CN115933690A

CN115933690A - Scheduling method and scheduling device of intelligent mobile robot and logistics system

Info

Publication number: CN115933690A
Application number: CN202211699160.0A
Authority: CN
Inventors: 袁稼轩
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2022-12-28
Filing date: 2022-12-28
Publication date: 2023-04-07

Abstract

The embodiment of the application provides a scheduling method, a scheduling device and a logistics system of an intelligent mobile robot, wherein when a scheduling task at the same layer is executed, the scheduling method firstly obtains the current coordinate of a selected target intelligent mobile robot and obtains the task coordinate of the scheduling task at the same layer; then planning an avoidance path according to the current coordinate and the task coordinate and according to prestored map information, wherein the avoidance path is required to avoid an avoidance area formed by avoidance coordinates of the layer of hoisting machine units on the map information; and then the target intelligent robot is driven to move according to the evasive path, so that a lifting notch of the layer, which is used for the double-door lifting machine unit to lift between different layers, can be avoided, the falling condition of the target intelligent robot is prevented, and the technical problem that when the double-door lifting machine is used in a stereoscopic warehouse and the lifting machine is not at a certain layer, the intelligent robot on the layer has the falling risk is solved.

Description

Scheduling method and scheduling device of intelligent mobile robot and logistics system

Technical Field

The invention relates to the technical field of logistics automation, in particular to a scheduling method and a scheduling device of an intelligent mobile robot such as an AGV (automatic guided vehicle) and a logistics system.

Background

With the development of the logistics automation technology, the technologies of the stereoscopic warehouse and the like are continuously improved, wherein the intelligent mobile robot represented by the AGV and the layer changing equipment represented by the elevator are more and more widely applied.

To improve efficiency, the elevator in the prior art has been developed from single door to double door, wherein the double door elevator increases the direction of entering and moving out of the intelligent mobile robot, compared with the single door elevator, and improves efficiency.

However, the double-door elevator also has the characteristic of opening doors towards two opposite sides and forming a passage, which can cause the intelligent mobile robot on a certain floor to fall off when the elevator is not on the floor.

Disclosure of Invention

In view of at least one aspect of the foregoing technical problems, an embodiment of the present application provides a scheduling method, a scheduling apparatus, and a logistics system for an intelligent mobile robot, where when executing a scheduling task on the same floor, the scheduling method first obtains current coordinates and task coordinates of a target intelligent mobile robot, and plans an avoidance path from the current coordinates to the task coordinates according to prestored map information, where the avoidance path should avoid an avoidance area where a double-door elevator unit is located on the floor, and thus, driving the target intelligent mobile robot to move according to the avoidance path can avoid a risk of dropping the intelligent mobile robot.

In a first aspect, an embodiment of the present application provides a scheduling method for an intelligent mobile robot, where the scheduling method for an intelligent mobile robot includes:

when a same-layer scheduling task is executed, determining the current coordinate of a target intelligent mobile robot and the task coordinate of the same-layer scheduling task; the target intelligent mobile robot is an intelligent mobile robot which is selected from the layer where the same-layer scheduling task is located and executes the same-layer scheduling task;

planning an avoidance path from the current coordinate to the task coordinate and avoiding an avoidance area according to pre-stored map information; the map information comprises an avoidance coordinate of an elevator unit on the layer where the same layer scheduling task is located, the avoidance coordinate forms the avoidance area, and the elevator unit comprises a double-door elevator;

according to the avoidance path, driving the target intelligent mobile robot to move from the current coordinate to the task coordinate so as to prevent the target intelligent mobile robot from falling from a lifting gap corresponding to the avoidance area; the lifting gap is used for lifting the lifting machine unit between different floors.

In an embodiment, the scheduling method further includes:

receiving a scheduling instruction comprising a crossing path, or planning the crossing path under the condition that the avoiding path cannot be acquired; the crossing path is a path from the current coordinate to the task coordinate, the crossing path crosses an avoidance area where the hoisting machine unit is located along the direction of double doors of the hoisting machine unit, and the planned crossing path aims at the minimum number of the crossing area where the hoisting machine unit is located;

sending a hoist application instruction to a task management system, so that the task management system sends a hoist occupation instruction to an equipment control system according to the hoist application instruction, and the equipment control system schedules all hoist units related to the hoist occupation instruction to a layer where the same-layer scheduling task is located; the elevator application instruction and the elevator occupation instruction comprise all elevator units corresponding to an avoidance area crossed by the crossing path;

and under the condition of obtaining a confirmation instruction that all the hoisting machine units related to the hoisting machine application instruction reach the layer where the same-layer scheduling task is located, driving the target intelligent mobile robot to move from the current coordinate to the task coordinate according to the traversing path.

In an embodiment, the scheduling method further includes:

and under the condition that the target intelligent mobile robot is driven to complete the crossing path, crossing completion information is sent to the task management system, so that the task management system sends a hoist occupation removing instruction to the equipment control system according to the crossing completion information, wherein the hoist occupation removing instruction comprises all hoist units corresponding to an avoidance area crossed by the crossing path.

In an embodiment, the scheduling method further includes:

sending a map information acquisition request to a task management system;

and receiving and storing the map information sent by the task management system.

In one embodiment, the task coordinates include at least a first task coordinate and a second task coordinate arranged according to a time sequence;

the step of planning an avoidance path from the current coordinates to the mission coordinates and avoiding an avoidance area according to pre-stored map information includes:

and planning a multi-node avoidance path which passes through the first task coordinate and the second task coordinate in sequence by taking the current coordinate as a starting point and avoids an avoidance area according to the map information.

In one embodiment, the method further comprises:

receiving a scheduling instruction comprising a multi-node crossing path, or planning the multi-node crossing path under the condition that the multi-node evasion path cannot be acquired; the multi-node crossing path is a path which sequentially passes through the first task coordinate and the second task coordinate with the current coordinate as a starting point, and passes through an avoidance area where the elevator unit is located along the direction of double doors of the elevator unit.

In an embodiment, the task coordinates include coordinates of a designated waiting point of a designated hoist unit of the peer scheduling task;

the step of driving the target intelligent mobile robot to move from the current coordinate to the task coordinate according to the avoidance path comprises the following steps:

under the condition that the target intelligent mobile robot does not arrive or arrives at the designated waiting point coordinate, receiving an updated coordinate of the designated waiting point coordinate sent by a task management system;

acquiring a temporary coordinate of the position of the target intelligent mobile robot;

planning an updated avoidance path from the temporary coordinates to the updated coordinates and avoiding an avoidance area according to the map information;

and continuously driving the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated avoidance path.

In one embodiment, the method further comprises:

receiving a scheduling instruction comprising an updating traversing path, or planning the updating traversing path under the condition that the updating avoiding path cannot be obtained; the updating traversing path is a path from the temporary coordinate to the updating coordinate, the updating traversing path traverses an avoidance area where the elevator unit is located along the direction of double doors of the elevator unit, and the planned updating traversing path aims at the minimum number of the avoidance areas where the elevator unit is located;

sending a hoist application instruction to a task management system, so that the task management system sends a hoist occupation instruction to an equipment control system according to the hoist application instruction, and the equipment control system dispatches all hoist units related to the hoist occupation instruction to a layer where the same-layer dispatching task is located; the elevator application instruction and the elevator occupation instruction comprise all the elevator units corresponding to an avoidance area traversed by the updated traversing path;

and under the condition that a confirmation instruction that all the hoisting machine units corresponding to the avoidance area traversed by the updated traversing path reach the layer where the same-layer scheduling task is located is obtained, driving the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated traversing path.

In an embodiment, the task coordinates include coordinates of unoccupied waiting points among a plurality of waiting points of a specified elevator unit of the peer scheduling task;

the scheduling method further comprises the following steps:

driving the target intelligent mobile robot to move from the unoccupied waiting point to a loading position close to the unoccupied waiting point in the appointed elevator unit; the designated elevator unit is provided with a plurality of loading positions, and the loading positions correspond to the waiting points respectively.

In an embodiment, the current coordinates include coordinates of unoccupied waiting points among a plurality of waiting points of a specified elevator unit of the peer scheduling task;

the scheduling method further comprises the following steps:

and driving the target intelligent mobile robot to move from a loading position close to the unoccupied waiting point in the appointed hoisting machine unit to the unoccupied waiting point, wherein the appointed hoisting machine unit is internally provided with a plurality of loading positions which respectively correspond to the plurality of waiting points.

In a second aspect, an embodiment of the present application provides a scheduling apparatus for an intelligent mobile robot, where the scheduling apparatus includes:

the coordinate determination module is used for determining the current coordinate of the target intelligent mobile robot and the task coordinate of the same-layer scheduling task when the same-layer scheduling task is executed; the target intelligent mobile robot is an intelligent mobile robot which is selected from the layer where the same-layer scheduling task is located and executes the same-layer scheduling task;

the avoidance module is used for planning an avoidance path from the current coordinate to the task coordinate and avoiding an avoidance area according to pre-stored map information; the map information comprises an avoidance coordinate of an elevator unit on the layer where the same layer scheduling task is located, the avoidance coordinate forms the avoidance area, and the elevator unit comprises a double-door elevator;

the first transfer module is used for driving the target intelligent mobile robot to move from the current coordinate to the task coordinate according to the avoidance path so as to prevent the target intelligent mobile robot from falling from a lifting gap corresponding to the avoidance area; the lifting gap is used for lifting the lifting machine unit between different floors.

In an embodiment, the scheduling apparatus further includes:

the traversing module is used for receiving a scheduling instruction comprising a traversing path, or planning the traversing path under the condition that the avoiding path cannot be acquired; the crossing path is a path from the current coordinate to the task coordinate, the crossing path crosses an avoidance area where the hoisting machine unit is located along the direction of double doors of the hoisting machine unit, and the planned crossing path aims at the minimum number of the crossing area where the hoisting machine unit is located;

the first information sending module is used for sending an elevator application instruction to a task management system, so that the task management system sends an elevator occupation instruction to an equipment control system according to the elevator application instruction, and the equipment control system dispatches all elevator units related to the elevator occupation instruction to a layer where the same-layer dispatching task is located; the elevator application instruction and the elevator occupation instruction comprise all elevator units corresponding to an avoidance area crossed by the crossing path;

and the second transfer module is used for driving the target intelligent mobile robot to move from the current coordinate to the task coordinate according to the traversing path under the condition that a confirmation instruction that all the hoisting machine units related to the hoisting machine application instruction reach the layer where the same-layer scheduling task is located is obtained.

In an embodiment, the scheduling apparatus further includes:

and the second information sending module is used for sending traversing completion information to the task management system under the condition that the target intelligent mobile robot is driven to complete the traversing path, so that the task management system sends a hoist occupation removing instruction to the equipment control system according to the traversing completion information, wherein the hoist occupation removing instruction comprises all hoist units corresponding to an avoidance area traversed by the traversing path.

In an embodiment, the scheduling apparatus further includes:

the map request module is used for sending a map information acquisition request to a task management system;

and the map storage module is used for receiving and storing the map information sent by the task management system.

wherein, rule is avoided rule module and is included:

and the multi-node avoiding unit is used for planning a multi-node avoiding path which passes through the first task coordinate and the second task coordinate in sequence by taking the current coordinate as a starting point and avoids an avoiding area according to the map information.

In one embodiment, the pass-through module comprises:

the multi-node traversing unit is used for receiving a scheduling instruction comprising a multi-node traversing path, or planning the multi-node traversing path under the condition that the multi-node evasive path cannot be acquired; the multi-node crossing path is a path which takes the current coordinate as a starting point and sequentially passes through the first task coordinate and the second task coordinate, and the multi-node crossing path crosses an avoidance area where the elevator unit is located along the direction of double doors of the elevator unit.

In an embodiment, the task coordinates include coordinates of a specified waiting point of a specified hoist unit of the peer scheduling task;

wherein the first transfer module comprises:

the updated coordinate receiving unit is used for receiving the updated coordinates of the appointed waiting point sent by the task management system under the condition that the target intelligent mobile robot does not arrive or arrives at the coordinates of the appointed waiting point;

the temporary coordinate receiving unit is used for acquiring the temporary coordinate of the position of the target intelligent mobile robot;

an update avoidance unit configured to plan an update avoidance path from the temporary coordinates to the update coordinates and avoiding an avoidance area according to the map information;

and the first transfer unit is used for continuously driving the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated avoidance path.

In one embodiment, the method further comprises:

the updating traversing unit is used for receiving a scheduling instruction comprising an updating traversing path, or planning the updating traversing path under the condition that the updating avoiding path cannot be obtained; the updating traversing path is a path from the temporary coordinate to the updating coordinate, the updating traversing path traverses an avoidance area where the elevator unit is located along the direction of double doors of the elevator unit, and the planned updating traversing path aims at the minimum number of the avoidance areas where the elevator unit is located;

the first information sending unit is used for sending an elevator application instruction to a task management system, so that the task management system sends an elevator occupation instruction to an equipment control system according to the elevator application instruction, and the equipment control system dispatches all the elevator units related to the elevator occupation instruction to a layer where the same-layer dispatching task is located; the elevator application instruction and the elevator occupation instruction comprise all the elevator units corresponding to an avoidance area traversed by the updated traversing path;

and the second transfer unit is used for driving the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated traversing path under the condition of obtaining a confirmation instruction that all the hoisting machine units corresponding to the avoidance area traversed by the updated traversing path reach the layer where the same-layer scheduling task is located.

wherein, the scheduling device further comprises:

the elevator moving-in module is used for driving the target intelligent mobile robot to move from the unoccupied waiting point to a loading position close to the unoccupied waiting point in the appointed elevator unit; the designated hoisting machine unit is internally provided with a plurality of loading positions, and the plurality of loading positions respectively correspond to the plurality of waiting points.

In an embodiment, the current coordinates include coordinates of unoccupied waiting points among a plurality of waiting points of a designated elevator unit of the peer scheduling task;

wherein, the scheduling device further comprises:

and the lifting machine moving-out module is used for driving the target intelligent mobile robot to move from a loading position close to the unoccupied waiting point in the appointed lifting machine unit to the unoccupied waiting point, wherein the appointed lifting machine unit is internally provided with a plurality of loading positions, and the plurality of loading positions correspond to the plurality of waiting points respectively.

In a third aspect, embodiments of the present application provide a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the scheduling method of the intelligent mobile robot as described above.

In a fourth aspect, an embodiment of the present application provides a logistics system, where the logistics system includes a three-dimensional shelf, and each layer of the three-dimensional shelf is deployed with a plurality of intelligent mobile robots; the physical fluid system further comprises:

a robot control system for controlling the smart mobile robot according to the steps of the scheduling method as described above;

an equipment control system for controlling the hoist unit of the stereoscopic shelf;

and the task management system is used for generating a same-layer scheduling task and sending the same-layer scheduling task to the robot control system.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

the embodiment of the application provides a scheduling method, a scheduling device and a logistics system of an intelligent mobile robot, wherein when executing a scheduling task at the same layer, the scheduling method firstly acquires the current coordinate of a selected target intelligent mobile robot and acquires the task coordinate of the scheduling task at the same layer; then planning an avoidance path according to the current coordinate and the task coordinate and according to prestored map information, wherein the avoidance path is required to avoid an avoidance area formed by avoidance coordinates of the layer of hoisting machine units on the map information; and then the target intelligent robot is driven to move according to the evasive path, so that a lifting notch of the layer, which is used for the double-door lifting machine unit to lift between different layers, can be avoided, the situation that the target intelligent robot drops from the lifting notch of the layer where the double-door lifting machine unit is located is prevented, and the technical problem that the intelligent robot on the layer drops when the stereoscopic warehouse uses the double-door lifting machine and the lifting machine is not on a certain layer is solved.

That is to say, to using two door lifting machines, and when can't judging in advance whether the lifting machine is in a certain floor, the intelligent mobile robot of this floor can prevent to drop through the route of avoiding of bypassing the region at lifting machine place.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is an interaction timing diagram of the cross-layer scheduling task in the embodiment of the present application.

Fig. 2 is a schematic flowchart of the scheduling method in the embodiment of the present application.

Fig. 3 is a schematic structural diagram of the avoidance path in the embodiment of the present application.

Fig. 4 is another schematic structural diagram of the avoidance path in the embodiment of the present application.

Fig. 5 is another flowchart illustrating the scheduling method in the embodiment of the present application.

Fig. 6 is a schematic structural diagram of the traversing path in the embodiment of the present application.

Fig. 7 is a schematic structural diagram of a multi-node evasive path in the embodiment of the present application.

Fig. 8 is a schematic structural diagram of the multi-node traversing path according to the embodiment of the present application.

Fig. 9 is another flowchart illustrating the scheduling method in the embodiment of the present application.

Fig. 10 is a schematic structural diagram of updating an avoidance path in the embodiment of the present application.

Fig. 11 is a schematic structural diagram of the target intelligent mobile robot moving into the designated elevator unit in the embodiment of the present application.

Fig. 12 is a schematic diagram of a structure of the target intelligent mobile robot moving out of the designated elevator unit in the embodiment of the present application.

Fig. 13 is a schematic structural diagram of the scheduling apparatus in the embodiment of the present application.

Fig. 14 is a schematic structural diagram of the scheduling apparatus in the embodiment of the present application.

Fig. 15 is a schematic structural diagram of the scheduling apparatus in the embodiment of the present application.

Wherein, the reference numbers:

1-target intelligent mobile robot, 2-elevator unit, 3-avoidance area, 4-avoidance path, 5-crossing path, 6-designated elevator unit,

41-multi-node evasion path, 51-multi-node crossing path,

42-updating the evasive path(s),

11-current coordinates, 12-task coordinates, 13-avoidance coordinates, 15-update coordinates, 16-temporary coordinates, 17-lift coordinates,

121-first task coordinates, 122-second task coordinates,

100-a coordinate determination module for determining the coordinates of the object,

200-a means for avoiding, by the module,

300-the first transfer module,

400-the pass-through module is used,

500-a first information-sending module,

600-a second transfer module for transferring the first transfer module,

700-a second information sending module for sending a second message,

201-a multi-node circumvention unit,

401-a multi-node pass-through unit,

310-updating the coordinate receiving unit,

320-a temporary coordinate receiving unit for receiving the temporary coordinates,

330-updating the circumvention unit or units,

340-the first transfer unit to transfer the first transfer unit,

350-updating the pass-through unit,

360-second transfer unit.

Detailed Description

For better understanding of the technical solutions described above, the following will describe in detail the exemplary embodiments of the present application with reference to the attached drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited by the exemplary embodiments described herein.

The logistics system, especially the cross-layer logistics system, usually includes a multi-layer rack, each layer of the rack is disposed with several intelligent mobile robots (such as AGVs), and the elevator unit of the rack is used for moving goods or directly moving the intelligent mobile robots across layers; in addition, the logistics system further comprises a task management system (CMS), a Robot Control System (RCS) and an equipment control system (WCS), wherein the robot control system is used for controlling the intelligent mobile robot, the equipment control system is used for controlling the elevator unit, the task management system generates a scheduling task and interacts with the robot control system and the equipment control system respectively, and therefore the three systems interact with each other and cooperatively complete tasks of warehousing, ex-warehouse, scheduling and the like of goods.

For example, for a cross-layer scheduling task from a first storage location of M layers to a second storage location of N layers, fig. 1 is a timing diagram of the cross-layer scheduling task:

a1, a task management system generates a cross-layer scheduling task and selects an elevator unit;

a2, a task management system issues a cross-layer scheduling task to a robot control system;

a3, the robot control system drives M layers of intelligent mobile robots to move goods from the first storage position to a waiting point of the layer of elevator unit;

a4, the robot control system reports completion of the same-layer scheduling subtasks to a task management system;

a5, the task management system applies for the elevator unit resource to the equipment control system;

a6, the equipment control system controls the elevator unit to reach M layers;

a7, the equipment control system informs the task management system of the arrival of a hoist unit;

a8, triggering a subtask entering a hoist unit by a task management system;

a9, the task management system sends a subtask which enters a hoist unit to the robot control system;

a10, the robot control system controls the intelligent mobile robot to place the goods shelves into the hoisting machine unit, and the intelligent mobile robot goes out of the hoisting machine unit;

a11, the robot control system reports to a task management system to enter a hoist unit to complete a subtask;

a12, the task management system sends a cross-layer subtask of the elevator unit to the equipment control system;

a13, the equipment control system controls the elevator unit to reach N layers;

a14, the equipment control system informs the task management system that the hoisting machine unit reaches the N layer;

a15, triggering a goods shelf receiving task by a task management system;

a16, the task management system sends a shelf receiving task to the robot control system;

a17, the robot control system drives N layers of intelligent mobile robots to move the goods shelves away from the elevator unit;

a18, the robot control system reports the lift unit to the task management system;

a19, the task control system calls a release interface of a hoist unit;

a20, the task management system gives an instruction to the equipment control system to release the elevator unit;

a21, the robot control system drives the N layers of intelligent mobile robots to move the goods shelves to a second storage position;

a22, the robot control system reports the completion of the cross-layer scheduling task to the task management system.

In the cross-floor scheduling task, in order to improve the logistics efficiency, the elevator unit can be a double-door elevator; however, it can be understood that the double-door elevator has the characteristic of opening doors toward two opposite sides and forming a passage, and at this time, when the elevator unit is not in a certain floor, the intelligent mobile robot in the floor risks falling from the notch of the elevator unit when the same floor scheduling task is executed.

Based on the above situation, an embodiment of the present application provides a scheduling method for an intelligent mobile robot, where the scheduling method is applied to a robot control system, and please refer to fig. 2 to 4, the scheduling method for an intelligent mobile robot includes:

s1, when a same-layer scheduling task is executed, determining a current coordinate 11 of a target intelligent mobile robot 1 and a task coordinate 12 of the same-layer scheduling task; the target intelligent mobile robot 1 is an intelligent mobile robot that is selected at a layer where the same-layer scheduling task is located and executes the same-layer scheduling task.

As can be understood from fig. 3, the same-level scheduling task may be a scheduling task at a certain level of the stereoscopic shelving, for example, moving goods from a certain storage location at the M level to another storage location at the M level.

Alternatively, it can be understood that, in combination with the above-mentioned timing diagram of the cross-layer scheduling task in fig. 1 and fig. 4, the cross-layer scheduling task may also be divided into two scheduling sub-tasks of different layers, for example, the above-mentioned cargo cross-layer scheduling task may be divided into a scheduling sub-task of M layers (which is moved from the first storage location to the waiting point of the hoist unit first and then from the waiting point to a specific point in the hoist unit) and a scheduling sub-task of N layers (which is moved from the specific point in the hoist unit to the resource release point of the hoist unit first and then from the resource release point to the second storage location), so that, according to actual needs, the scheduling task of the same layer in this embodiment may also be a scheduling sub-task of a different layer of the cross-layer scheduling task.

The layer where the same-layer scheduling task is located can be provided with a plurality of intelligent mobile robots, and the target intelligent mobile robot is an intelligent mobile robot which is selected from the plurality of intelligent mobile robots and is used for executing the same-layer scheduling task; the selection criterion placed on the target intelligent mobile robot may be selected by an algorithm according to a task balancing principle or a distance nearest principle, for example, which is not limited in this embodiment.

S2, planning an avoidance path 4 from the current coordinate 11 to the task coordinate 12 and avoiding the avoidance area 3 according to pre-stored map information; the map information comprises avoidance coordinates 13 of an elevator unit on a layer where the same layer scheduling task is located, the avoidance coordinates 13 form an avoidance area 3, and the elevator unit comprises a double-door elevator.

The map information is pre-stored in the robot control system, the map information comprises avoidance coordinates of a hoisting machine unit on a layer where the same-layer scheduling task is located, and the avoidance coordinates form an avoidance area, namely the avoidance area represents a position area of the hoisting machine unit on the layer; the avoidance path is a path from the current coordinate to the task coordinate, and the path avoids an avoidance area of the hoisting machine unit; in other words, the evasive path avoids double-door elevator units.

S3, driving the target intelligent mobile robot 1 to move from the current coordinate 11 to the task coordinate 12 according to the avoidance path 4, so as to prevent the target intelligent mobile robot from falling from a lifting notch corresponding to the avoidance area; the lifting gap is used for lifting the lifting machine unit between different floors.

Wherein, can understand, target intelligent mobile robot can avoid two lifting machine units that open the door when moving along this route of evading to avoid dropping.

S4, receiving a scheduling instruction comprising the crossing path, or planning the crossing path under the condition that the evasive path cannot be obtained; the crossing path is a path from the current coordinate to the task coordinate, the crossing path crosses the avoidance area where the elevator unit is located along the direction of double doors of the elevator unit, and the planned crossing path aims at the minimum number of the avoidance areas where the elevator unit is located.

As shown in fig. 5 and fig. 6, one or more paths are inevitably formed from the current coordinates to the task coordinates, and the one or more paths cannot avoid the avoidance area 3, that is, the double-door elevator unit 2; then, a traversing path from the current coordinate to the task coordinate is planned, specifically referring to fig. 6, the traversing path traverses the avoidance areas of the elevator units along the direction of double doors of the elevator units, and when there are a plurality of selectable paths, the traversing path should select one of the avoidance areas traversing the elevator units with the least number.

That is, in order to drive the target intelligent mobile robot to move from the current coordinate to the task coordinate to complete the scheduling task at the same layer, if the evasive path cannot be obtained, the traversing path that traverses the elevator units with the least number may be selected, and in order to ensure that the elevator units are traversed, the traversing path should traverse the elevator units in the direction of double doors of the elevator units.

Of course, the traversing path may also be a designated path included in a scheduling instruction issued by an upper layer; that is, the traversing path may also be a designated path that must traverse the twin door elevator unit.

Therefore, the map information also includes the orientation information of the double doors of the elevator unit on the layer where the scheduling information of the same layer is located.

S5, sending an elevator application instruction to the task management system, so that the task management system sends an elevator occupation instruction to the equipment control system according to the elevator application instruction, and the equipment control system dispatches all elevator units related to the elevator occupation instruction to a layer where a same-layer dispatching task is located; the elevator application instruction and the elevator occupation instruction comprise all the elevator units corresponding to the avoidance area crossed by the crossing path.

And S6, under the condition that a confirmation instruction that all the elevator units 2 corresponding to the avoidance area 3 crossed by the crossing path 5 reach the layer where the same-layer scheduling task is located is obtained, driving the target intelligent mobile robot 1 to move from the current coordinate 11 to the task coordinate 12 according to the crossing path 5.

After the traversing path is planned or obtained, the robot control system firstly sends identification information of one or more hoisting machine units traversed by the traversing path to the task management system, and then the task management system occupies and dispatches one or more hoisting machine units to a layer where a same-layer dispatching task is located through the equipment control system; and the robot control system drives the target intelligent mobile robot to move according to the crossing path under the condition of obtaining a confirmation instruction that the one or more hoisting machine units all reach the layer where the same-layer scheduling task is located.

That is to say, when a crossing path is inevitably planned or obtained, the hoist units crossing the crossing path can be dispatched to the same layer, so that the double-door hoist units are taken as the path, and the target intelligent mobile robot is ensured to move from the current coordinate to the task coordinate to complete the task of dispatching the same layer; the same-layer scheduling task may include, for example, a shelf transportation task of the same layer, or the same-layer scheduling task may include a subtask of a cross-layer scheduling task, or the same-layer scheduling task may further include, for example, a charging task initiated by the intelligent mobile robot by itself.

And S7, under the condition that the driving target intelligent mobile robot 1 finishes traversing the path 5, traversing completion information is sent to the task management system, so that the task management system sends a hoist occupation removing instruction to the equipment control system according to the traversing completion information, wherein the hoist occupation removing instruction comprises all hoist units corresponding to an avoidance area traversed by the traversing path.

After the target intelligent mobile robot finishes traversing paths, the robot control system sends traversing completion information to the task management system, and after receiving the traversing completion information, the task management system sends a hoist occupation removing instruction to the equipment control system so as to remove occupation of one or more hoist units traversed by the traversing paths and schedule the one or more hoist units to other layers for operation.

Regarding the acquisition of the map information, the scheduling method further includes:

s01, sending a map information acquisition request to a task management system;

and S02, receiving and storing the map information sent by the task management system.

That is, for example, after the robot control system is started, the robot control system transmits a request for acquiring map information to the task management system, the task management system transmits the map information to the robot control system after assembling the map information, and the robot control system receives and stores the map information.

In one possible embodiment, the task coordinates include at least a first task coordinate 121 and a second task coordinate 122 arranged in a time sequence.

It should be understood that the two task coordinates are arranged in time sequence, that is, the target intelligent mobile robot reaches the first task coordinate from the current coordinate first, and then reaches the second task coordinate from the first task coordinate.

As described above with reference to fig. 7, the same-level scheduling task is, for example, a scheduling task of a certain level of the three-dimensional shelf, such as moving goods from the M1 storage location of the M level to the M2 storage location of the M level, then the first task coordinate is understood as the coordinate of the M1 storage location, and the second task coordinate is understood as the coordinate of the M2 storage location; or the same-floor scheduling task is a subtask of a cross-floor scheduling task, such as moving goods from an M1 storage position of M floors to an N2 storage position of N floors, the first task coordinate is understood to be the coordinate of the M1 storage position, and the second task coordinate is understood to be the coordinate of a waiting point of the elevator unit.

Then, referring now to fig. 7, step S2 may include:

s201, planning a multi-node avoidance path 41 that passes through the first task coordinate 121 and the second task coordinate 122 in order with the current coordinate 11 as a starting point and avoids the avoidance area 3, based on the map information.

The multi-node evasion path takes the current coordinate as a starting point and sequentially passes through the first task coordinate and the second task coordinate, wherein the node path between the current coordinate and the first task coordinate and the node path between the first task coordinate and the second task coordinate avoid the evasion area of the elevator unit.

Step S3 may include:

s301, according to the multi-node avoidance path 41, the driving target intelligent mobile robot 1 sequentially moves from the current coordinate 11 to the first task coordinate 121 and the second task coordinate 122 arranged in time series.

That is, the target intelligent mobile robot first moves from the current position to the position of the first task coordinate, acquires the goods shelf, then moves from the position of the first task coordinate to the position of the second task coordinate, and places the goods shelf or waits for the elevator unit.

Step S4 may include:

s401, receiving a scheduling instruction comprising a multi-node traversing path 51, or planning the multi-node traversing path under the condition that the multi-node evasion path 41 cannot be obtained; the multi-node crossing path is a path which takes the current coordinate 11 as a starting point and sequentially passes through the first task coordinate 121 and the second task coordinate 122, and the multi-node crossing path crosses the avoidance area 3 where the elevator unit is located along the direction of double doors of the elevator unit.

Similarly, with reference to fig. 8, for example, when at least one of the two node paths cannot avoid the hoist unit, a multi-node crossing path is obtained; or, the multi-node traversing path is a designated path included in a scheduling instruction issued by an upper layer.

Step S5 may include:

s501, under the condition that a confirmation instruction that all the elevator units corresponding to the avoidance area crossed by the multi-node crossing path reach the layer where the same-layer scheduling task is located is obtained, the target intelligent mobile robot is driven to sequentially move to a first task coordinate and a second task coordinate which are arranged according to a time sequence from the current coordinate according to the multi-node crossing path.

In a possible implementation manner, when the peer scheduling task is a subtask of the cross-peer scheduling task, that is, the task coordinate includes a specified waiting point coordinate of a specified hoisting machine unit of the peer scheduling task; the specified hoisting machine unit is a hoisting machine unit for executing the cross-floor scheduling task, and the specified waiting point coordinate is a coordinate of a waiting point beside the hoisting machine unit.

Furthermore, it should be understood that during the process that the target intelligent mobile robot moves from the current coordinates to the coordinates of the designated waiting point, the designated elevator unit may be set to be in a frozen state due to a fault, and at this time, the cross-floor scheduling task needs to be switched, namely, the elevator unit is replaced.

Then, referring to fig. 9 and 10, step S3 may include:

s31, receiving an updated coordinate 15 of the coordinate of the appointed waiting point sent by the task management system under the condition that the target intelligent mobile robot 1 does not arrive or arrives at the coordinate of the appointed waiting point;

when the target intelligent mobile robot does not reach the task coordinate (namely the designated waiting point coordinate) or reaches the task coordinate, the task management system receives the freezing information of the designated hoisting machine unit sent by the equipment control system, the task management system can select a new hoisting machine unit as an updated hoisting machine unit according to some preset ladder selection rules, correspondingly, the task coordinate in the scheduling task of the same layer is changed into the updated coordinate and sent to the robot control system, and the robot control system receives the updated coordinate sent by the task management system.

S32, acquiring a temporary coordinate 16 of the position of the target intelligent mobile robot 1;

it should be understood that the target intelligent mobile robot has moved at least a distance from the current coordinates and the robot control system should acquire temporary coordinates of the location where the target intelligent mobile robot is now located.

S33, planning an updated avoidance path 42 from the temporary coordinates 16 to the updated coordinates 15 and avoiding the avoidance area 3 according to the map information;

similarly, an updated avoidance path from the temporary coordinates to the updated coordinates is planned based on the map information acquired in advance, and the updated avoidance path also avoids the avoidance area of the elevator unit.

And S34, continuing to drive the target intelligent mobile robot 1 to move from the temporary coordinate 16 to the updated coordinate 15 according to the updated avoidance path 42.

And then according to the re-planned updated evaded path, the robot control system continuously drives the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate.

Similarly, the re-planned path may be specified to traverse the hoist unit, or in the case that an updated avoidance path cannot be obtained when planning the path from the temporary coordinates to the updated coordinates, the step S3 may further include:

s35, receiving a scheduling instruction including an updating traversing path, or planning the updating traversing path under the condition that the updating avoiding path cannot be obtained; the updating traversing path is a path from the temporary coordinates to the updating coordinates, the updating traversing path traverses the avoidance areas where the elevator units are located along the double-door direction of the elevator units, and the planned updating traversing path aims at traversing the minimum number of the avoidance areas where the elevator units are located;

s36, sending a hoist application instruction to the task management system, so that the task management system sends a hoist occupation instruction to the equipment control system according to the hoist application instruction, and the equipment control system schedules all hoist units related to the hoist occupation instruction to a layer where a same-layer scheduling task is located; the method comprises the steps that an elevator application instruction and an elevator occupation instruction comprise all elevator units corresponding to an avoidance area through which a traversing path passes;

and S37, under the condition that a confirmation instruction that all the elevator units corresponding to the avoidance area crossed by the updated crossing path reach the layer where the same-layer scheduling task is located is obtained, driving the target intelligent mobile robot to move from the temporary coordinates to the updated coordinates according to the updated crossing path.

That is, the re-planned path is designated to traverse the hoist unit, or, in the case that the updated evasive path cannot be obtained, the robot control system needs to plan an updated traversing path from the temporary coordinates to the updated coordinates; and then, the robot control system continues to drive the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated traversing path.

It should be understood that the above-described updated avoidance path and updated traversal path may be acquired in a case where the target smart mobile robot has started from the current coordinates.

When the target intelligent mobile robot starts from the current coordinate, the task management system receives the freezing information of the appointed hoister unit, the task management system directly sends the updated scheduling task of the same layer to the robot control system, and the robot control system directly plans a path according to the updated scheduling task of the same layer.

In addition, when the specified hoisting machine unit is frozen, the elevator selection rule for reselecting the hoisting machine unit by the task management system can be determined according to actual needs, for example, the elevator selection rule can be combined with a special elevator rule or a task balancing rule, the special elevator rule is that a specific hoisting machine unit is selected according to different goods, and the task balancing rule is that each hoisting machine unit is sequentially selected according to a certain sequence of the hoisting machine units.

In the one possible implementation mode, the two lifting machine units that open the door still can hold in the palm two lifting machines more, promptly, be equipped with a plurality of positions of carrying cargo in the lifting machine unit, can promote a plurality of goods shelves simultaneously, this moment, this lifting machine unit should have a plurality of waiting points, also a plurality of waiting points correspond a plurality of positions of carrying cargo respectively, and like this, intelligent movement robot can get into the lifting machine unit from a plurality of different waiting points, and the goods shelves can be followed a plurality of positions of carrying cargo in the lifting machine unit and moved to a plurality of waiting points respectively, and logistics efficiency is improved.

At this time, referring to fig. 11, the task coordinates 12 include coordinates of unoccupied waiting points among the waiting points of the designated elevator unit 6 of the scheduling task of the same floor;

the scheduling method further comprises the following steps:

s8, driving the target intelligent mobile robot to move to a cargo carrying position close to the unoccupied waiting point in the appointed elevator unit from the unoccupied waiting point; the designated elevator unit is provided with a plurality of loading positions, and the plurality of loading positions correspond to the plurality of waiting points respectively.

That is, after the target intelligent mobile robot is driven to move to the unoccupied waiting point of the designated elevator unit, the robot control system drives the target intelligent mobile robot to move into the designated elevator unit to be placed on a shelf or directly lifted by the designated elevator unit.

It will be appreciated that to ensure efficiency, the target intelligent mobile robot should move into the loading position of the designated elevator unit close to the unoccupied waiting point.

In addition, the current coordinate comprises a coordinate of an unoccupied waiting point in a plurality of waiting points of the specified elevator unit of the same-layer scheduling task;

the scheduling method further comprises the following steps:

and S9, driving the target intelligent mobile robot to move to the unoccupied waiting point from a loading position close to the unoccupied waiting point in the appointed hoisting machine unit, wherein the appointed hoisting machine unit is internally provided with a plurality of loading positions which respectively correspond to the plurality of waiting points.

That is, for example, for the N-tier scheduling subtask of the above-mentioned cross-tier scheduling task, it is necessary that the target mobile robot first moves the rack out of the designated elevator unit, and at this time, the robot control system drives the target mobile robot to move from the loading position near the unoccupied waiting point to the unoccupied waiting point.

Therefore, for the multi-support double-door hoister, the application of hoister resources at multiple waiting points can be realized, multiple lines simultaneously enter the hoister unit for stocking, and the efficiency is improved; and, can multiple spot release the interior freight of lifting machine unit, avoid the single-point to block up, promote resource release efficiency.

Based on the foregoing scheduling method, an embodiment of the present application further provides a scheduling apparatus for an intelligent mobile robot, and with reference to fig. 13, the scheduling apparatus includes:

the coordinate determination module 100 is configured to determine a current coordinate of the target intelligent mobile robot and a task coordinate of the same-layer scheduling task when the same-layer scheduling task is executed; the target intelligent mobile robot is an intelligent mobile robot which is selected in a layer where the same-layer scheduling task is located and executes the same-layer scheduling task;

an avoidance module 200, configured to plan an avoidance path from the current coordinate to the mission coordinate and avoiding an avoidance area according to pre-stored map information; the map information comprises avoidance coordinates of an elevator unit on a layer where the same layer scheduling task is located, the avoidance coordinates form an avoidance area, and the elevator unit comprises a double-door elevator;

the first transfer module 300 is configured to drive the target intelligent mobile robot to move from the current coordinate to the task coordinate according to the avoidance path, so as to prevent the target intelligent mobile robot from falling from a lifting gap corresponding to the avoidance area; the lifting gap is used for lifting the lifting machine unit between different floors.

A traversing module 400, configured to receive a scheduling instruction including a traversing path, or plan a traversing path in a case that an avoidance path cannot be obtained; the crossing path is a path from the current coordinate to the task coordinate, and passes through the avoidance areas where the elevator units are located along the double-door direction of the elevator units, and the planned crossing path aims at the minimum number of the avoidance areas where the elevator units are located;

the first information sending module 500 is configured to send a hoist application instruction to the task management system, so that the task management system sends a hoist occupation instruction to the equipment control system according to the hoist application instruction, and the equipment control system schedules all hoist units related to the hoist occupation instruction to a layer where a same-layer scheduling task is located; the elevator application instruction and the elevator occupation instruction comprise all elevator units corresponding to an avoidance area crossed by a crossing path;

and a second transfer module 600, configured to drive the target intelligent mobile robot to move from the current coordinate to the task coordinate according to the crossing path under the condition that all the elevator units related to the elevator application instruction reach the confirmation instruction of the layer where the same-layer scheduling task is located.

The second information sending module 700 is configured to send traversing completion information to the task management system when the driving target intelligent mobile robot completes the traversing path, so that the task management system sends an elevator occupation removing instruction to the device control system according to the traversing completion information, where the elevator occupation removing instruction includes all elevator units corresponding to an avoidance area traversed by the traversing path.

The scheduling apparatus further includes:

the map request module is used for sending a map information acquisition request to the task management system;

In one embodiment, the task coordinates include at least a first task coordinate and a second task coordinate arranged in time series.

Referring to fig. 14, the circumvention size block includes:

and a multi-node avoidance unit 201 configured to plan a multi-node avoidance path that passes through the first task coordinate and the second task coordinate in sequence with the current coordinate as a starting point and avoids the avoidance area, according to the map information.

The traversing module comprises:

the multi-node traversing unit 401 is configured to receive a scheduling instruction including a multi-node traversing path, or plan the multi-node traversing path under the condition that a multi-node evasive path cannot be acquired; the multi-node crossing path is a path which takes the current coordinate as a starting point and sequentially passes through the first task coordinate and the second task coordinate, and the multi-node crossing path crosses the avoidance area where the elevator unit is located along the direction of double doors of the elevator unit.

In one embodiment, the task coordinates include coordinates of a designated waiting point of a designated hoist unit of a peer scheduling task;

referring to fig. 15, the first transfer module includes:

an updated coordinate receiving unit 310, configured to receive an updated coordinate of the task coordinate sent by the task management system when the target smart mobile robot has not reached or has reached the specified waiting point coordinate;

a temporary coordinate receiving unit 320, configured to obtain a temporary coordinate of a location where the target intelligent mobile robot is located;

an update avoidance unit 330 for planning an update avoidance path from the temporary coordinates to the update coordinates and avoiding the avoidance area according to the map information;

and the first transfer unit 340 is configured to continue to drive the target intelligent mobile robot to move from the temporary coordinates to the updated coordinates according to the updated avoidance path.

An update traversing unit 350, configured to receive a scheduling instruction including an update traversing path, or plan an update traversing path in a case where an update avoiding path cannot be obtained; the updating traversing path is a path from the temporary coordinate to the updating coordinate, the updating traversing path traverses the avoidance area where the elevator unit is located along the direction of double doors of the elevator unit, and the planned updating traversing path aims at the minimum number of the avoidance areas where the elevator unit is located;

the first information sending unit 360 is configured to send a hoist application instruction to the task management system, so that the task management system sends a hoist occupation instruction to the equipment control system according to the hoist application instruction, and the equipment control system schedules all hoist units related to the hoist occupation instruction to a layer where a scheduling task of the same layer is located; the method comprises the steps that an elevator application instruction and an elevator occupation instruction comprise all elevator units corresponding to an avoidance area through which a traversing path passes;

and a second transfer unit 370, configured to, in a case that a confirmation instruction that all the elevator units corresponding to the avoidance area traversed by the updated traversing path reach the layer where the same-layer scheduling task is located is obtained, drive the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated traversing path.

In one embodiment, the task coordinates include coordinates of unoccupied waiting points in a plurality of waiting points of a specified elevator unit of a peer scheduling task;

wherein, this scheduling device still includes:

the hoisting machine moving-in module is used for driving the target intelligent mobile robot to move from the unoccupied waiting point to a goods loading position close to the unoccupied waiting point in the appointed hoisting machine unit; the designated elevator unit is provided with a plurality of loading positions, and the plurality of loading positions correspond to the plurality of waiting points respectively.

In one embodiment, the current coordinates include coordinates of unoccupied waiting points among a plurality of waiting points of the specified elevator unit of the peer scheduling task;

wherein, this scheduling device still includes:

and the hoisting machine moving-out module is used for driving the target intelligent mobile robot to move from the goods loading position close to the unoccupied waiting point in the appointed hoisting machine unit to the unoccupied waiting point, wherein the appointed hoisting machine unit is internally provided with a plurality of goods loading positions which respectively correspond to the plurality of waiting points.

Based on the scheduling method, the embodiment of the present application further discloses a non-transitory computer readable storage medium storing instructions, which when executed by a processor, cause the processor to perform the steps in the scheduling method of the intelligent mobile robot as described above.

Based on the scheduling method, the embodiment of the application also discloses a logistics system, wherein the logistics system comprises a three-dimensional goods shelf, and a plurality of intelligent mobile robots are arranged on each layer of the three-dimensional goods shelf; the physical fluid system further comprises:

a robot control system for controlling the intelligent mobile robot according to the steps of the scheduling method;

the equipment control system is used for controlling the lifting machine unit of the three-dimensional goods shelf;

and the task management system is used for generating the same-layer scheduling task and sending the same-layer scheduling task to the robot control system.

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is provided for purposes of illustration and understanding only, and is not intended to limit the application to the details which are set forth in order to provide a thorough understanding of the present application.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by one skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations should be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of exemplary aspects and embodiments have been discussed above, those of skill in the art will recognize that certain variations, modifications, alterations, additions and sub-combinations thereof are encompassed within the scope of the invention.

Claims

1. A scheduling method of an intelligent mobile robot, the scheduling method comprising:

when a same-layer scheduling task is executed, determining the current coordinate of a target intelligent mobile robot and the task coordinate of the same-layer scheduling task; the target intelligent mobile robot is an intelligent mobile robot which is selected from a layer where the same-layer scheduling task is located and executes the same-layer scheduling task;

2. The scheduling method of claim 1, further comprising:

sending a hoist application instruction to a task management system, so that the task management system sends a hoist occupation instruction to an equipment control system according to the hoist application instruction, and the equipment control system dispatches all hoist units related to the hoist occupation instruction to a layer where the same-layer dispatching task is located; the elevator application instruction and the elevator occupation instruction comprise all elevator units corresponding to an avoidance area crossed by the crossing path;

3. The scheduling method of claim 2, further comprising:

4. The scheduling method of claim 1, further comprising:

sending a map information acquisition request to a task management system;

5. The scheduling method of claim 1 wherein the task coordinates include at least a first task coordinate and a second task coordinate arranged in time series;

6. The scheduling method of claim 5, further comprising:

7. The scheduling method of claim 1 wherein the task coordinates include designated waiting point coordinates for designated hoist units of the peer scheduling task;

under the condition that the target intelligent mobile robot does not arrive or has arrived at the specified waiting point coordinate, receiving an updated coordinate of the specified waiting point coordinate sent by a task management system;

8. The scheduling method of claim 7, further comprising:

sending a hoist application instruction to a task management system, so that the task management system sends a hoist occupation instruction to an equipment control system according to the hoist application instruction, and the equipment control system schedules all hoist units related to the hoist occupation instruction to a layer where the same-layer scheduling task is located; the elevator application instruction and the elevator occupation instruction comprise all elevator units corresponding to an avoidance area crossed by the updated crossing path;

and driving the target intelligent mobile robot to move from the temporary coordinate to the updated coordinate according to the updated traversing path under the condition of obtaining a confirmation instruction that all the elevator units corresponding to the avoidance area traversed by the updated traversing path reach the layer where the same-layer scheduling task is located.

9. The scheduling method of claim 1 wherein the task coordinates include coordinates of unoccupied ones of the plurality of waiting points of the designated elevator unit of the peer scheduling task;

the scheduling method further comprises the following steps:

driving the target intelligent mobile robot to move from the unoccupied waiting point to a loading position close to the unoccupied waiting point in the appointed elevator unit; the designated hoisting machine unit is internally provided with a plurality of loading positions, and the plurality of loading positions respectively correspond to the plurality of waiting points.

10. The scheduling method of claim 1 wherein the current coordinates include coordinates of unoccupied ones of the plurality of waiting points of the designated elevator unit of the peer scheduling task;

the scheduling method further comprises the following steps:

11. A scheduling apparatus of an intelligent mobile robot, the scheduling apparatus comprising:

the coordinate determination module is used for determining the current coordinate of the target intelligent mobile robot and the task coordinate of the same-layer scheduling task when the same-layer scheduling task is executed; the target intelligent mobile robot is an intelligent mobile robot which is selected from a layer where the same-layer scheduling task is located and executes the same-layer scheduling task;

the avoidance module is used for planning an avoidance path from the current coordinate to the mission coordinate and avoiding an avoidance area according to prestored map information; the map information comprises avoidance coordinates of an elevator unit on a layer where the same layer scheduling task is located, the avoidance coordinates form the avoidance area, and the elevator unit comprises a double-door elevator;

12. The scheduler of claim 11, wherein the scheduler further comprises:

13. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the scheduling method of a smart mobile robot according to any one of claims 1 to 10.

14. The logistics system is characterized by comprising a three-dimensional shelf, wherein a plurality of intelligent mobile robots are arranged on each layer of the three-dimensional shelf; the fluid system further comprises:

a robot control system for controlling the smart mobile robot according to the steps of the scheduling method according to any one of claims 1 to 10;