CN115599066B - Narrow roadway goods taking and placing operation scheduling method and device, scheduling equipment and storage medium - Google Patents
Narrow roadway goods taking and placing operation scheduling method and device, scheduling equipment and storage medium Download PDFInfo
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- CN115599066B CN115599066B CN202211612096.8A CN202211612096A CN115599066B CN 115599066 B CN115599066 B CN 115599066B CN 202211612096 A CN202211612096 A CN 202211612096A CN 115599066 B CN115599066 B CN 115599066B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—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], computer integrated manufacturing [CIM]
- 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], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
Abstract
The invention provides a scheduling method, a device, a scheduling device and a storage medium for goods taking and placing operation of a narrow roadway, which are applied to material handling equipment which runs in the narrow roadway and supports one-side goods taking and placing.
Description
Technical Field
The invention relates to the technical field of warehousing, in particular to a narrow roadway pick-and-place operation scheduling method and device, scheduling equipment and a storage medium.
Background
During storage of a general logistics warehouse, in order to save space, containers such as shelves and trays for storing materials can be placed on two sides of each roadway, and therefore the material handling equipment is required to support double-side goods taking and placing. However, due to the limitation of the size of some material handling equipment, the goods taking and placing mode only supports one-side goods taking and placing mode, and when the material handling equipment moves in a narrow roadway, only one-side goods taking and placing mode can be carried out due to the fact that the pose of the material handling equipment cannot be adjusted.
Disclosure of Invention
The invention aims to provide a scheduling method, a device, scheduling equipment and a storage medium for goods taking and placing operation of a narrow roadway, so that goods taking and placing operation of a material handling equipment which only supports one-side goods taking and placing operation on containers on two sides of the narrow roadway is realized, and the space utilization rate of a warehouse is improved.
In a first aspect, an embodiment of the invention provides a narrow roadway goods taking and placing operation scheduling method, which is applied to material handling equipment which runs in a narrow roadway and supports unilateral goods taking and placing, wherein pose rotation points are respectively arranged at two ends of the narrow roadway; the scheduling method for the goods taking and placing operation of the narrow roadway comprises the following steps:
acquiring a container position corresponding to a pick-and-place task to be executed by the material handling equipment;
determining a target pick-and-place point and a target pose corresponding to the material handling equipment according to the container position; wherein the target pose is indicative of a single-sided pick-and-place device orientation of the material handling apparatus;
determining the requirements of a target running path and a target pose rotation point according to the current position of the material handling equipment, the target pick-and-place point and the target pose;
and controlling the material handling equipment to execute the goods picking and placing task based on the target running path and the target pose rotation point requirement.
Further, determining a destination pick-and-place point and a target pose corresponding to the material handling device based on the container position includes:
determining a target pick-and-place point corresponding to the material handling equipment according to the container position;
and determining the position and posture of the target according to the position relation between the container position and the corresponding target narrow roadway.
Further, the determining the target pose according to the position relationship between the container position and the corresponding target narrow lane includes:
when the container position is located on a first side of the target narrow roadway, determining a first set of driving modes as a target pose; wherein the first set of travel modes includes routes corresponding to a first side of the target narrow roadway for a single-side pick-and-place device of the material handling equipment;
determining a second set of driving methods as a target pose when the container position is on a second side of the target narrow roadway; wherein the second set of driving modes comprises a route corresponding to a second side of the target narrow roadway from the one-side pick-and-place device of the material handling equipment.
Further, determining a target travel path and a target pose rotation point requirement based on the current position of the material handling device, the destination pick and place point, and the target pose comprises:
judging whether the material handling equipment is located in a target narrow roadway corresponding to the container position according to the current position of the material handling equipment to obtain a first judgment result;
and determining the requirements of a target running path and a target pose rotation point according to the first judgment result, the target pick-and-place goods point and the target pose.
Further, the determining the target travel path and the target pose rotation point demand according to the first judgment result, the target pick-and-place point and the target pose comprises:
when the first judgment result is that the material handling equipment is located in the target narrow roadway, judging whether the current pose of the material handling equipment is consistent with the target pose to obtain a second judgment result;
and determining the target driving path and the target pose rotation point requirements according to the second judgment result and the target pick-and-place point.
Further, the determining the target traveling path and the target pose rotation point requirement according to the second judgment result and the target pick-and-place point comprises:
when the second judgment result is consistent, determining that a pose rotation point is not needed, and the target running path is the shortest path between the current position of the material handling equipment and the target goods taking and placing point;
and when the second judgment result is inconsistent, determining a pose rotation point closest to the current position of the material handling equipment as a target pose rotation point, and determining shortest paths between the current position of the material handling equipment and the target pose rotation point and between the target pose rotation point and the target goods taking and placing point as the target running path.
Further, the determining the requirements of the target travel path and the target pose rotation point according to the first judgment result, the target pick-and-place cargo point and the target pose, further includes:
and when the first judgment result is that the material handling equipment is positioned outside the target narrow roadway, determining an optimal path between the current position of the material handling equipment and the target pick-and-place point as the target driving path, and determining a pose rotation point which is contained in the optimal path and is closest to the target narrow roadway as a target pose rotation point.
In a second aspect, the embodiment of the invention further provides a narrow roadway goods taking and placing operation scheduling device, which is applied to material handling equipment which runs in a narrow roadway and supports one-side goods taking and placing, wherein pose rotation points are respectively arranged at two ends of the narrow roadway; narrow tunnel is got and is put goods operation scheduling device includes:
the position acquisition module is used for acquiring the position of a container corresponding to a to-be-executed goods taking and placing task of the material handling equipment;
the first determining module is used for determining a target pick-and-place point and a target pose corresponding to the material handling equipment according to the container position; wherein the target pose is indicative of a single-sided pick-and-place device orientation of the material handling apparatus;
the second determining module is used for determining the requirements of a target running path and a target pose rotation point according to the current position of the material handling equipment, the target pick-and-place point and the target pose;
and the operation scheduling module is used for controlling the material handling equipment to execute the goods picking and placing task based on the target running path and the target pose rotation point requirement.
In a third aspect, an embodiment of the present invention further provides a scheduling device, including a memory and a processor, where the memory stores a computer program that is executable on the processor, and the processor implements the narrow-lane pick-and-place job scheduling method in the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, where the storage medium stores a computer program, and the computer program is executed by a processor to execute the narrow-lane pick-and-place job scheduling method in the first aspect.
The narrow roadway goods taking and placing operation scheduling method, the narrow roadway goods taking and placing operation scheduling device and the storage medium are applied to material handling equipment which runs in a narrow roadway and supports single-side goods taking and placing, pose rotation points are respectively arranged at two ends of the narrow roadway, and a container position corresponding to a goods taking and placing task to be executed by the material handling equipment is obtained, so that a target goods taking and placing point and a target pose corresponding to the material handling equipment are determined, the requirements of a target running path and the target pose rotation points are further determined, path planning and pose adjustment of the material handling equipment are realized, the pose of the material handling equipment entering the target narrow roadway is ensured to be consistent with the target pose, and therefore the material handling equipment can carry out goods taking and placing operation of the container position no matter which the container position corresponding to the goods taking and placing task is located at the side of the narrow roadway. Therefore, the scheduling method, device, scheduling equipment and storage medium for goods taking and placing operations of the narrow roadway provided by the embodiment of the invention realize goods taking and placing operations of the material handling equipment which only supports one-side goods taking and placing on the containers on two sides of the narrow roadway, thereby improving the space utilization rate of the warehouse.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a scheduling method for goods picking and placing operations in a narrow roadway according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an implementation principle of a scheduling method for goods picking and placing in a narrow roadway according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a scheduling device for picking and placing goods in a narrow roadway according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a scheduling device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, in order to realize high-density storage, narrow roadway shelves are adopted in a logistics warehouse, namely roadways among the shelves are narrow. Some material handling equipment (such as a single-side compound robot) for picking and placing goods in the warehouse only supports single-side picking and placing goods due to the limitation of the size of the material handling equipment, and the position and posture of the material handling equipment cannot be adjusted when the material handling equipment is positioned in a narrow roadway, so that only single-side picking and placing goods can be carried out. Based on this, the scheduling method, device, scheduling equipment and storage medium for goods taking and placing operations in the narrow roadway provided by the embodiment of the invention can realize goods taking and placing operations of the material handling equipment which only supports one-side goods taking and placing on the containers on two sides of the narrow roadway, thereby improving the space utilization rate of the warehouse.
To facilitate understanding of the embodiment, first, a method for scheduling a goods pick-and-place operation in a narrow roadway disclosed in the embodiment of the present invention is described in detail.
The embodiment of the invention provides a scheduling method for goods taking and placing operation of a narrow roadway, which is applied to material handling equipment which runs in the narrow roadway and supports one-side goods taking and placing, wherein pose rotation points are respectively arranged at two ends of the narrow roadway; the method may be performed by a scheduling device. The material handling equipment can be a mobile robot, a mobile carrier and the like which can carry out goods taking and placing operation on containers on two sides of the narrow roadway.
Referring to a flow diagram of a narrow roadway pick-and-place operation scheduling method shown in fig. 1, the method mainly includes the following steps S102 to S108:
and S102, acquiring a container position corresponding to a goods taking and placing task to be executed by the material handling equipment.
Wherein the container position is located on one side of the corresponding target narrow lane. The container position refers to the current position of the container corresponding to the goods taking task or the target storage position of the container corresponding to the goods putting task. The material handling apparatus may have one or more load stations so that when the material handling apparatus has multiple load stations, one or more pick-and-place tasks may be performed, i.e., one or more racks, trays, etc. of containers at a time.
The narrow roadway refers to a roadway in which the material handling equipment cannot turn or turn around, and the material handling equipment can only move back and forth in the narrow roadway and cannot turn, rotate or turn around.
Step S104, determining a target pick-and-place point and a target pose corresponding to the material handling equipment according to the position of the container; wherein the target pose is used to indicate a direction of a unilateral pick-and-place device of the material handling apparatus.
The material handling equipment is provided with a single-side goods taking and placing device, and the orientation of the single-side goods taking and placing device is the goods taking and placing direction of the material handling equipment. Considering that a target pick-and-place point needs to be determined during path planning, and a position relationship between a container position and a target narrow roadway corresponding to the container position can determine a target pose, the step S104 can be implemented by the following process: determining a corresponding target goods taking and placing point of the material handling equipment according to the position of the container; and determining the position and posture of the target according to the position relation between the position of the container and the corresponding narrow target roadway.
In some possible embodiments, a plurality of driving point locations are preset in the narrow roadway, each driving point location corresponds to a row of container locations on both sides of the narrow roadway, and the material handling equipment needs to drive to the corresponding driving point location first to perform goods picking and placing operations of the corresponding container locations, that is, the driving point location in the narrow roadway is a selectable goods picking and placing point. Based on the position, the target goods taking and placing point can be a driving point position which is in the target narrow roadway corresponding to the container position and is closest to the container position.
The determination of the target pose needs to take into account the pick-and-place mode of the material handling equipment, and if the material handling equipment at the target pick-and-place point is in the target pose, the container position is located on the pick-and-place side of the material handling equipment (i.e., the side facing the single-side pick-and-place device). For example, when the material handling apparatus is traveling to a destination pick and place point while the material handling apparatus is supporting left hand pick and place goods, the container position is to the left of the material handling apparatus if the material handling apparatus is in the target pose.
Further optionally, the target pose may be represented by a driving mode set, one narrow lane has two driving mode sets, the driving mode set includes a route when the material handling equipment drives with a specific head facing the target narrow lane, that is, a route corresponding to one side of the target narrow lane, which is a route formed by driving points in the narrow lane, of the one-side cargo pick-and-place device of the material handling equipment. For example, the driving points L, O, R are arranged in the narrow roadway from left to right, the first driving mode set can comprise a route L-O, O-R for driving the head of the material handling equipment to move forward and backward to the right, and the second driving mode set can comprise a route O-L, R-O for driving the head of the material handling equipment to move forward and backward to the left.
Based on this, the specific determination manner of the target pose may be as follows:
when the container position is located on a first side of the target narrow roadway, determining a first driving mode set as a target pose; the first driving mode set comprises a route corresponding to the first side of the target narrow roadway, and the route is formed by the single-side goods taking and placing device of the material handling equipment;
when the container position is located on a second side of the target narrow roadway, determining a second driving mode set as a target pose; the second driving mode set comprises a route corresponding to the second side of the target narrow roadway, and the route is taken from the one-side goods taking and placing device of the material handling equipment.
The first side and the second side are opposite sides, for example, if the first side is the left side, the second side is the right side, and conversely, if the first side is the right side, the second side is the left side.
And S106, determining the requirements of a target running path and a target pose rotation point according to the current position, the target pick-and-place point and the target pose of the material handling equipment.
In some possible embodiments, to facilitate path planning, the position relationship between the current position of the material handling equipment and the target narrow lane may be considered first, and based on this, step S106 may include: judging whether the material handling equipment is located in a target narrow roadway corresponding to the container position according to the current position of the material handling equipment to obtain a first judgment result; and determining the requirements of the target running path and the target pose rotation point according to the first judgment result, the target pick-and-place point and the target pose.
The first determination result includes two cases, and the processing manners are as follows:
1. the first judgment result is that the material handling equipment is positioned in the target narrow roadway
In this case, whether the current pose of the material handling equipment is consistent with the target pose can be judged to obtain a second judgment result; and determining the target driving path and the target pose rotation point requirements according to the second judgment result and the target pick-and-place points.
Specifically, when the second judgment result is consistent, determining that a pose rotation point is not needed, and the target running path is the shortest path between the current position of the material handling equipment and the target goods taking and placing point; and when the second judgment result is inconsistent, determining the pose rotation point closest to the current position of the material handling equipment as a target pose rotation point, and determining the shortest paths between the current position of the material handling equipment and the target pose rotation point and between the target pose rotation point and the target goods taking and placing point as a target running path.
2. The first judgment result is that the material handling equipment is positioned outside the target narrow roadway
In this case, the optimal path between the current position of the material handling equipment and the target pick-and-place point can be determined as the target running path, and the pose rotation point contained in the optimal path and closest to the target narrow roadway can be determined as the target pose rotation point. The selection of the optimal path needs to consider various factors, such as travel time, time for adjusting the pose, avoidance of other material handling equipment and the like.
And S108, controlling the material handling equipment to execute a goods taking and placing task based on the target running path and the target pose rotation point requirement.
When the requirement of the target pose rotation point is the target pose rotation point determined in the previous step, the material handling equipment can adjust the pose at the target pose rotation point, and the pose of the material handling equipment entering the target narrow roadway is ensured to be consistent with the target pose. When the requirement of the target pose rotation point is that no pose rotation point is needed, the material handling equipment does not need pose adjustment.
In the embodiment of the invention, the position and posture rotating points are respectively arranged at the two ends of the narrow roadway, and the position and posture of the target goods taking and placing point and the target position and posture corresponding to the goods taking and placing task to be executed by the material handling equipment are determined by acquiring the position of the container corresponding to the goods taking and placing task to be executed by the material handling equipment, so that the requirements of the target driving path and the target position and posture rotating point are determined, the path planning and the posture adjustment of the material handling equipment are realized, and the condition that the position and the posture of the material handling equipment are consistent after entering the target narrow roadway is ensured, therefore, the material handling equipment can carry out the goods taking and placing operation of the position of the container no matter the position of the container corresponding to the goods taking and placing task is positioned at the side of the narrow roadway. Therefore, the scheduling method for goods taking and placing operation of the narrow roadway provided by the embodiment of the invention realizes goods taking and placing operation of the material handling equipment which only supports one-side goods taking and placing on the containers on two sides of the narrow roadway, thereby improving the space utilization rate of the warehouse.
For convenience of understanding, the following explains an exemplary implementation principle of the narrow roadway pick-and-place job scheduling method with reference to fig. 2:
in the embodiment of the invention, the position and posture rotating point is arranged at the tail end of the narrow roadway where the container position of containers such as a shelf, a tray and the like is located, the running mode set is configured according to the container position, the position and posture of the material handling equipment are adjusted when the material handling equipment passes through the optimal rotating point of the narrow roadway in the path planning, and the adjusted position and posture are consistent with the running mode set corresponding to the container, so that the containers can be smoothly taken and placed.
Specifically, as shown in fig. 2, L-1-2-3-4-R is a travel channel of the material handling equipment, L and R are pose rotation points at two ends of a narrow roadway, and 1, 2, 3 and 4 are travel point positions in the narrow roadway; A. b, C, D, E, F, G, H is a container to be carried on both sides of a narrow roadway; each container needs to correspond to a pick-and-place point of the material handling equipment, for example, the pick-and-place point of the A, E container is 1, and the material handling equipment needs to stop working at the pick-and-place point 1 when the material handling equipment needs to pick and place a A, E container; the containers are distributed on the upper side and the lower side of the narrow roadway, and the target pose when the narrow roadway enters is determined according to the composite operation mode (left side or right side goods taking and placing) of the material handling equipment.
As shown in fig. 2, the material handling equipment has two driving modes in the narrow roadway, and the two driving modes are taken as two sets:
the integration: routes L-1, 1-2, 2-3, 3-4 and 4-R for the vehicle head to move forwards and backwards to the right;
and a second set: the vehicle head runs on the routes of 1-L, 2-1, 3-2, 4-3 and R-4 forwards and backwards.
Description of the principle:
1. the dispatching equipment receives the task of taking and placing the container and locks a target goods taking and placing point through the position of the container;
2. determining a driving mode set through the container position, namely a set I or a set II;
for example, the container B is located on the upper side of the narrow roadway, and if the material handling equipment adopts left-side goods picking and placing (i.e., the one-side goods picking and placing device faces to the left), the driving modes are integrated into one; if the material handling equipment adopts right-side goods taking and placing (namely, the single-side goods taking and placing device faces to the right side), the driving modes are integrated into a set II.
3. The scheduling equipment plans a path for the material handling equipment;
in the first situation, the material handling equipment is in a narrow roadway, the current pose is consistent with the set of determined running modes, a pose rotation point is not needed, and the material handling equipment directly runs to a target goods taking and placing point to execute goods taking and placing;
in the second situation, the material handling equipment is in a narrow roadway, the current pose is inconsistent with the determined running mode set, the pose is adjusted by planning to the optimal pose rotation point, and then the material handling equipment runs to the target goods taking and placing point to carry out goods taking and placing;
in the third situation, the material handling equipment plans to an optimal rotation point to adjust the pose outside the narrow roadway, so that the adjusted pose is consistent with the set of the determined running modes, and then runs to a target goods taking and placing point to execute goods taking and placing.
In the embodiment of the invention, a single route of a narrow roadway is made into two running mode sets according to multiple conditions of a material handling device such as a goods taking pose, a running mode and the like, the corresponding running mode set is taken when the material handling device executes a task, and then the pose of the material handling device is adjusted to be in accordance with parameters of the running mode set; the path planning is carried out in a segmented way, the path planning is firstly carried out to a pose rotation point, and then the path planning is carried out to a task destination (a target goods taking and placing point); so can make material handling equipment get the operation of putting goods to the container of narrow tunnel both sides, improve the utilization ratio in space.
Corresponding to the narrow roadway goods taking and placing operation scheduling method, the embodiment of the invention also provides a narrow roadway goods taking and placing operation scheduling device, the device is applied to material handling equipment which runs in the narrow roadway and supports one-side goods taking and placing, and pose rotation points are respectively arranged at two ends of the narrow roadway. Referring to fig. 3, a schematic structural diagram of a scheduling device for picking and placing goods in a narrow roadway includes:
the position acquiring module 301 is configured to acquire a container position corresponding to a to-be-executed pick-and-place task of the material handling equipment;
a first determining module 302, configured to determine, according to a container position, a destination pick-and-place point and a target pose corresponding to the material handling apparatus; the target pose is used for indicating the orientation of a single-side goods taking and placing device of the material handling equipment;
a second determining module 303, configured to determine a target traveling path and a target pose rotation point requirement according to the current position of the material handling apparatus, the target pick-and-place point, and the target pose;
and the operation scheduling module 304 is configured to control the material handling equipment to execute a pick-and-place task based on the target traveling path and the target pose rotation point requirement.
Further, the first determining module 302 is specifically configured to: determining a corresponding target goods taking and placing point of the material handling equipment according to the position of the container; the target goods taking and placing point is a driving point position which is in a target narrow roadway corresponding to the container position and is closest to the container position; and determining the pose of the target according to the position relation between the container position and the corresponding target narrow roadway.
Further, the first determining module 302 is further configured to: when the container position is located on a first side of the target narrow roadway, determining a first driving mode set as a target pose; the first driving mode set comprises a route corresponding to the first side of the target narrow roadway, which is faced by the one-side goods taking and placing device of the material handling equipment; when the container position is located on a second side of the target narrow roadway, determining a second driving mode set as a target pose; the second driving mode set comprises a route corresponding to the second side, facing the target narrow roadway, of the one-side goods taking and placing device of the material handling equipment.
Further, the second determining module 303 is specifically configured to: judging whether the material handling equipment is located in a target narrow roadway corresponding to the container position according to the current position of the material handling equipment to obtain a first judgment result; and determining the requirements of the target running path and the target pose rotation point according to the first judgment result, the target pick-and-place point and the target pose.
Further, the second determining module 303 is further configured to: when the first judgment result is that the material handling equipment is located in the target narrow roadway, judging whether the current pose of the material handling equipment is consistent with the target pose to obtain a second judgment result; and determining the requirements of the target running path and the target pose rotation point according to the second judgment result and the target pick-and-place point.
Further, the second determining module 303 is further configured to: when the second judgment result is consistent, determining that the position and posture rotation point is not needed, and the target running path is the shortest path between the current position of the material handling equipment and the target goods taking and placing point; and when the second judgment result is inconsistent, determining the pose rotation point closest to the current position of the material handling equipment as a target pose rotation point, and determining the shortest paths between the current position of the material handling equipment and the target pose rotation point and between the target pose rotation point and the target goods taking and placing point as a target driving path.
Further, the second determining module 303 is further configured to: and when the first judgment result is that the material handling equipment is located outside the target narrow roadway, determining an optimal path between the current position of the material handling equipment and the target pick-and-place point as a target driving path, and determining a pose rotation point which is contained in the optimal path and is closest to the target narrow roadway as a target pose rotation point.
The implementation principle and the generated technical effect of the scheduling device for goods taking and placing in a narrow roadway provided in this embodiment are the same as those of the scheduling method for goods taking and placing in a narrow roadway, and for a brief description, corresponding contents in the scheduling method for goods taking and placing in a narrow roadway may be referred to where the embodiment of the scheduling device for goods taking and placing in a narrow roadway is not mentioned.
As shown in fig. 4, a scheduling apparatus 400 according to an embodiment of the present invention includes: the scheduling device 400 comprises a processor 401, a memory 402 and a bus, wherein the memory 402 stores a computer program capable of running on the processor 401, when the scheduling device 400 runs, the processor 401 communicates with the memory 402 through the bus, and the processor 401 executes the computer program to realize the scheduling method for the goods picking and placing operation in the narrow lane.
Specifically, the memory 402 and the processor 401 can be general-purpose memory and processor, and are not limited to this.
The embodiment of the invention also provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the narrow roadway pick-and-place operation scheduling method in the embodiment of the method is executed. The storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A scheduling method for goods taking and placing operation of a narrow roadway is characterized by being applied to material handling equipment which runs in the narrow roadway and supports one-side goods taking and placing, wherein pose rotation points are respectively arranged at two ends of the narrow roadway; the narrow roadway goods taking and placing operation scheduling method comprises the following steps:
acquiring a container position corresponding to a pick-and-place task to be executed by the material handling equipment;
determining a target pick-and-place point and a target pose corresponding to the material handling equipment according to the container position; wherein the target pose is indicative of a single-sided pick-and-place device orientation of the material handling apparatus;
determining the requirements of a target running path and a target pose rotation point according to the current position of the material handling equipment, the target pick-and-place point and the target pose;
and controlling the material handling equipment to execute the goods picking and placing task based on the target running path and the target pose rotation point requirement.
2. The narrow roadway pick-and-place operation scheduling method of claim 1, wherein the determining of the target pick-and-place point and the target pose corresponding to the material handling equipment according to the container position comprises:
determining a target pick-and-place point corresponding to the material handling equipment according to the container position;
and determining the position and posture of the target according to the position relation between the container position and the corresponding target narrow roadway.
3. The narrow roadway pick-and-place job scheduling method of claim 2, wherein determining a target pose according to a positional relationship between the container position and a target narrow roadway corresponding thereto comprises:
when the container position is located on a first side of the target narrow roadway, determining a first travel mode set as a target pose; wherein the first set of travel modes includes routes corresponding to a first side of the target narrow roadway for a single-side pick-and-place device of the material handling equipment;
determining a second set of driving methods as a target pose when the container position is on a second side of the target narrow roadway; wherein the second set of travel patterns includes a route corresponding to a second side of the target narrow lane toward which a one-sided pick-and-place device of the material handling equipment is positioned.
4. The narrow roadway pick-and-place job scheduling method of claim 1, wherein determining a target travel path and a target pose rotation point requirement as a function of the current position of the material handling equipment, the target pick-and-place point and the target pose comprises:
judging whether the material handling equipment is located in a target narrow roadway corresponding to the container position according to the current position of the material handling equipment to obtain a first judgment result;
and determining the requirements of a target running path and a target pose rotation point according to the first judgment result, the target pick-and-place goods point and the target pose.
5. The narrow roadway pick-and-place job scheduling method of claim 4, wherein the determining of the target travel path and the target pose rotation point requirement according to the first judgment result, the target pick-and-place point and the target pose comprises:
when the first judgment result is that the material handling equipment is located in the target narrow roadway, judging whether the current pose of the material handling equipment is consistent with the target pose to obtain a second judgment result;
and determining the requirements of a target driving path and a target pose rotation point according to the second judgment result and the target pick-and-place point.
6. The narrow roadway pick-and-place job scheduling method according to claim 5, wherein the determining of the target travel path and the target pose rotation point requirement according to the second determination result and the target pick-and-place point comprises:
when the second judgment result is consistent, determining that a pose rotation point is not needed, and the target running path is the shortest path between the current position of the material handling equipment and the target goods taking and placing point;
and when the second judgment result is inconsistent, determining a pose rotation point closest to the current position of the material handling equipment as a target pose rotation point, and determining shortest paths between the current position of the material handling equipment and the target pose rotation point and between the target pose rotation point and the target goods taking and placing point as the target running path.
7. The narrow roadway pick-and-place operation scheduling method of claim 4, wherein the determining of the target travel path and the target pose rotation point requirements according to the first determination result, the target pick-and-place point and the target pose further comprises:
and when the first judgment result shows that the material handling equipment is located outside the target narrow roadway, determining an optimal path between the current position of the material handling equipment and the target pick-and-place point as the target driving path, and determining a pose rotation point which is contained in the optimal path and is closest to the target narrow roadway as a target pose rotation point.
8. A scheduling device for goods taking and placing operation of a narrow roadway is characterized by being applied to material handling equipment which runs in the narrow roadway and supports one-side goods taking and placing, wherein pose rotation points are respectively arranged at two ends of the narrow roadway; narrow tunnel is got and is put goods operation scheduling device includes:
the position acquisition module is used for acquiring the position of a container corresponding to a to-be-executed goods taking and placing task of the material handling equipment;
the first determining module is used for determining a target pick-and-place point and a target pose corresponding to the material handling equipment according to the container position; wherein the target pose is indicative of a single-sided pick-and-place device orientation of the material handling apparatus;
the second determining module is used for determining a target running path and a target pose rotation point requirement according to the current position of the material handling equipment, the target pick-and-place point and the target pose;
and the operation scheduling module is used for controlling the material handling equipment to execute the goods picking and placing task based on the target running path and the target pose rotation point requirement.
9. A scheduling apparatus comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor implements the narrow roadway pick and place job scheduling method according to any one of claims 1 to 7 when executing the computer program.
10. A storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to execute the narrow roadway pick-and-place job scheduling method according to any one of claims 1 to 7.
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