of the present application.
Fig. 3 shows a configuration diagram of a logistics robot system based on platform scheduling according to an embodiment of the present application.
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 shows a schematic diagram of the system architecture principle of the present application. In an embodiment of the application, the application provides a logistics robot system based on platform scheduling and a control method thereof. The method comprises the following steps: calculating an actual logistics delivery place list corresponding to each item of goods in the goods demand list according to the goods demand list of each logistics receiving place; generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all cargoes of all logistics receiving places; distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; and sequentially performing path planning according to the delivery bill and the addresses of the logistics receiving places of the delivery bill in the order from the near to the far and reaching all the logistics receiving places.
The dispatching of the whole logistics robot system can receive the freight bill through the server, and analyze and split the freight bill so as to reasonably control a plurality of logistics robots in a park to finish the freight bill. The control command of the server for the logistics robot can be sent through various existing wireless communication modes, such as Wifi, bluetooth, zigbee, GPRS, GSM, 4G, 5G and the like.
Fig. 2 shows a flowchart of a control method of a logistic robot system based on platform scheduling according to an embodiment of the present application. As shown in fig. 2, the control method of the logistics robot system based on platform scheduling includes:
step 101: acquiring addresses of a plurality of logistics shipments and a bill of lading for each logistics shipments, acquiring addresses of a plurality of logistics reception sites and a bill of lading for each logistics reception site, comprising:
the method comprises the steps of obtaining addresses of a plurality of logistics delivery places through a positioning sensor, and obtaining a goods storage list of each logistics delivery place through manual uploading or automatic uploading;
the addresses of the logistics receiving places are obtained through the positioning sensor, and the goods demand list of each logistics receiving place is obtained through manual uploading or automatic uploading.
For example, as shown in fig. 1, the goods storage manifest of the first logistics delivery place includes a plurality of goods a,10, goods B,20, goods C,30 stored therein; a goods storage list of a second stream delivery place comprises 5 goods A,5 goods B and 30 goods A; a third stream shipment location inventory comprising a store of goods B,10, C,20, D, 60; … …
A cargo demand list of a first logistics receiving place comprises cargos A,13 cargos B,55 cargos C and 20 cargos; a bill of demand for goods at the second stream receiving site, comprising goods a,5, goods B,10, goods D, 38; a bill of demand for the goods at the third receiving place of the stream, including goods B,5, goods C, 20; … …
Step 102: according to the goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each goods in the goods demand list, wherein the logistics actual delivery place list corresponding to each goods comprises at least one logistics delivery place and the quantity of the goods sent from each logistics delivery place, and the method comprises the following steps:
sequentially searching in the goods storage lists of all the logistics delivery places according to the names of the goods in the goods demand lists of each logistics receiving place to obtain at least one logistics delivery place corresponding to each goods in the goods demand lists of each logistics receiving place, and forming a logistics delivery place alternative list;
and obtaining a physical distribution real delivery place list corresponding to each item in the item demand list according to the principles of nearby delivery and on-demand delivery according to the address of each physical distribution place in the physical distribution place alternative list and the storage quantity of each item in the item storage list, the address of each physical distribution receiving place and the demand quantity of each item in the item demand list, wherein the physical distribution real delivery place list corresponding to each item comprises at least one physical distribution place and the quantity of the item sent from each physical distribution place.
In this step, the sum of the numbers of the items of the goods sent from the respective logistics shipments in the physical distribution list corresponding to each item of the goods is equal to the demand of the item of the goods in the goods demand list.
For example, according to the example of fig. 1, for the demand of the first logistics receiving site, the goods a are stored at both the first logistics delivery site and the second logistics delivery site, thus composing both logistics delivery sites into a logistics delivery site alternative list; the goods B are stored in the first logistics delivery place, the second logistics delivery place and the third logistics delivery place, so that the 3 logistics delivery places are combined into a logistics delivery place alternative list; the goods C are stored at both the first and third logistics shipments, thus making up these two logistics shipments into a logistics shipment alternative list.
Next, for the goods a of the first logistics receiving place, the first logistics receiving place closest to it is selected as the actual receiving place first, but the goods a in the first logistics receiving place is only 10 and less than 13 are required, so the second closest second logistics receiving place is continuously selected as the actual receiving place, and the goods a in the second logistics receiving place is 5, so the required quantity of the goods a of the first physical receiving place can be met. Thus, the first logistics delivery site and the second logistics delivery site are selected as the logistics actual delivery site list of the goods A in the first logistics receiving site. And calculating other cargoes in other logistics receiving places in sequence according to the principle, and selecting the actual delivery places and the corresponding quantity.
Step 103: generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all the cargoes of all the logistics receiving places, comprising:
searching the names and the quantity of the goods sent by each logistics delivery place and the names and the addresses of the corresponding logistics delivery places according to the physical logistics delivery place list corresponding to all the goods of all the logistics delivery places;
and generating an invoice of each logistics delivery place according to the name and address of each logistics delivery place, the names and quantity of the goods sent by each logistics delivery place and the corresponding logistics receiving place name and address.
In this step, after the demand of the logistics reception place is satisfied, the goods of each logistics reception place are sent to the respective logistics reception place, thereby forming an invoice. For example, 10 goods a at the first logistics distribution site, 20 goods B,30 goods C, and the remaining 10 goods C are all sent to the first logistics receiving site, 20 goods a, 30 goods C, and 10 goods C. Thus, the invoice of the first logistics origin is two: first logistics receiving place, goods A,10, goods B,20, goods C and 20; the third stream receives cargo C, 10. And so on.
Step 104: distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the shipping manifest includes an address of at least one of the logistics receiving locations and a corresponding cargo name, quantity, including:
calculating the number and types of the logistics robots needed by each logistics delivery place according to the invoice of each logistics delivery place and the bearing capacity of the single logistics robot, and distributing the logistics robots with the corresponding number and types to each logistics delivery place;
carrying out task splitting on the invoice of each logistics delivery place among the logistics robots distributed to the logistics delivery place according to the principle that the logistics receiving places of each logistics robot are small in number;
taking the result after the task is split as a shipping manifest of each logistics robot; the shipping manifest includes an address of at least one of the logistics receiving locations and a corresponding cargo name, quantity.
For example, for a first invoice at a first logistics delivery site, containing 50 shipments, if the transport capacity of each logistics robot is 25, then 2 logistics robots M, N can be allocated according to the above principles. According to the type of the robot, different types of logistics robots can be selected according to different objects of the robot. In addition, the distance between the transportation objects of each logistics robot is as close as possible, so that the transportation time of each robot is saved. For example, the logistics robot M may transport 10 cargos a, 15 cargos B to the first logistics receiving place, and the logistics robot N may transport 5 cargos B and 20 cargos C to the third logistics receiving place.
For the 2 nd invoice of the first logistics delivery place 10 goods C are contained, so that a logistics robot L can be arranged for the first logistics delivery place again to transport 10 goods C to the third logistics receiving place. Of course, if the transport capacity of the logistics robot N can be increased to accommodate 10 goods C in the 2 nd invoice, one robot L sent to the first logistics delivery site can be omitted and instead handed over to the robot N, which is now going to the third logistics receiving site, for transport.
Step 105: after each logistics robot receives the goods on the freight list, sequentially executing path planning according to the addresses of logistics receiving places of the freight list according to the order from the near to the far according to the freight list, and reaching all logistics receiving places until the transported goods are unloaded, wherein the method comprises the following steps of:
after each logistics robot receives the goods on the goods delivery list, firstly selecting the address of the nearest logistics receiving place according to the goods delivery list from the near to the far according to the sequence of the goods delivery list, and carrying out path planning and navigation to reach the logistics receiving place;
after unloading the goods in the logistics receiving place, continuing to select the address of the next logistics receiving place nearest to the next logistics receiving place, planning a path and navigating to reach the next logistics receiving place;
and repeatedly executing the steps of unloading cargoes and selecting the next logistics receiving place, sequentially executing path planning and reaching all logistics receiving places until the transported cargoes are unloaded.
In this step, after the location of the robot, the receiving location, is determined, the robot may be arranged to arrive at the location for shipment, and then after the bill of shipment is entered into the robot, it may be navigated according to the built-in map software, manually or automatically set, and the shipment is discharged to one or more receiving locations on the bill of shipment, completing the logistics transportation. For example, for a robot at a second stream shipment location (if 35 loads are carried), it would be necessary to first ship 2 loads a to its nearest second stream recipient location, and after unloading, to ship 3 loads a and 30 loads B to the farther first stream recipient location. Therefore, the distance of the robot on the way of completing all goods transportation can be reduced, and the whole time cost is saved.
According to the method and the system, intelligent analysis and task distribution can be carried out according to the goods demand of the logistics receiving place and the material storage of the logistics delivery place, so that the bill materials can be efficiently and time-effectively transported to the demand place from the material storage place.
An embodiment of the application provides a logistic robot system based on platform scheduling, which is used for executing the control method of the logistic robot system based on platform scheduling described in the above embodiment, as shown in fig. 3, and the system includes:
an address and manifest acquiring module 501 configured to acquire addresses of a plurality of logistics shipments and a manifest of a cargo store of each logistics shipments, and acquire addresses of a plurality of logistics reception sites and a manifest of a cargo demand of each logistics reception site;
an actual delivery site list module 502, configured to calculate, according to a bill of cargo demand of each logistics receiving site, a logistics actual delivery site list corresponding to each item of cargo in the bill of cargo demand, where the logistics actual delivery site list corresponding to each item of cargo includes at least one logistics delivery site and a number of items of cargo sent from each logistics delivery site;
an invoice module 503, configured to generate an invoice of each logistics origin according to the logistics actual origin list corresponding to all the cargoes of all the logistics receivers;
a bill of delivery module 504 for calculating a bill of delivery of each logistics robot by distributing a corresponding number of logistics robots to each logistics shipper according to the bill of delivery of each logistics shipper and the carrying capacity of a single logistics robot; the shipping manifest comprises at least one address of a logistics receiving place and corresponding names and numbers of the cargos;
and the path planning module 505 is configured to sequentially execute path planning according to the delivery list in the order from the near to the far and according to the addresses of the logistics receiving places of the delivery list after each logistics robot receives the goods on the delivery list, and to reach all the logistics receiving places until the transported goods are unloaded.
The logistic robot system based on platform scheduling provided by the above embodiment of the present application and the control method of the logistic robot system based on platform scheduling provided by the embodiment of the present application are based on the same inventive concept, and have the same beneficial effects as the method adopted, operated or implemented by the application program stored therein.
The embodiment of the application also provides an electronic device corresponding to the control method of the logistics robot system based on the platform scheduling provided by the previous embodiment, so as to execute the control method of the logistics robot system based on the platform scheduling. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 being connected by the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and when the processor 200 runs the computer program, the control method of the logistic robot system based on platform scheduling provided in any one of the foregoing embodiments of the present application is executed.
The memory 201 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 203 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
Bus 202 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. The memory 201 is configured to store a program, and the processor 200 executes the program after receiving an execution instruction, and the control method of the logistic robot system based on platform scheduling disclosed in any embodiment of the present application may be applied to the processor 200 or implemented by the processor 200.
The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 200 or by instructions in the form of software. The processor 200 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the control method of the logistics robot system based on platform scheduling provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic equipment and the control method of the logistics robot system based on platform scheduling according to the embodiment of the application are based on the same invention conception.
The present embodiment also provides a computer readable storage medium corresponding to the control method of the logistic robot system based on platform scheduling provided in the foregoing embodiment, please refer to fig. 5, which shows that the computer readable storage medium is an optical disc 30, on which a computer program (i.e. a program product) is stored, and when the computer program is executed by a processor, the control method of the logistic robot system based on platform scheduling provided in any embodiment is executed.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application and the control method of the logistic robot system based on platform scheduling provided by the embodiment of the present application are the same inventive concept, and have the same beneficial effects as the method adopted, operated or implemented by the application program stored therein.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and the above description of specific languages is provided for disclosure of preferred embodiments of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as a device or system program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (4)
1. The control method of the logistics robot system based on platform scheduling is characterized by comprising the following steps:
acquiring addresses of a plurality of logistics delivery places and a goods storage list of each logistics delivery place, and acquiring addresses of a plurality of logistics receiving places and a goods demand list of each logistics receiving place;
calculating an actual logistics delivery place list corresponding to each item of goods in the goods demand list according to the goods demand list of each logistics delivery place, wherein the actual logistics delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place;
generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all cargoes of all logistics receiving places;
distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the shipping manifest comprises at least one address of a logistics receiving place and corresponding names and numbers of the cargos;
after each logistics robot receives the goods on the goods delivery list, sequentially executing path planning according to the order of the goods delivery list from the near to the far according to the goods delivery list and the addresses of the goods delivery sites of the goods delivery list until all the goods delivered are unloaded;
the sum of the quantity of the goods sent from each logistics delivery place in the physical distribution actual delivery place list corresponding to each goods is equal to the demand quantity of the goods in the goods demand list;
according to the goods demand list of each logistics receiving place, calculating a logistics actual delivery place list corresponding to each item of goods in the goods demand list, wherein the logistics actual delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place, and the method comprises the following steps:
sequentially searching in the goods storage lists of all the logistics delivery places according to the names of the goods in the goods demand lists of each logistics receiving place to obtain at least one logistics delivery place corresponding to each goods in the goods demand lists of each logistics receiving place, and forming a logistics delivery place alternative list;
according to the address of each logistics delivery place in the logistics delivery place alternative list and the storage quantity of each item of goods in the goods storage list, and the address of each logistics delivery place and the demand quantity of each item of goods in the goods demand list, obtaining a logistics actual delivery place list corresponding to each item of goods in the goods demand list according to the principles of nearby delivery and on-demand delivery, wherein the logistics actual delivery place list corresponding to each item of goods comprises at least one logistics delivery place and the quantity of the item of goods sent from each logistics delivery place;
generating an invoice of each logistics delivery place according to the logistics actual delivery place list corresponding to all the cargoes of all the logistics receiving places, wherein the method comprises the following steps of:
searching the names and the quantity of the goods sent by each logistics delivery place and the names and the addresses of the corresponding logistics delivery places according to the physical logistics delivery place list corresponding to all the goods of all the logistics delivery places;
generating an invoice of each logistics delivery place according to the name and address of each logistics delivery place, the names and quantity of the goods sent by each logistics delivery place and the corresponding logistics receiving place names and addresses;
distributing a corresponding number of logistics robots to each logistics delivery place according to the delivery list of each logistics delivery place and the bearing capacity of each logistics robot, and calculating the delivery list of each logistics robot; the shipping manifest includes an address of at least one of the logistics receiving locations and a corresponding cargo name, quantity, including:
calculating the number and types of the logistics robots needed by each logistics delivery place according to the invoice of each logistics delivery place and the bearing capacity of the single logistics robot, and distributing the logistics robots with the corresponding number and types to each logistics delivery place;
carrying out task splitting on the invoice of each logistics delivery place among the logistics robots distributed to the logistics delivery place according to the principle that the logistics receiving places of each logistics robot are small in number;
taking the result after the task is split as a shipping manifest of each logistics robot; the shipping manifest comprises at least one address of a logistics receiving place and corresponding names and numbers of the cargos;
after each logistics robot receives the goods on the freight list, sequentially executing path planning according to the order of the freight list from the near to the far according to the logistics receiving places and the addresses of the logistics receiving places of the freight list until all the logistics receiving places are reached, and completing unloading of the transported goods, wherein the method comprises the following steps:
after each logistics robot receives the goods on the freight list, firstly selecting the address of the closest logistics receiving place from the logistics robot according to the order of the logistics receiving places from the near to the far according to the freight list, and carrying out path planning and navigation to reach the logistics receiving place;
after unloading the goods in the logistics receiving place, continuing to select the address of the next logistics receiving place closest to the next logistics receiving place, planning a path and navigating to reach the next logistics receiving place closest to the next logistics receiving place;
and repeatedly executing the steps of unloading cargoes and selecting the next logistics receiving place, sequentially executing path planning and reaching all logistics receiving places until the transported cargoes are unloaded.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the acquiring the addresses of the plurality of logistics shipments and the goods storage list of each logistics shipments, the acquiring the addresses of the plurality of logistics receiver sites and the goods demand list of each logistics receiver site comprises the following steps:
the method comprises the steps of obtaining addresses of a plurality of logistics delivery places through a positioning sensor, and obtaining a goods storage list of each logistics delivery place through manual uploading or automatic uploading;
the addresses of the logistics receiving places are obtained through the positioning sensor, and the goods demand list of each logistics receiving place is obtained through manual uploading or automatic uploading.
3. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor runs the computer program to implement the method of claim 1 or 2.
4. A computer readable storage medium having stored thereon a computer program, the program being executed by a processor to implement the method of claim 1 or 2.
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