CN114578812A - Robot scheduling method, device, controller, system and storage medium - Google Patents
Robot scheduling method, device, controller, system and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a robot scheduling method, a robot scheduling device, a controller, a robot scheduling system and a storage medium, and belongs to the field of robot control, wherein the method comprises the steps of acquiring task information; determining a target working position based on the task information; determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position; and sending the task information to the target robot so that the target robot executes a corresponding task according to the task information. The invention reduces the time consumed by the robot to arrive at the working position and improves the working efficiency of the robot.
Description
Technical Field
The present invention relates to the field of robot control, and in particular, to a robot scheduling method, apparatus, controller, system, and storage medium.
Background
With the rise of large-scale automatic warehouses, automatic dispatching in the warehouse becomes an important index for improving efficiency, the existing robot dispatching rule is to randomly dispatch idle robots, and the time for the robots to reach a working area is too long due to overlarge space in the warehouse.
Disclosure of Invention
The invention mainly aims to provide a robot scheduling method, a robot scheduling device, a controller, a robot scheduling system and a storage medium, and aims to solve the technical problem that when the existing robot scheduling rule only considers the scheduling of idle equipment, the time for a robot to arrive at a working area is too long due to overlarge bin.
In order to achieve the above object, the present invention provides a robot scheduling method for a controller in a warehousing system, the method comprising:
acquiring task information;
determining a target working position based on the task information;
determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position;
and sending the task information to the target robot so that the target robot executes a corresponding task according to the task information.
Optionally, before the step of determining a target robot closest to the target working area from at least two candidate robots in the warehousing system based on the target working area, the method further includes:
screening out at least one idle-time robot from at least two robots to be selected;
the step of determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position specifically includes:
and determining a target robot closest to the target working position from idle robots in the warehousing system based on the target working position.
Optionally, a warehouse site corresponding to the warehousing system is divided into a plurality of working areas, wherein each working area comprises a plurality of working positions;
after the step of determining the target working position based on the task information, the method further comprises:
determining a target working area including the target working position based on the target working position;
the step of determining a target robot closest to the target working position from idle-time robots in the warehousing system based on the target working position specifically includes:
and if the target working position is based on, determining a target robot closest to the target working position from idle robots in the target working area.
Optionally, the plurality of working areas are divided into a plurality of passage areas and a plurality of shelf areas, wherein the passage areas correspond to preset traveling directions, and before the step of sending the task information to the target robot so that the target robot performs a corresponding task according to the task information, the method further includes:
determining a target working path of the target robot based on the current position of the target robot, the task information and the preset traveling direction of each passage area;
the step of sending the task information to the target robot to enable the target robot to execute a corresponding task according to the task information specifically includes:
and sending the task information and the target working path to the target robot so that the target robot executes a corresponding task according to the task information and the target working path.
Optionally, before the step of determining the target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction, the method further comprises:
screening at least one busy area from a plurality of working areas; the busy area is a work area in which the number of the robots is larger than a preset number threshold when the number of the robots is not idle in the current area.
The step of determining a target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction specifically includes:
determining a first target working path based on the current position of the target robot, the task information and the preset traveling direction;
judging whether the first target working path passes through the busy area or not;
if the first target working path passes through the busy area, adjusting the first target working path to obtain a second target working path; the second target working path is a working path after the busy area is avoided;
the step of sending the task information and the target working path to the target robot so that the target robot executes a corresponding task according to the task information and the target working path specifically includes:
and sending the task information and the second target working path to the target robot so that the target robot executes a corresponding task according to the task information and the second target working path.
Optionally, after the step of determining whether the first target working path passes through the busy area, the method further includes:
and if the target robot does not pass through the busy area, sending the task information and the first target working path to the target robot so that the target robot executes a corresponding task according to the task information and the first target working path.
In order to achieve the above object, the present invention also provides a robot scheduling apparatus, comprising:
the task obtaining module is used for obtaining task information;
the position determining module is used for determining a target working position based on the task information;
the robot determining module is used for determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position;
and the task sending module is used for sending the task information to the target robot so as to enable the target robot to execute a corresponding task according to the task information.
In addition, to achieve the above object, the present invention also provides a controller, comprising:
the robot scheduling method comprises a memory, a processor and a robot scheduler stored on the memory and operable on the processor, wherein the robot scheduler realizes the steps of the robot scheduling method when executed by the processor.
In addition, to achieve the above object, the present invention also provides a warehousing system comprising:
a warehouse;
a controller configured as the controller described above;
at least one robot connected to the controller.
In addition, to achieve the above object, the present invention further provides a computer storage medium having a robot scheduler stored thereon, wherein the robot scheduler implements the steps of the robot scheduling method when being executed by a processor.
The embodiment of the invention provides a robot scheduling method, a robot scheduling device, a controller, a robot scheduling system and a storage medium, wherein the method comprises the steps of acquiring task information; determining a target working position based on the task information; determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position; and sending the task information to the target robot so that the target robot executes a corresponding task according to the task information.
Therefore, the working position is determined through the acquired task information, the target robot closest to the target working position is selected from the at least two robots to be selected according to the working position, and the target robot is controlled to execute the corresponding task, so that the time consumed by the robot for arriving at the working position is reduced, and the working efficiency of the robot is improved.
Drawings
FIG. 1 is a schematic structural diagram of a warehousing system according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a robot according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a robot scheduling method according to a first embodiment of the present invention;
FIG. 4 is a block diagram of a robot dispatching device according to a first embodiment of the present invention;
FIG. 5 is a schematic view of the direction of travel within the traffic zone of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring task information through a controller; determining a target working position based on the task information; determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position; and sending the task information to the target robot so that the target robot executes a corresponding task according to the task information.
With the rise of large-scale automatic warehouses, automatic scheduling in the warehouses becomes an important index for improving efficiency, and the existing robot scheduling rule is to randomly schedule idle robots, so that the problem that the working efficiency of the robots is low due to the fact that the warehouses are too large and the time for the robots to reach a working area is too long is caused.
The invention provides a solution, which determines a working position through the acquired task information, selects a target robot closest to a target working position from at least two robots to be selected according to the working position, and controls the target robot to execute a corresponding task, thereby realizing the reduction of time consumed by the robot to arrive at the working position and improving the working efficiency of the robot.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a warehousing system according to a first embodiment of the invention. As shown in fig. 1, the system may include a controller 11, a network 12, a robot 13, and a warehouse 14.
The warehouse 14 is a warehouse field corresponding to the warehousing system of the present invention, and it is understood that the warehouse includes a controller and at least two robots.
The controller 11 may be a physical PC server, a virtual server hosted by a host cluster, or even an embedded server. In operation, the controller 11 may run a robot scheduler to implement the relevant steps of the method.
Network 12 may include multiple types of wireless networks. In one embodiment, the network 12 may include a WIreless-FIdelity (WIFI) network. The robot 13 may interact with the controller 11 via a network 12.
The robot 13 may include various types of automated guided vehicles. In one embodiment, the robot may be an AGV. During operation, the robot 13 may receive the relevant instructions issued by the controller, and perform corresponding tasks in the warehouse.
Based on the warehousing system, referring to fig. 2, fig. 2 is a schematic structural diagram of a robot according to a first embodiment of the present invention, where the robot may include: a processor 1001 such as a Central Processing Unit (CPU), a communication bus 1002, an operator interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The operator interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional operator interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 2 does not constitute a limitation of the robot, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 2, the memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, an operator interface module, and an electronic program.
In the robot shown in fig. 2, the network interface 1004 is mainly used for data communication with a network server; the operator interface 1003 is mainly used for data interaction with an operator; the processor 1001 and the memory 1005 of the robot of the present invention may be disposed in the robot, and the robot calls the robot scheduling program stored in the memory 1005 through the processor 1001 and executes the robot scheduling method provided in the embodiment of the present application.
Based on the robot, referring to fig. 3, fig. 3 is a schematic flow chart of a first embodiment of a robot scheduling method of the present invention, where the method includes:
step S10, acquiring task information;
wherein, the task information may include: target shelf racking tasks, picking tasks, and the like.
Specifically, the operator may send the corresponding task to the controller through a workstation within the warehousing system.
Further, when the worker transmits a task, a start point of the task and a destination of the task are determined.
It is understood that, in this embodiment, after the operator sends the task, the controller sequentially acquires the task information sent by the operator.
Step S20, determining a target working position based on the task information;
wherein the target work position is a starting point of a task selected by the operator.
Specifically, the controller acquires a starting point of the task based on the task information, and determines the target working position based on the starting point of the task.
It can be understood that in order to position the position in the warehouse more quickly and accurately, the operator can divide the warehouse field into a plurality of coordinate points according to coordinate axes, and the target working position is the position coordinate corresponding to the starting point of the task.
Step S30, determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position;
it can be understood that the robot in the warehouse can feed back the current position of the robot in real time. As an optional implementation manner, a plurality of robot positioning tags are arranged in the warehouse field in an array manner, and the robot can accurately determine the current position of the robot by scanning the positioning tags.
Further, the distance between the robot and the target working position can be quickly obtained by calculating the coordinates of the current position of the robot and the coordinates of the target working position, for example, if the coordinates of the target working position are (1,1), if the coordinates of the current position of the robot a are (2,2), then the distance between the robot a and the target working position is 2, if the coordinates of the current position of the robot B are (2,1), then the distance between the robot B and the target working position is 1, if the coordinates of the current position of the robot C are (1,3), then the distance between the robot C and the target working position can be determined to be 2.
Further, the distances between all the robots in the warehousing system and the target working position are respectively compared, and the target robot closest to the target working position is determined. For example, if the distance between robot a and the target working position is 2, the distance between robot B and the target working position is 1, and the distance between robot C and the target working position is 2, it can be determined that robot B is the closest to the target working position, and then robot B is determined to be the target robot.
And step S40, sending the task information to the target robot so that the target robot executes corresponding tasks according to the task information.
The task information may include a starting point of the task, a destination of the task, and a task type.
And after receiving the task information, the target robot goes to the starting point of the task and executes the corresponding task according to the task type.
It will be appreciated that when a transport task is performed, an item to be transported at the start of the task may be transported to the destination of the task.
When the shelf sorting task is executed, the shelf at the starting point of the task can be sorted, and the destination of the task and the starting point of the task are the same point.
In the embodiment, task information is acquired through a controller; determining a target working position based on the task information; determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position; and sending the task information to the target robot so that the target robot executes a corresponding task according to the task information.
Therefore, the working position is determined through the acquired task information, the target robot closest to the target working position is selected from the at least two robots to be selected according to the working position, and the target robot is controlled to execute the corresponding task, so that the time consumed by the robot for arriving at the working position is reduced, and the working efficiency of the robot is improved.
Based on the first embodiment of the robot scheduling method, the second embodiment of the robot scheduling method of the present invention is provided, and it can be understood that there may be robots closest to perform other tasks, and therefore, the method is an alternative embodiment.
Prior to step 30, the method further comprises:
step S201, screening out at least one idle-time robot from at least two robots to be selected;
it will be appreciated that the robot may also feed back to the controller a status in real time, e.g. in working or in idle.
Further, the controller screens out the robots in the idle state from the states fed back by all the robots in the warehouse, wherein the robots in the idle state are idle robots.
Further, step 30 specifically includes:
and S301, determining a target robot closest to the target working position from idle robots in the warehousing system based on the target working position.
It can be understood that, in this embodiment, the controller determines, from the plurality of idle robots, an idle robot closest to the target working position, and the idle robot is the target robot.
In this embodiment, at least one idle-time robot is screened from at least two robots to be selected, and based on the target working position, the target robot closest to the target working position is determined from the idle-time robots in the warehousing system, so that the working efficiency of the robot is improved, and the occurrence of conflict of task execution of the robot is avoided.
Based on the above embodiments, the third embodiment of the robot scheduling method of the present invention is proposed, and it is easy to find out that after a plurality of idle robots are selected, there still exists a situation where the distances between the plurality of idle robots and the target working positions are the same,
after step S20, the method further includes:
step S202, determining a target working area comprising the target working position based on the target working position;
it should be noted that, an operator may divide a warehouse field corresponding to the warehousing system into a plurality of work areas according to a preset size in advance. Wherein the working area comprises a plurality of working positions, namely, each position corresponds to one working area,
Specifically, the warehouse yard may be divided into multiple work areas by 20 × 20. Each work area includes 400 work positions, that is, 400 position coordinates, for example, a work area includes (1,1) to (20,20), B work area includes (21,1) to (40,20), C work area includes (1,21) to (20,40), and D work area includes (21,21) to (40, 40). And if the target working position is (25,25), determining that the target working area is a D working area.
Further, step S301 specifically includes:
and step S3011, if the target working position is based on the target working position, determining a target robot closest to the target working position from idle robots in the target working area.
Specifically, the work area where the robot is located can be determined by acquiring the position information of the robot. For example, if the current position of robot a is (25,20), it is determined that robot a is in the B work area and the distance from the target work position is 5, and if the current position of robot B is (25,30), it is determined that robot B is in the D work area and the distance from the target work position is 5. At this time, although the distance between robot a and robot B and the target working position is 5, robot B and the target working position are both in the working area D, and robot B is determined to be the target robot.
Based on the foregoing embodiments, the fourth embodiment of the robot scheduling method of the present invention is provided, and it can be understood that there may be a case where there is no idle robot in the warehousing system.
As an alternative embodiment, after step S301, the method further includes:
step S302, when the robot is idle in the system, the controller acquires the current position of the robot and the destination position of the current task;
specifically, when the working states of all the robots acquired by the controller are all in working states, it is determined that there is no idle robot in the system.
Further, the controller acquires a current position of the robot and a destination position of a task being performed by the robot.
And step S303, determining the distance to be completed according to the current position and the destination position of the current task.
Specifically, the controller determines the distance to be completed based on the current position coordinates and the destination position coordinates of the task currently being executed. For example, if the destination position coordinate of the task currently being executed by robot a is (2,2) and the current position coordinate of robot a is (2,3), the distance to be completed at this time is 1.
And step S304, determining a new task distance according to the destination position and the target working position of the task which is being executed by the robot, and adding the distance to be completed and the new task distance to obtain an actual required distance.
Specifically, the controller determines a new task distance according to a destination position and a target working position of a task currently being executed by the robot. For example, if the destination position coordinate of the task currently being executed by robot a is (2,2) and the target working position coordinate is (1,1), the new task distance at this time is 2.
Further, the controller adds the distance to be completed and the new task distance to obtain the actual required distance. For example, if the distance to be completed of robot a is 1 and the new task distance of robot a is 2, then robot a actually needs distance 3.
Step S305, comparing the actual required distance, and determining the robot with the closest actual required distance as the target robot.
Specifically, the controller determines the non-idle-time robot closest to the target working position as the target robot by comparing the actual required distances of the plurality of non-idle-time robots.
Based on the foregoing embodiment, a fifth embodiment of the present invention is proposed, where before step S40, the method further includes:
step S31, determining a target working path of the target robot based on the current position of the target robot, the task information and the preset traveling direction of each passage area;
specifically, the operator divides the plurality of work areas into a plurality of aisle areas and a plurality of shelf areas, respectively.
The channel area corresponds to a preset traveling direction, it can be understood that the robot can only travel in the channel area and can only travel according to the preset traveling direction, and the specific traveling direction can be shown in fig. 5.
Further, since the robot can only travel in the passage area and can only travel according to the preset traveling direction, the robot travels from the current position to the target working position, and the target working position has an optimal path to the destination of the task, which needs to be described.
Step S40, specifically including:
step S401, the task information and the target working path are sent to the target robot, so that the target robot executes the corresponding task according to the task information and the target working path.
Specifically, the controller sends the task information and the target working path to the target robot, and after receiving the task information and the target working path, the robot goes to the target working position according to the target working path and goes to the destination of the task according to the target working path from the target working position.
In this embodiment, a target working path of the target robot is determined based on the current position of the target robot, the task information, and the preset traveling direction of each passage area, and the task information and the target working path are transmitted to the target robot, so that the target robot executes a corresponding task according to the task information and the target working path. The path is executed according to the set advancing direction, the conflict of multiple robots on the path is avoided, and the working efficiency of the robots is improved.
Based on the foregoing embodiment, a sixth embodiment of the present invention is provided, in which before step S31, the method further includes:
step S21, screening at least one busy area from a plurality of working areas;
the busy area is a work area in which the number of the robots is larger than a preset number threshold when the number of the robots is not idle in the current area.
Specifically, the non-idle-time robot may be a robot that is executing a task, and when the number of non-idle-time robots in one working area is greater than a preset number threshold, it is determined that the current working area is a busy area.
Further, step S31 specifically includes:
step S311, determining a first target working path based on the current position of the target robot, the task information, and the preset traveling direction;
in this embodiment, since the robot can only travel in the passage area and can only travel according to the preset travel direction, the robot has an optimal path from the current position to the target working position and from the target working position to the destination of the task, and it should be noted that the optimal path is the first target working path.
Step S312, judging whether the first target working path passes through the busy area;
specifically, as a preferred embodiment, if the number of coincidences of the coordinates on the first target work path and the coordinates in the busy area is greater than a preset value, it is determined that the first target work path passes through the busy area.
Further, in step S313, if the user passes through the busy area, the first target working path is adjusted to obtain a second target working path;
the second target working path is a working path after the busy area is avoided;
in this embodiment, since the robot can only travel in the passage area and can only travel according to the preset travel direction, the robot travels from the current position to the target work position, and travels from the target work position to the destination of the task, and has another optimal path after avoiding the busy area, it should be noted that the optimal path is the second target work path.
Step S401 specifically includes:
step S4011, sending the task information and the second target working path to the target robot, so that the target robot executes a corresponding task according to the task information and the second target working path.
Specifically, the controller sends the task information and the second target working path to the target robot, and after receiving the task information and the second target working path, the robot goes to the target working position according to the second target working path and goes to the destination of the task according to the first target working path from the target working position.
As another embodiment, in step S314, if the busy area is not passed, step S4012 is performed.
Specifically, if the number of coincidences of the coordinates on the first target working path and the coordinates in the busy area is greater than a preset value, it is determined that the first target working path does not pass through the busy area. At this time, step S4012 is performed.
And S4012, the task information and the first target working path are sent to the target robot, so that the target robot executes a corresponding task according to the task information and the first target working path.
Specifically, the controller sends the task information and the first target working path to the target robot, and after receiving the task information and the first target working path, the robot goes to the target working position according to the first target working path and goes to the destination of the task according to the first target working path from the target working position.
Based on the above method embodiments, referring to fig. 4, fig. 4 is a block diagram of a robot scheduling apparatus according to a first embodiment of the present invention, in this embodiment, the apparatus includes:
the task obtaining module is used for obtaining task information;
the position determining module is used for determining a target working position based on the task information;
the robot determining module is used for determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position;
and the task sending module is used for sending the task information to the target robot so as to enable the target robot to execute a corresponding task according to the task information.
For other embodiments and specific implementations of the robot scheduling apparatus of the present application, reference may be made to the foregoing method embodiments, which are not described herein again.
Furthermore, to achieve the above object, the present invention further provides a computer readable storage medium, having a robot scheduler stored thereon, which when executed by a processor implements the steps of the robot scheduling method according to the previous method embodiment. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot scheduling method for a controller in a warehousing system, the method comprising:
acquiring task information;
determining a target working position based on the task information;
determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position;
and sending the task information to the target robot so that the target robot executes a corresponding task according to the task information.
2. The robot scheduling method according to claim 1, wherein the step of determining a target robot closest to the target working area from at least two candidate robots in the warehousing system based on the target working area is preceded by the method further comprising:
screening out at least one idle-time robot from at least two robots to be selected;
the step of determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position specifically includes:
and determining a target robot closest to the target working position from idle robots in the warehousing system based on the target working position.
3. The robot scheduling method of claim 2, wherein a warehouse site corresponding to the warehousing system is divided into a plurality of work areas, wherein the work areas include a plurality of work positions;
after the step of determining the target working position based on the task information, the method further comprises:
determining a target working area including the target working position based on the target working position;
the step of determining a target robot closest to the target working position from idle-time robots in the warehousing system based on the target working position specifically includes:
and if the target working position is based, determining a target robot closest to the target working position from idle robots in the target working area.
4. The robot scheduling method of claim 3, wherein the plurality of working areas are divided into a plurality of passage areas and a plurality of shelf areas, wherein the passage areas correspond to preset traveling directions, and wherein the method further comprises, before the step of transmitting the task information to the target robot to cause the target robot to perform a corresponding task according to the task information:
determining a target working path of the target robot based on the current position of the target robot, the task information and the preset traveling direction of each passage area;
the step of sending the task information to the target robot to enable the target robot to execute a corresponding task according to the task information specifically includes:
and sending the task information and the target working path to the target robot so that the target robot executes a corresponding task according to the task information and the target working path.
5. The robot scheduling method of claim 4, wherein the step of determining the target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction is preceded by the method further comprising:
screening at least one busy area from a plurality of working areas; the busy area is a working area in which the number of the robots is greater than a preset number threshold when the number of the robots is not idle in the current area;
the step of determining a target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction specifically includes:
determining a first target working path based on the current position of the target robot, the task information and the preset traveling direction;
judging whether the first target working path passes through the busy area or not;
if the first target working path passes through the busy area, adjusting the first target working path to obtain a second target working path; the second target working path is a working path after the busy area is avoided;
the step of sending the task information and the target working path to the target robot so that the target robot executes a corresponding task according to the task information and the target working path specifically includes:
and sending the task information and the second target working path to the target robot so that the target robot executes a corresponding task according to the task information and the second target working path.
6. The robot scheduling method of claim 5, wherein after the step of determining whether the first target work path passes through the busy region, the method further comprises:
and if the target robot does not pass through the busy area, sending the task information and the first target working path to the target robot so that the target robot executes a corresponding task according to the task information and the first target working path.
7. A robot scheduling apparatus, characterized in that the apparatus comprises:
the task acquisition module is used for acquiring task information;
the position determining module is used for determining a target working position based on the task information;
the robot determining module is used for determining a target robot closest to the target working position from at least two robots to be selected in the warehousing system based on the target working position;
and the task sending module is used for sending the task information to the target robot so as to enable the target robot to execute a corresponding task according to the task information.
8. A controller, characterized in that the controller comprises:
memory, a processor and a robot scheduler stored on the memory and executable on the processor, the robot scheduler, when executed by the processor, implementing the steps of the robot scheduling method according to any of claims 1-6.
9. A warehousing system, characterized in that the system comprises:
a warehouse;
a controller configured as the controller of claim 8;
at least one robot connected to the controller.
10. A computer storage medium, characterized in that a robot scheduler is stored on the computer storage medium, which robot scheduler, when being executed by a processor, performs the steps of the robot scheduling method according to any of claims 1-6.
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| CN117874739A (en) * | 2024-03-13 | 2024-04-12 | 中国标准化研究院 | Information pushing method and system for intelligent manufacturing service |
| CN117874739B (en) * | 2024-03-13 | 2024-05-07 | 中国标准化研究院 | Information pushing method and system for intelligent manufacturing service |
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