CN115599063A - Warehouse logistics scheduling method and system - Google Patents
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- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
A warehouse logistics scheduling method and system comprises a warehousing subsystem, a scheduling subsystem, a safety management subsystem and a logistics subsystem; the storage subsystem marks storage position information and sends the storage position information to the scheduling subsystem after receiving the order task, the scheduling subsystem generates a scheduling planning path according to the storage position information, the order task information and the environment state information and transmits the scheduling planning path to the logistics vehicle to run according to the planning path, and the logistics vehicle carries out obstacle avoidance or detour running according to the obstacles diagnosed by the safety management subsystem in the running process; and the logistics subsystem records and processes logistics information of the order task completed in each system link, and generates a warehouse logistics log report for storing and displaying the order task. The invention can re-determine the sequencing according to the priority level of the tasks under the condition of multi-task scheduling, thereby avoiding the conflict problem existing in the multi-task scheduling; in the process of dispatching and carrying, an autonomous obstacle avoidance strategy and a path are adopted for re-planning, so that the problem of obstacles is solved quickly.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to a warehouse logistics scheduling method and system.
Background
Nowadays, inside an enterprise, a warehouse logistics system is often integrated with a production and manufacturing system, and has a very important influence on the production management efficiency of the enterprise. The key of the warehouse logistics system is the automation and informatization integration. Nowadays, the storage management adopted by small industries such as e-commerce, express delivery and clothing has the characteristics of sorting as a main part and storing as an auxiliary part, and the difficulty mainly lies in large-scale efficient accurate sorting. In the traditional picking mode, workers pass through related goods spaces in a certain area of a warehouse to pick goods, and the working mode is large in occupied area and low in efficiency. A reasonable method must be taken to quickly handle the picking of items.
The warehouse logistics workshop classifies and stores articles and the like, and then provides diversified services for customers through the automatic conveying device. The automation degree of the logistics technology directly influences the production efficiency, and the logistics scheduling is the most important ring for improving the automation degree of the logistics technology.
With the development of modern information technology, key technologies such as RGV scheduling and AGV scheduling are gradually mature, but some problems which need improvement urgently exist, for example, the method of the chinese patent application No. 202011443731.5, a scheduling method of a storage intelligent logistics vehicle, includes: s1: acquiring order information and the electric quantity and the working state of the intelligent logistics vehicle, and initializing the working state of the intelligent logistics vehicle; s2: receiving a distribution task, and generating an optimal scheduling scheme according to a scheduling mode selected by a user in advance; s3: and according to the optimal scheduling scheme, changing the working state of the corresponding intelligent logistics vehicle and executing a delivery task. According to the method, energy consumption or electric quantity saving is taken as a target according to a scheduling mode selected by a user, electric quantity information and working states of the intelligent logistics vehicles are comprehensively considered, an optimal scheduling scheme is generated, and the intelligent logistics vehicles are reasonably and effectively scheduled, so that the intelligent logistics vehicles complete distribution tasks in shorter time and with lower electric consumption, and distribution efficiency and energy utilization rate are effectively improved. The delivery optimization algorithm in the technical process is relatively complex, a lot of hardware devices (divided into a plurality of data nodes) need to be designed on site, the investment cost of warehousing is high, the efficiency of solving faults in the delivery process is not high, and the conflict problem of multi-task scheduling is difficult to solve.
Disclosure of Invention
In order to solve the above problems, the present invention provides a warehouse logistics scheduling method and system.
The technical scheme of the invention is as follows: a warehouse logistics dispatching system comprises a warehousing subsystem, a dispatching subsystem, a safety management subsystem and a logistics subsystem;
the warehousing subsystem marks warehousing position information after receiving the order task and sends the warehousing position information to the scheduling subsystem, the scheduling subsystem generates a scheduling planning path according to the warehousing position information, the order task information and the environment state information and transmits the scheduling planning path to the logistics vehicle to run according to the planning path, and the logistics vehicle carries out obstacle avoidance or detour running according to the obstacle diagnosed by the safety management subsystem in the running process; and the logistics subsystem records and processes logistics information of the order task completed in each system link, and generates a warehouse logistics log report for storing and displaying the order task.
Preferably, in the present technical solution, the warehousing subsystem 10 is configured to correspondingly complete the work of receiving, stocking, picking and delivering, and record the work state information of each link to generate a real-time warehousing model display diagram.
Preferably, in the technical solution, the scheduling subsystem is configured to generate a scheduling planning route according to the warehousing position information, the order task information, and the environmental state information.
Preferably, in the technical scheme, the scheduling subsystem acquires order information first, and determines the positions of the goods initial and final goods cabinets according to the order information; then, according to the logistics vehicle, the environment state and the position of the cargo cabinet, at least two paths reaching the exit position are drawn out by utilizing a multitask path planning and calculating rule, wherein the paths comprise a distance shortest path and a time-consuming shortest path; and finally, dispatching the logistics vehicle to deliver the goods to an outlet or a container according to the planned path to complete the order task.
Preferably, in the present technical solution, the safety management subsystem is configured to diagnose a current fault according to a position state of the logistics vehicle and an operation state of each subsystem, provide a fault handling suggestion, and enable an emergency stop when an abnormality that damages the system occurs.
Preferably, in the technical solution, the safety management subsystem provides a suspension suggestion when communication interruption, sensor abnormality, and abnormal failure of the execution mechanism occur; when scanning and recognizing that the next path has obstacles and cannot pass, providing an avoidance waiting passing suggestion; when the logistics vehicle breaks down and cannot run, a transfer suggestion is provided.
Preferably, in the technical solution, the logistics subsystem is configured to implement configuration and management of resources of each subsystem; more specifically, the logistics information of the order task completed in each link is collected and recorded and processed, and a warehouse logistics log report of the order task is generated to be stored and displayed, so that the requirements of query and analysis on historical states, tasks and a generation strategy instruction set are met.
Another object of the present invention is to provide a dispatching method of a warehouse logistics dispatching system, which comprises the following steps:
s10, obtaining order task information, and determining shelf information and task quantity and working state information of the logistics vehicle according to the order task information;
s20, generating at least 2 scheduling schemes according to the working state of the logistics vehicle, the position of a goods shelf and the distribution purpose;
s30, pre-judging faults according to the storage environment state and a scheduling scheme, taking safety measures for the pre-judged faults to protect, and re-selecting a safe scheduling logistics route;
and S40, executing the warehouse logistics task and completing the order.
Preferably, in the present embodiment, the step S20 includes the following steps:
s21, acquiring the current state of the system and a path diagram of the logistics vehicle in storage;
s22, determining the scheduling priority of order tasks;
s23, selecting a logistics vehicle according to the order task scheduling priority and scheduling according to the current state of the system;
s24, updating the system state and generating a new transfer path diagram according to the executed scheduling instruction;
s25, executing the first round of scheduling, and circularly performing a new round;
and S26, judging whether the transfer path table is empty or not, and determining whether the scheduling planning is finished or not.
Preferably, in the present embodiment, the step S30 includes the following steps:
s31, the logistics vehicles respectively act simultaneously according to the two planned main path routes and respectively drive from the starting point to the end point;
s32, scanning the surrounding environment once every time the warehouse is moved to;
s33, checking whether the next path is occupied;
finding obstacles and identifying the obstacles;
s35, stopping the barrier or continuing to run according to the scheduling priority level;
and S36, finishing the scheduling task.
Compared with the prior art, the invention has the beneficial effects that:
1. the system and the method can re-determine the sequence of the scheduling tasks (order tasks) according to the priority levels of the tasks under the condition of multi-task scheduling, and avoid the conflict problem existing in the multi-task scheduling.
2. In the process of dispatching and carrying, the system adopts an autonomous obstacle avoidance strategy and path re-planning, and the problem of obstacles in the carrying and distribution process is quickly solved.
3. In the invention, environmental information is scanned in real time in the driving process, the passing safety is ensured, and the scanning equipment is arranged on the logistics vehicle, so that the investment of storage hardware equipment is reduced, and the cost is reduced.
Drawings
FIG. 1 is an architecture diagram of a warehouse logistics scheduling system of the present invention;
FIG. 2 is a functional logic diagram of the warehouse logistics scheduling system of the present invention;
FIG. 3 is a flow chart of a method of warehouse logistics scheduling of the present invention;
FIG. 4 is a flow chart of a method of scheduling planning of the present invention;
fig. 5 is a flow chart of a method of dispatching barriers of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 and fig. 2, a warehouse logistics dispatching system comprises a warehousing subsystem 10, a dispatching subsystem 20, a safety management subsystem 30 and a logistics subsystem 40; the warehousing subsystem 10 marks warehousing position information after receiving the order task and sends the tagged warehousing position information to the scheduling subsystem 20, the scheduling subsystem 20 generates a scheduling planning path according to the warehousing position information, the order task information and the environment state information and transmits the scheduling planning path to the logistics vehicle to run according to the planning path, and obstacle avoidance or detour running is carried out according to the obstacle diagnosed by the safety management subsystem 30 in the running process; the logistics subsystem 40 records and processes logistics information of the order task completed in each link, and generates a warehouse logistics log report of the order task to be stored and displayed.
In this embodiment, the warehousing subsystem 10 is configured to correspondingly complete the work of links such as receiving, stocking, picking and delivering, and record the work status information of each link to generate a real-time warehousing model display diagram (which may also be referred to as a warehousing subsystem work status diagram). Preferably, in this embodiment, the hardware facilities of the warehousing subsystem 10 may be intelligent management warehouses with a three-dimensional double-layer structure, each layer of the management warehouses includes a group of storage platforms (cargo cabinets) on the left and right sides, and a plurality of different types of cargos can be stored according to actual requirements; except four groups of storage positions on two layers, two sides of the first layer and the second layer of the warehouse are respectively provided with an independent storage position which can be used for placing and dispatching goods. Meanwhile, the center of the second layer of the warehouse comprises a temporary storage position which can only be used for dispatching and operating the goods in the warehouse, when the goods are put into the warehouse, the temporary storage position can be manually removed, and the temporary storage position is marked in the warehouse model display diagram. It should be further noted that, when the sound field storage model is shown, a cell method (also referred to as a grid method) is preferred.
In this embodiment, the scheduling subsystem 20 is configured to generate a scheduling planned route according to the warehousing location information, the order task information, and the environmental status information. More specifically, order information is obtained firstly, and the positions of the goods initial and final goods cabinets are determined according to the order information; then, according to the logistics vehicle, the environment state and the position of the cargo cabinet, at least two paths reaching the exit position are drawn out by utilizing a multitask path planning and calculating rule, wherein the paths comprise a distance shortest path and a time-consuming shortest path; and finally, dispatching the logistics vehicle to deliver the goods to an outlet or a container according to the planned path to complete the order task.
In this embodiment, the safety management subsystem 30 is configured to diagnose a current fault according to a location state of the logistics vehicle and an operation state of each subsystem, provide a fault handling suggestion, and enable an emergency stop or perform other effective protection measures when an abnormality that damages the system occurs. More specifically, a suspension suggestion is provided, for example, when a failure such as a communication interruption, a sensor abnormality, an actuator abnormality, or the like occurs; when scanning and recognizing that the next path has obstacles and cannot pass, providing an avoidance waiting passing suggestion or starting another scheduling scheme suggestion; when the logistics vehicle breaks down and cannot run, a transfer suggestion is provided; but are not limited to, the examples given.
In this embodiment, the logistics subsystem 40 is configured to implement configuration and management of each subsystem resource; more specifically, the logistics information of the order task completed in each link is collected and recorded and processed, and the warehouse logistics log report of the order task is generated for storage and display, so that the requirements of query and analysis on historical states, tasks and generation strategy instruction sets are met.
The dispatching method of the warehouse logistics dispatching system comprises the following steps as shown in figure 3:
s10, acquiring order task information, and determining shelf information, the task amount of the logistics vehicle and working state information according to the order task information;
more specifically, when the order task is a receiving task, after the information of the position of the receiving inlet is clarified, the position of the temporary storage or fixed storage rack and the serial number of the container are determined according to the classification of the goods, the respective task amount and the working state information of the existing logistics vehicles are determined, and the logistics vehicles capable of executing the tasks are determined according to the task amount, the working state information and the position of the rack of the existing logistics vehicles. When the order task is inventory, the initial position of goods transportation needs to be determined, then the storage rack position and the container number are set as the terminal, and then the logistics vehicle for transporting the goods is determined according to the shortest time or shortest distance rule. When the order task is goods taking, firstly determining the storage rack position and the container number, and then arranging a robot or a logistics vehicle close to the storage rack position according to the latest principle to finish the goods taking; when the order task is delivery, the storage shelf position and the container number are determined to determine the initial position of the delivery of the goods, then the delivery outlet is used as the terminal point, and then the logistics vehicle for delivering the goods is determined according to the shortest time or shortest distance rule.
S20, generating at least 2 scheduling schemes according to the working state of the logistics vehicle, the position of a goods shelf and the distribution purpose;
the method further comprises the following steps as shown in figure 4:
s21, acquiring the current state of the system and a path diagram of the logistics vehicle in storage;
specifically, the order information is obtained from step S10 to determine shelf information, the task amount of the logistics vehicle, and the work state information, parameters such as the logistics vehicle, the shelf position, the start position, the end position, and the like are determined, then the environmental model (as described above, a grid is stored), a path map (topological map) is generated according to the logistics vehicle, the shelf position, and the work state information, and 2N paths are determined, where N is a positive integer.
S22, determining the scheduling priority of order tasks;
specifically, the scheduling level of a newly received order task is determined, and priority ordering is performed on the newly received order task and order tasks which are received before but are not completed in an urgent important, important and general manner. The priority level may also be determined by calculating a priority level importance indicator for the order task, which may be calculated using the following formula:
wherein, P i Representing the priority importance index of the ith order task, and k representing the number of completed order tasks;
λ represents the weight number of the scheduling path; r represents the total path number, and when Pi is calculated to be larger, the priority level is higher, the order needs to be completed quickly, so that the emergency demand can be responded quickly in time during multitask scheduling.
S23, selecting a logistics vehicle according to the order task scheduling priority and scheduling according to the current state of the system;
specifically, in step S22, the priority of order task scheduling is determined, and when the priority of a new order task is not ranked at the first level (i.e. is not urgent, the new order task is queued to wait for the execution of the task according to the rank of the new order task; when the priority of the new order task is arranged at the first level, new scheduling is carried out by combining the current state (task priority level) of the system after the logistics vehicle is selected;
s24, updating the system state and generating a new transfer path diagram according to the executed scheduling instruction;
specifically, when the logistics vehicle executes new scheduling, the system updates task state information and generates a new scheduling transfer path diagram, so that the logistics vehicle can drive according to the new scheduling transfer path diagram;
s25, executing the first round of scheduling, and circularly performing a new round;
and S26, judging whether the transfer path table is empty or not, and determining whether the scheduling planning is finished or not.
Specifically, when the logistics vehicle runs according to the new scheduling, the transfer path table is empty, the scheduling of the new task is finished, and when the transfer path table is not empty, the original uncompleted task is continued;
s30, pre-judging faults according to the storage environment state and a scheduling scheme, taking safety measures for the pre-judged faults to protect, and re-selecting a safe scheduling logistics route;
the method further comprises the following steps as shown in FIG. 5:
s31, the logistics vehicles respectively act simultaneously according to the two planned main path routes and respectively drive from the starting point to the end point;
it should be noted that the selection of starting two logistics vehicles simultaneously is based on the prejudgment of the existence of faults and the existence of multiple tasks of the logistics vehicles, and for the situation that the prejudgment of the existence of faults or the logistics vehicles only execute a single task, a single logistics vehicle can be selected
S32, scanning the surrounding environment once when the warehouse is moved to each warehouse;
specifically, in the process of driving of the logistics vehicle, one storage (which can also be regarded as a path node) is not reached, and one peripheral environment scanning is carried out to determine whether the peripheral environment can safely pass; the preferred scanning equipment is mounted on the logistics vehicle;
s33, checking whether the next path is occupied;
specifically, after acquiring the scanning information of the surrounding environment, the scheduling subsystem identifies whether the path is occupied according to the scanning information; when the temporary use is not performed, the step S341 is selected and the vehicle continues to travel according to the pre-planned route;
34, finding obstacles and identifying the obstacles;
specifically, after the path is identified to be occupied, the type of the obstacle occupying the path is further confirmed, and whether the obstacle can be eliminated in real time is determined, for example, temporary workers and the like can eliminate the obstacle in real time; if the obstacle is waiting to pass through the logistics vehicle or waiting to unload the logistics vehicle, judging that the obstacle cannot be eliminated in time;
s35, stopping the barrier or continuing to run according to the scheduling priority level;
specifically, for the obstacle that can be eliminated immediately, the vehicle is selected to continue to run, and for the obstacle that cannot be eliminated immediately, whether to suspend avoidance or continue to run is determined according to the scheduling priority level, if the priority level is higher than the occupied logistics vehicles, the vehicle is continued to run, otherwise, the vehicle is suspended in step S351; searching a nearest wall yielding point, pausing wall yielding at the wall yielding point, and judging that no new fault exists in the next step until a conflict path is passed;
and S36, finishing the scheduling task.
And S40, executing the warehouse logistics task and completing the order.
In conclusion, the system and the method of the invention can re-determine the sequence of the scheduling tasks (order tasks) according to the priority levels of the tasks under the condition of multi-task scheduling, thereby avoiding the conflict problem existing in the multi-task scheduling; in the process of dispatching and carrying, the system adopts an autonomous obstacle avoidance strategy and a path to re-plan, so that the problem of obstacles in the carrying and distribution process is quickly solved; and the process of traveling scans environmental information in real time, and the security of guarantee passing is accessible, and scanning equipment install on the commodity circulation car moreover can, reduced the input of storage hardware equipment, the cost is reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (10)
1. A warehouse logistics dispatching system is characterized by comprising a warehousing subsystem, a dispatching subsystem, a safety management subsystem and a logistics subsystem;
the warehousing subsystem marks warehousing position information after receiving the order task and sends the warehousing position information to the scheduling subsystem, the scheduling subsystem generates a scheduling planning path according to the warehousing position information, the order task information and the environment state information and transmits the scheduling planning path to the logistics vehicle to run according to the planning path, and the logistics vehicle carries out obstacle avoidance or detour running according to the obstacle diagnosed by the safety management subsystem in the running process; and the logistics subsystem records and processes logistics information of the order task completed in each system link, and generates a warehouse logistics log report for storing and displaying the order task.
2. The warehouse logistics scheduling system of claim 1, wherein the warehousing subsystem 10 is configured to correspondingly complete the work of receiving, stocking, picking and delivering links, and record the work status information of each link to generate a real-time warehouse model display diagram.
3. The warehouse logistics scheduling system of claim 1, wherein the scheduling subsystem is configured to generate a scheduling planning route according to warehouse location information, order task information, and environmental status information.
4. The warehouse logistics scheduling system of claim 3, wherein the scheduling subsystem first obtains order information and determines the positions of the initial and final goods cabinets according to the order information; then, according to the logistics vehicle, the environment state and the position of the cargo cabinet, at least two paths reaching the exit position are drawn out by utilizing a multitask path planning and calculating rule, wherein the paths comprise a shortest distance path and a shortest time-consuming path; and finally, dispatching the logistics vehicle to deliver the goods to an outlet or a container according to the planned path to complete the order task.
5. The warehouse logistics scheduling system of claim 1 wherein the safety management subsystem is configured to diagnose a current failure according to a location status of the logistics vehicle and an operation status of each subsystem, and provide a failure handling suggestion, and can stop emergently when an abnormality that damages the system occurs.
6. The warehouse logistics scheduling system of claim 5 wherein the safety management subsystem provides suspension advice in the event of communication interruption, sensor abnormality, and actuator abnormality failure; when scanning and recognizing that the next path has obstacles and cannot pass, providing an avoidance waiting passing suggestion; when the logistics vehicle breaks down and cannot run, a transfer suggestion is provided.
7. The warehouse logistics scheduling system of claim 1, wherein the logistics subsystem is configured to implement configuration and management of each subsystem resource; more specifically, the logistics information of the order task completed in each link is collected and recorded and processed, and a warehouse logistics log report of the order task is generated to be stored and displayed, so that the requirements of query and analysis on historical states, tasks and a generation strategy instruction set are met.
8. The scheduling method of the warehouse logistics scheduling system according to any one of claims 1 to 7, characterized in that it comprises the following steps:
s10, obtaining order task information, and determining shelf information and task quantity and working state information of the logistics vehicle according to the order task information;
s20, generating at least 2 scheduling schemes according to the working state of the logistics vehicle, the position of a goods shelf and the distribution purpose;
s30, pre-judging faults according to the storage environment state and a scheduling scheme, taking safety measures for the pre-judged faults to protect, and re-selecting a safe scheduling logistics route;
and S40, executing the warehouse logistics task and completing the order.
9. The scheduling method according to claim 8, wherein in step S20, the method comprises the following steps:
s21, acquiring the current state of the system and a path diagram of the logistics vehicle in storage;
s22, determining the scheduling priority of the order task;
s23, selecting a logistics vehicle according to the order task scheduling priority and scheduling according to the current state of the system;
s24, updating the system state and generating a new transfer path diagram according to the executed scheduling instruction;
s25, executing the first round of scheduling, and circularly performing a new round;
and S26, judging whether the transfer path table is empty or not, and determining whether the scheduling planning is finished or not.
10. The scheduling method of claim 8, wherein in step S30, the method comprises the steps of:
s31, the logistics vehicles respectively act simultaneously according to the two planned main path routes and respectively drive from the starting point to the end point;
s32, scanning the surrounding environment once every time the warehouse is moved to;
s33, checking whether the next path is occupied;
finding obstacles and identifying the obstacles;
s35, stopping the barrier or continuing driving according to the scheduling priority level;
and S36, finishing the scheduling task.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116954179A (en) * | 2023-09-20 | 2023-10-27 | 无锡付平物流设备有限公司 | Control method and system of automatic carrying trolley for storage |
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| CN116954179A (en) * | 2023-09-20 | 2023-10-27 | 无锡付平物流设备有限公司 | Control method and system of automatic carrying trolley for storage |
| CN116954179B (en) * | 2023-09-20 | 2023-12-22 | 无锡付平物流设备有限公司 | Control method and system of automatic carrying trolley for storage |
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