CN115489912A - Cargo transferring method and system of robot in intelligent warehousing - Google Patents
Cargo transferring method and system of robot in intelligent warehousing Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention relates to a cargo transferring method and a cargo transferring system of a robot in intelligent warehousing, wherein the method comprises the following steps: determining an initial state of a warehouse and a target state of the warehouse after the goods transfer is finished; defining physical information and logic information of the robot; compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot; and the controller controls the robot to execute actions according to the action sequence, so that the cargo is transferred. In the embodiment of the application, for different warehouses, only the initial state and the target state of the warehouse need to be determined, the physical information and the logic information of the robot are defined, the Clingo program is used for compiling an answer set program, the action sequence of the robot is obtained through solving, the controller controls the robot to execute actions according to the action sequence, for example, the robot executes what actions at what time, the transfer of goods is achieved, the transfer of the goods is achieved, universality is achieved, moreover, task allocation and path planning are not separately processed in the goods transfer process, and the goods transport efficiency is improved.
Description
Technical Field
The invention relates to the technical field of cargo transferring, in particular to a method and a system for transferring cargos of a robot in intelligent warehousing.
Background
At present, the method adopted for multi-batch multi-agent transfer tasks generally separates task allocation and path planning, i.e. a single task is allocated to a certain specific robot, and then required paths are calculated respectively according to tasks obtained by each robot. The robot then completes the specific task according to the calculated path.
First, the separation of task allocation and path planning results in inefficient transportation. In the task allocation stage, the central computing node lacks information of the path gauge, can only guess the time required by the actual action of the robot by using estimated information, and cannot allocate the task to the most suitable robot in real time according to the current state and the task state of the robot. Second, the choice of path planning algorithm generally depends on the nature of the task assignment result. Whereas the strategy of task allocation is specifically designed for a particular warehouse, a change in strategy can cause a change in the nature of the result. Therefore, different algorithms need to be designed or more modifications need to be made for different warehouses, and the method is not universal.
Disclosure of Invention
The invention provides a cargo transferring method and a cargo transferring system of a robot in intelligent warehousing, which can solve the technical problems of low transportation efficiency and no universality.
The technical scheme for solving the technical problems is as follows:
in a first aspect, an embodiment of the present invention provides a method for transferring goods by a robot in an intelligent warehouse, including:
determining an initial state of a warehouse and a target state of the warehouse after the goods transfer is finished;
defining physical information and logic information of the robot;
compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot;
and the controller controls the robot to execute actions according to the action sequence, so that the cargo is transferred.
In some embodiments, in the cargo transferring method for a robot in an intelligent warehouse, the method for writing an answer set program using a Clingo program and solving to obtain an action sequence of the robot includes:
abstracting an initial state of a warehouse into a fact input program;
abstracting physical rules and logical rules of the robot into constraints;
and taking the target state of the warehouse as a solving target.
In some embodiments, the cargo transferring method for a robot in a smart warehouse further includes:
calling a Clingo solver to solve;
after receiving the calling information, the Clingo solver expands a search tree according to the fact;
and the Clingo solver prunes the search tree according to the constraint to obtain an optimal solution.
In some embodiments, the method for transferring goods by using a robot in the smart warehouse further includes:
and translating the optimal solution to obtain the action sequence of the robot.
In some embodiments, in the cargo transferring method for a robot in a smart warehouse, the method comprises:
initial state of the warehouse the initial state comprises at least one of the following information: the route of the map, the barrier information, the information of the warehouse-out opening, the information of the warehouse-in opening and the cargo information;
the physical and logical information of the robot includes at least: the position of the robot, the velocity of the robot, the acceleration of the robot, the shape of the robot, the time required for the robot to perform each action.
In a second aspect, an embodiment of the present invention further provides a cargo transferring system for a robot in an intelligent warehouse, including:
a determination module: the system is used for determining the initial state of the warehouse and the target state of the warehouse after the goods transfer is finished;
a definition module: physical information and logical information for defining the robot;
the compiling module and the solving module are as follows: the method comprises the steps of compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot;
a control module: the controller is used for controlling the robot to execute actions according to the action sequence, so that cargo transferring is realized.
In some embodiments, in the cargo transferring system of a robot in a smart warehouse, the compiling module and the solving module are further configured to:
abstracting an initial state of a warehouse into a fact input program;
abstracting physical rules and logical rules of the robot into constraints;
and taking the target state of the warehouse as a solving target.
In some embodiments, in the cargo transferring system for a robot in a smart warehouse, the solving module is further configured to:
calling a Clingo solver to solve;
after receiving the calling information, the clingo solver expands a search tree according to the fact;
and the Clingo solver prunes the search tree according to the constraint to obtain an optimal solution.
In some embodiments, the cargo transferring system of the robot in the smart warehouse further includes: and the translation module is used for translating the optimal solution to obtain an action sequence of the robot.
In some embodiments, in the cargo transferring system of the robot in the smart warehouse,
initial state of the warehouse the initial state comprises at least one of the following information: the route of the map, the barrier information, the information of the warehouse-out opening, the information of the warehouse-in opening and the cargo information;
the physical and logical information of the robot includes at least: the position of the robot, the velocity of the robot, the acceleration of the robot, the shape of the robot, the time required for the robot to perform each action.
The invention has the beneficial effects that: the application provides a cargo transferring method of a robot in intelligent warehousing, which comprises the following steps: determining an initial state of a warehouse and a target state of the warehouse after the goods transfer is finished; defining physical information and logic information of the robot; compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot; and the controller controls the robot to execute actions according to the action sequence, so that the cargo is transferred. In the embodiment of the application, for different warehouses, only the initial state of the warehouse and the target state of the warehouse need to be determined, the Clingo program is used for compiling the answer set program, the action sequence of the robot is obtained through solving, the controller controls the robot to execute actions according to the action sequence, for example, the robot executes the actions at the time, the transfer of goods is achieved, the goods transfer is achieved, the universality is achieved, in addition, the task allocation and the path planning are not separately processed in the goods transfer process, and the goods transportation efficiency is improved.
Drawings
Fig. 1 is a first diagram illustrating a method for transferring goods by a robot in an intelligent warehouse according to an embodiment of the present invention;
fig. 2 is a second diagram of a cargo transferring method of a robot in an intelligent warehouse according to an embodiment of the present invention;
fig. 3 is a third diagram of a cargo transferring method of a robot in an intelligent warehouse according to an embodiment of the present invention;
fig. 4 is a diagram of a cargo transferring system of a robot in an intelligent warehouse according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
In order that the above objects, features and advantages of the present application can be more clearly understood, the present disclosure will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not limiting of the application. All other embodiments obtained by a person of ordinary skill in the art based on the described embodiments of the present application are within the scope of protection of the present application.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Before describing the embodiments of the present invention, the definition of scenario and answer set in the prior art will be described.
In an automatic warehouse, the automatic goods transportation including the warehouse-out and warehouse-in is an important and difficult problem, and in the problem, the problems of task allocation, intelligent robot scheduling, route planning and the like need to be solved, and the aims of high transportation efficiency, high fault tolerance rate, high universality and the like need to be realized. To achieve this, the prior art generally uses a plurality of intelligent transfer robots controlled and uniformly managed by a central computing node, the robots do not communicate with each other, and the central processing node controls the travel path and specific tasks of the robots.
ASP (Answer Set Programming) is a declarative Programming paradigm. It is able to find the optimal solution that fits these rules, using a given reward function, in a given set of solutions, according to given rules, which contain facts and constraints. We will use the answer set programming approach to accomplish the task of task allocation and path planning in the central computing node described above.
Fig. 1 is a first diagram of a cargo transferring method of a robot in an intelligent warehouse according to an embodiment of the present invention.
In a first aspect, with reference to fig. 1, an embodiment of the present invention provides a method for transferring goods by a robot in an intelligent warehouse, including four steps S101 to S104:
s101: and determining the initial state of the warehouse and the target state of the warehouse after the goods transfer is finished.
Specifically, the cargo transferring in the embodiment of the present application refers to transferring the cargo from one place to another place by a single robot, the initial state of the warehouse refers to the state of the warehouse before the cargo transferring, and the target state of the warehouse refers to the state of the warehouse after the cargo transferring is finished.
The initial state of the warehouse in this application includes at least one of the following information: the method comprises the following steps of (1) obtaining a map path, barrier information, warehouse-out port information before transferring, warehouse-in port information before transferring and cargo information before transferring; the target state includes at least one of the following information: the path of the map, the obstacle information, the information of the warehouse-out opening after the transfer, the information of the warehouse-in opening after the transfer and the information of the goods after the transfer.
S102: physical information and logical information of the robot are defined.
Specifically, in the embodiment of the present application, the physical information at least includes: the position of the robot, the speed of the robot, the acceleration of the robot, the shape of the robot, the time required for the robot to perform each action, the logical information, which refers to the rules that the robot must follow during the motion, the physical and logical information of the robot are defined for subsequent use in the answer set program.
S103: and (5) compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot.
Specifically, in the embodiment of the application, an answer set program is written by using a Clingo program, and an action sequence of the robot is obtained by solving, it should be understood that the action sequence is a series of time and corresponding actions of the robot.
S104: and the controller controls the robot to execute actions according to the action sequence, so that the cargo is transferred.
Specifically, in the embodiment of the application, after the action sequence is obtained through solving, the controller controls the robot to execute the action according to the action sequence, that is, what action should be executed by the robot at what time, so as to realize the transfer of the goods.
It should be understood that for different warehouses, only the initial state and the target state of the warehouse need to be determined, the Clingo program is used for compiling the answer set program, the action sequence of the robot is obtained through solving, the controller controls the robot to execute actions according to the action sequence, cargo transferring is achieved, universality is achieved, task allocation and path planning are not separately processed in the cargo transferring process, and cargo transporting efficiency is improved.
Fig. 2 is a second diagram of a cargo transferring method of a robot in an intelligent warehouse according to an embodiment of the present invention.
In some embodiments, in the cargo transferring method for a robot in a smart warehouse, an answer set program is written by using a Clingo program, and a motion sequence of the robot is obtained by solving, with reference to fig. 2, the method includes: and S201 to S203.
S201: the initial state of the warehouse is abstracted into the fact input program.
Specifically, in the embodiment of the present application, the initial state of the warehouse, such as the path of the map, the obstacle information, the information of the warehouse exit before transportation, the information of the warehouse entry before transportation, and the information of the goods before transportation, etc., is abstracted into a real-world input program.
S202: the physical and logical information of the robot is abstracted into constraints.
Specifically, in the embodiment of the present application, the physical information of the robot is as follows: the position of the robot, the velocity of the robot, the acceleration of the robot, the shape of the robot, the time required for the robot to perform each action, logical information such as rules that the robot must follow during the motion, are abstracted into constraints.
S203: and taking the target state of the warehouse as a solving target.
Specifically, in the embodiment of the present application, the target states of the warehouse are as follows: and taking the path of the map, the obstacle information, the information of the warehouse-out opening after the transfer, the information of the warehouse-in opening after the transfer and the information of the goods after the transfer as solving targets.
Fig. 3 is a third diagram of a cargo transferring method of a robot in an intelligent warehouse according to an embodiment of the present invention.
In some embodiments, with reference to fig. 3, the method for transferring goods by using a robot in a smart warehouse further includes three steps S301 to S303:
s301: and calling a Clingo solver to solve.
S302: and after receiving the calling information, the Clingo solver expands a search tree according to the fact.
S303: and the Clingo solver prunes the search tree according to the constraint to obtain an optimal solution.
Specifically, in the embodiment of the present application, a Clingo solver is called to solve, the Clingo solver firstly expands a search tree according to the input fact, and searches for all possible solutions marked on the search tree, and this step is called expansion or grouping. Then, the solver prunes the search tree according to the constraint to finally obtain an optimal solution, and the step is called solving. It should be understood that the optimal solution herein is the optimal solution for the transfer of goods from one location to another.
In some embodiments, the method for transferring goods by using a robot in the smart warehouse further includes:
and translating the optimal solution to obtain the action sequence of the robot.
Specifically, after the optimal solution is obtained, the optimal solution is translated to obtain an action sequence of the robot, that is, at what time, what action the robot should perform, so as to realize the transfer of the goods.
Fig. 4 is a diagram of a cargo transferring system of a robot in an intelligent warehouse according to an embodiment of the present invention.
In a second aspect, with reference to fig. 4, an embodiment of the present invention further provides a cargo transferring system for a robot in an intelligent warehouse, including:
the determination module 401: the method is used for determining the initial state of the warehouse and the target state of the warehouse after the goods transfer is finished.
Specifically, the cargo transferring in this embodiment of the present application refers to transferring the cargo from one location to another location by a single robot, and the determining module 401 determines an initial state of the warehouse and a target state of the warehouse, where the initial state of the warehouse refers to a state of the warehouse before the cargo transferring, and the target state of the warehouse refers to a state of the warehouse after the cargo transferring is completed.
The initial state of the warehouse in the present application includes at least one of the following information: the method comprises the following steps of (1) obtaining a map path, barrier information, warehouse-out port information before transferring, warehouse-in port information before transferring and cargo information before transferring; the target state includes at least one of the following information: the route of the map, the information of the obstacles, the information of the warehouse-out opening after the transfer, the information of the warehouse-in opening after the transfer and the information of the goods after the transfer.
The definition module 402: for defining physical and logical information of the robot.
Specifically, in this embodiment of the application, the defining module 402 defines physical information and logical information of the robot, where the physical information at least includes: the position of the robot, the speed of the robot, the acceleration of the robot, the shape of the robot, the time required for the robot to perform each action, the logical information, which refers to the rules that the robot must follow during the motion, the physical and logical information of the robot are defined for subsequent use in the answer set program.
The writing module 403 and the solving module 404: and the method is used for writing an answer set program by using a Clingo program and solving to obtain the action sequence of the robot.
Specifically, in the embodiment of the present application, the compiling module 403 compiles an answer set program ASP using a Clingo program, and the solving module 404 solves the motion sequence of the robot, where it is understood that the motion sequence is a series of time and corresponding motion of the robot.
The control module 405: the controller is used for controlling the robot to execute actions according to the action sequence, so that the cargo transfer is realized.
Specifically, in this embodiment of the application, after the action sequence is obtained through solving, the control module 405 controls the robot to execute an action according to the action sequence, for example, what action the robot should execute at what time, so as to realize the transfer of the goods.
It should be understood that for different warehouses, only the determining module 401 needs to determine the initial state and the target state of the warehouse, the defining module 402 defines the physical information and the logical information of the robot, the compiling module 403 compiles an answer set program by using a Clingo program, the solving module 404 solves the action sequence of the robot, the control module 405 controls the robot to execute actions according to the action sequence to achieve cargo transfer, the universality is achieved, task allocation and path planning are not separately processed in the cargo transferring process, and the cargo transportation efficiency is improved.
In some embodiments, in the cargo transferring system of the robot in the smart warehouse, the compiling module 403 and the solving module 404 are further configured to:
the initial state of the warehouse is abstracted into the fact input program.
Specifically, in this embodiment of the application, the writing module 403 abstracts the initial state of the warehouse, such as the path of the map, the obstacle information, the information of the warehouse exit before transportation, the information of the warehouse entrance before transportation, and the information of the goods before transportation, into a real-time input program.
The physical and logical rules of the robot are abstracted into constraints.
Specifically, in this embodiment of the present application, the writing module 403 uses physical information of the robot, such as: the position of the robot, the velocity of the robot, the acceleration of the robot, the shape of the robot, the time required for the robot to perform each action, logical information such as rules that the robot must follow during the motion, are abstracted into constraints.
And taking the target state of the warehouse as a solving target.
Specifically, in this embodiment of the present application, the solving module 404 calculates the target state of the warehouse as: and taking the path of the map, the obstacle information, the information of the warehouse-out opening after the transfer, the information of the warehouse-in opening after the transfer and the information of the goods after the transfer as solving targets.
In some embodiments, in the cargo transferring system of the robot in the smart warehouse, the solving module 404 is further configured to:
and calling a Clingo solver to solve.
And after receiving the calling information, the Clingo solver expands a search tree according to the fact.
And the Clingo solver prunes the search tree according to the constraint to obtain an optimal solution.
Specifically, in this embodiment of the present application, the solving module 404 invokes a Clingo solver to solve, where the Clingo solver first expands a search tree according to the input fact, and searches for all possible solutions marked on the search tree, where this step is called expanding or grouping. Then, the solver prunes the search tree according to the constraint to finally obtain an optimal solution, and the step is called solving.
It should be understood that the optimal solution herein is the optimal solution for the transfer of goods from one location to another.
In some embodiments, the cargo transferring system of the robot in the smart warehouse further includes: and a translation module 405, configured to translate the optimal solution to obtain an action sequence of the robot.
Specifically, after obtaining the optimal solution, the translation module 405 further translates the optimal solution to obtain an action sequence of the robot, that is, at what time, what action the robot should perform, so as to achieve the transfer of the goods.
It will be understood by those skilled in the art that although some embodiments described herein include some but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments.
Those skilled in the art will appreciate that the descriptions of the various embodiments have different emphasis, and reference may be made to the related descriptions of other embodiments for those parts of one embodiment that are not described in detail.
Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art will be able to make various modifications and variations without departing from the spirit and scope of the application, and such modifications and variations are included in the specific embodiments of the present invention as defined in the appended claims, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of various equivalent modifications and substitutions within the technical scope of the present disclosure, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A cargo transferring method of a robot in intelligent warehousing is characterized by comprising the following steps:
determining an initial state of a warehouse and a target state of the warehouse after the goods transfer is finished;
defining physical information and logic information of the robot;
compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot;
and the controller controls the robot to execute actions according to the action sequence to realize cargo transfer.
2. The method for transferring goods by using a robot in a smart warehouse according to claim 1, wherein the writing of an answer set program by using a Clingo program and the solving of the action sequence of the robot comprise:
abstracting an initial state of the repository into a factual input program;
abstracting physical rules and logical rules of the robot into constraints;
and taking the target state of the warehouse as a solving target.
3. The method for transferring cargo of a robot in a smart warehouse as claimed in claim 2, wherein the method further comprises:
calling a Clingo solver to solve;
after the Clingo solver receives the calling information, a search tree is expanded according to the fact;
and the Clingo solver prunes the search tree according to the constraint to obtain an optimal solution.
4. The method for transferring cargo of a robot in a smart warehouse as claimed in claim 3, wherein the method further comprises:
and translating the optimal solution to obtain an action sequence of the robot.
5. The method for transferring cargo of a robot in a smart warehouse as claimed in claim 1,
the initial state of the warehouse comprises at least one of the following information: the route of the map, the barrier information, the information of the warehouse-out opening, the information of the warehouse-in opening and the cargo information;
the physical information and the logical information of the robot at least comprise at least one of the following information: the position of the robot, the velocity of the robot, the acceleration of the robot, the shape of the robot, and the time required for the robot to perform each action.
6. A cargo transfer system of robot in intelligent storage, characterized in that includes:
the determining module: the system is used for determining the initial state of the warehouse and the target state of the warehouse after the goods transfer is finished;
the definition module: physical information and logical information for defining the robot;
the compiling module and the solving module are as follows: the method comprises the steps of compiling an answer set program by using a Clingo program, and solving to obtain an action sequence of the robot;
a control module: and the controller is used for controlling the robot to execute actions according to the action sequence, so that the cargo transfer is realized.
7. The system of claim 6, wherein the authoring module and the solution module are further configured to:
abstracting an initial state of the repository into a factual input program;
abstracting physical rules and logical rules of the robot into constraints;
and taking the target state of the warehouse as a solving target.
8. The system of claim 7, wherein the solving module is further configured to:
calling a Clingo solver to solve;
after the Clingo solver receives the calling information, a search tree is expanded according to the fact;
and the Clingo solver prunes the search tree according to the constraint to obtain an optimal solution.
9. The system for transferring cargo of a robot in a smart warehouse as claimed in claim 8, wherein the system further comprises: the translation module is used for translating the received data,
and the translation module is used for translating the optimal solution to obtain an action sequence of the robot.
10. The cargo transferring system of a robot in a smart warehouse according to claim 6,
the initial state of the warehouse comprises at least one of the following information: the route of the map, the barrier information, the information of the warehouse-out opening, the information of the warehouse-in opening and the cargo information;
the physical information and the logical information of the robot at least comprise at least one of the following information: the position of the robot, the velocity of the robot, the acceleration of the robot, the shape of the robot, and the time required for the robot to perform each action.
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