CN116109088A

CN116109088A - Intelligent dispatching method based on robot management system

Info

Publication number: CN116109088A
Application number: CN202310097964.1A
Authority: CN
Inventors: 陈兴华; 方阳
Original assignee: Anji Intelligent Internet Of Things Technology Co ltd
Current assignee: Anji Intelligent Internet Of Things Technology Co ltd
Priority date: 2023-02-10
Filing date: 2023-02-10
Publication date: 2023-05-12

Abstract

The invention discloses an intelligent dispatching method based on a robot management system, which comprises the steps of receiving tasks issued by WCS, and adding the tasks into a task list of an unassigned AGV according to a terminal partition in time sequence; acquiring a task list of an unassigned AGV; according to a flow control strategy, screening tasks not arranged with AGVs, and stopping dispatching when the number of tasks of the currently distributed AGVs of the workstation reaches an upper limit; considering the balanced operation of the warehouse-in and warehouse-out, and setting the time interval of dispatch of the warehouse-in and warehouse-out tasks; updating task priority; tasks with high task grades are preferentially allocated, task vehicle finding logic is called, and vehicles are allocated to the tasks. The intelligent dispatching system can intelligently dispatch tasks, can dispatch the tasks for vehicles according to the task priority, and can dispatch the tasks under the flow control strategy, the average box receiving time of the AGV is greatly reduced, and intelligent logistics transportation is realized.

Description

Intelligent dispatching method based on robot management system

Technical Field

The invention relates to the technical field of logistics management, in particular to an intelligent dispatching method based on a robot management system.

Background

The intelligent unmanned vehicles (AGVs, automated Guided Vehicle) are better choice to dispatch in the area, and meanwhile, the existing robot management system (RCS, robot Control System) only dispatches the unmanned vehicles along a fixed path, namely, the unmanned vehicles travel according to one or more determined routes after the destination is set. The work process is that logistics personnel arrange goods to be dispatched for the intelligent unmanned vehicle, and the vehicle is started after a destination is set, so that the logistics personnel complete a dispatching task.

Aiming at the problems that the RCS dispatch is mainly driven according to a fixed route at present, when carrying out goods shelf transportation operation and dispatching is needed, task dispatch is not timely, the transportation task cannot find vehicles, and partial goods are longer in transportation period due to lack of division of task priority, so that logistics goods shelves are larger in load, and the difficulty of warehousing operation and ex-warehouse operation is increased, the invention provides an intelligent dispatching method based on a robot management system, and the problem is solved.

Disclosure of Invention

The invention aims to provide an intelligent dispatching method based on a robot management system, which can intelligently dispatch tasks and effectively improve the working efficiency of an AGV trolley by receiving goods shelf carrying operation tasks issued by an upper storage control system (WCS, warehouse Control System) so as to solve the problems raised by the background technology.

In order to achieve the above object, the present invention provides an intelligent dispatching method based on a robot management system, comprising:

receiving tasks issued by the WCS, and adding the tasks into a task list of an unassigned AGV according to the end point partition in time sequence;

acquiring a task list of an unassigned AGV;

according to a flow control strategy, screening tasks not arranged with AGVs, and stopping dispatching when the number of tasks of the currently distributed AGVs of the workstation reaches an upper limit;

considering the balanced operation of the warehouse-in and warehouse-out, and setting the time interval of dispatch of the warehouse-in and warehouse-out tasks;

updating task priority;

tasks with high task grades are preferentially allocated, task vehicle finding logic is called, and vehicles are allocated to the tasks.

Preferably, the step of updating the task priority includes:

sequentially taking out all task lists under the corresponding priority according to the task priority from high to low, and sequentially updating the priorities;

for the warehouse-in task, calculating the time received by the task, if t1 minutes is not done, the emergency degree is increased to 1; if t2 minutes are not performed, the emergency degree is increased to 2, wherein t1 is set according to the time expected by the AGV for performing two task cycles, t2 is set according to the time expected by the AGV for performing three task cycles, and the AGV performs one task cycle which sequentially comprises the steps of taking a shelf by the AGV, carrying the shelf to a working station, operating the working station and carrying the AGV to a storage area with the shelf;

for a delivery task, calculating the remaining time to be completed of the task based on the expected arrival time issued by the WMS, if t3 minutes are still available, the emergency is lifted to 1 and is already out of date, and the emergency is lifted to 2, wherein t3 is set according to the delivery working time from the AGV to the work station.

Preferably, t3 is set to the time that the AGV has a 90-100% probability interval to complete the delivery job.

Preferably, the step of setting the time interval for dispatching the in-out task includes:

the time interval between dispatch of the ex-warehouse task and dispatch of the warehouse-in task is set to be 1.5-2.5:1.

Preferably, the step of screening tasks not scheduled for the AGV according to the flow control policy, and stopping dispatching when the number of tasks currently allocated for the AGV by the workstation reaches an upper limit includes:

and stopping dispatching when the number of tasks of the AGVs currently allocated to the work station reaches an upper limit of upBound, wherein the value of upBound is in the interval range of 85% -115% aveDeliveryTime/aveHumanTime, aveDeliveryTime is the average time of the AGVs to go to a work area, and aveHumanTime is the average time of the work on a shelf in the work station.

Preferably, the task vehicle finding logic includes:

sequentially selecting task dispatching vehicles from a task list needing to be dispatched with an AGV;

calculating the distance between all idle AGVs and the starting point of the current task;

from which the vehicle with the shortest distance value is selected to be scheduled for a task.

Preferably, the step of calculating the distance between all the idle AGVs and the current task start point includes:

calculating Manhattan distance between all idle AGVs and the current task start point, or

And calculating the path distances of all the idle AGVs and the current task starting point, which take the field factors into consideration.

Preferably, the task vehicle finding logic includes:

for tasks needing to be assigned with AGVs, calculating the distances between all tasks and all idle AGVs;

and calculating the optimal allocation of tasks and AGVs according to the Hungary algorithm.

Preferably, the method for charging the RCS is included, wherein the method for charging the RCS comprises the following steps:

setting a secondary charging threshold, a primary charging threshold and a stopping charging threshold;

if the electric quantity of the AGV is larger than the second level and smaller than the first level, generating a charging task, and if an unallocated WCS task exists, preferentially performing the WCS task; if the AGV electric quantity is lower than the second-level threshold value, the task of the WCS is not received;

the off-line AGVs, the tasked AGVs, the error reporting AGVs and the AGVs with the jacking state do not generate charging tasks;

searching available charging piles closest to the current position of the AGV, and occupying the charging piles once the charging piles are successfully distributed;

and the AGV reaches a charging stopping threshold value, automatically distributes charging stopping tasks, withdraws the charging pile to the previous point of the charging pile, immediately receives the tasks if the WCS tasks exist, and distributes a parking task to search the nearest shelf point for parking if the WCS tasks do not exist.

Preferably, the RCS charging method includes:

charging maintenance is carried out on the AGV, and charging maintenance is carried out after charging for a plurality of times until the charging reaches 95%;

charging the AGV according to the busyness; and

and determining whether charging is needed or not according to the electric quantity reported by the AGV every 5-15S.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the RCS dispatching method, the task is dispatched intelligently by the RCS system through processing the task under the overall thought of task dispatching by the WCS of the upper system, the task priority is set according to the task urgency, the task which is optimally distributed under the flow control condition (comprising a plurality of tasks at most and task balance) is acquired, and then the most recently available vehicle (vehicle dispatching task) is sought according to the distance of a logistics road junction, so that the working efficiency is effectively improved.

2. According to the invention, the AGVs are sequentially allocated to the tasks from high to low according to the task priorities, and in the process of carrying out the carrying, the AGVs can automatically carry out path planning according to the ex-warehouse tasks and the warehouse-in tasks, so that the goods shelf carrying operation is carried out in a designated working area, the intelligent logistics transportation is realized, the problems that the task is not timely allocated at present, the carrying tasks cannot find vehicles, the task priorities are not divided, partial goods are longer in transportation period, the logistics goods shelf load is larger, the warehouse-in operation and the ex-warehouse operation difficulty are increased are solved, the logistics transportation efficiency is greatly improved, even the key indexes of the AGVs are allocated, and the average box-receiving time of the AGVs is reduced by nearly half are solved.

3. The invention acquires the task which is optimally allocated under the flow control condition (comprising a plurality of tasks at most and balanced tasks of each workstation), when the task executed by the workstation reaches the upper limit, the task is not dispatched any more, thereby effectively preventing excessive dispatching of the workstations to other workstations and causing no availability of the other workstations, setting the dispatching time interval of the dispatching tasks of the warehouse-in and warehouse-out, wherein the dispatching time interval of the dispatching tasks of the warehouse-out is smaller than the dispatching time interval of the dispatching tasks of the warehouse-in, realizing the first-out and then-in, and effectively improving the logistics warehouse turnover efficiency.

The invention also provides an RCS charging method, the system can determine whether to charge according to the electric quantity reported by the AGV, and automatically distributes the charging piles, so that the cyclic charging is formed, the utilization efficiency of the charging piles and the operation efficiency of the AGV are effectively improved, tasks with high emergency degree can be processed preferentially, then tasks of the work stations are sequentially performed according to the dispatching interval, the optimal distribution of the tasks and the vehicles is calculated, and the work efficiency of the goods shelf carrying operation is greatly improved.

Drawings

FIG. 1 is a diagram of a worker thread according to one embodiment of the method of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The RCS dispatching method comprises the steps of receiving tasks issued by the WCS, and adding the tasks into a task list of an unassigned AGV according to a terminal partition in time sequence; acquiring a task list of an unassigned AGV; according to a flow control strategy, screening tasks not arranged with AGVs, and stopping dispatching when the number of tasks of the currently distributed AGVs of the workstation reaches an upper limit; considering the balanced operation of the warehouse-in and warehouse-out, and setting the time interval of dispatch of the warehouse-in and warehouse-out tasks; updating task priority; tasks with high task grades are preferentially allocated, task vehicle finding logic is called, and vehicles are allocated to the tasks. The vehicle dispatching method effectively realizes intelligent logistics transportation, solves the problems that the task dispatching is not timely, the vehicle cannot be found by the carrying task, and the task priority is not divided, so that part of goods are longer in transportation period, the logistics goods shelf is higher in load, and the difficulty of warehousing and ex-warehouse operation is increased at present, and therefore, the logistics transportation efficiency can be greatly improved.

The following describes an intelligent dispatching method based on a robot management system according to the present invention in a specific embodiment.

The intelligent dispatching method based on the robot management system in the embodiment of the invention comprises the following steps:

when the system is started, a working thread is started to process tasks, the default interval time is within the range of 0.001-5S, the interval 1S is set in the embodiment, and the shelf transport operation tasks issued by the upper system are received and added to a task list of an unassigned AGV according to the end point partition in time sequence.

As shown in fig. 1, a task loop processing in an embodiment of the present invention is provided, namely, a working thread in the embodiment is as follows, and it should be well known that other task loop modes are adopted, and the working thread is set as follows in the embodiment:

(1) Acquiring a task list JobList of an unassigned AGV;

(2) Updating task priorities, wherein 3 levels are set, the numerical value is 0-2, the numerical value is higher, the higher the numerical value is, the more the task priorities are, sequentially taking out all task subJobLists under the corresponding priorities, sequentially updating the priorities, and for a warehouse-in task, calculating the received time of the task;

further, in the step (2), for the warehouse-in task, the time that the task has received is calculated:

(1) if t1 minutes is not done, the emergency degree is increased to 1;

if t2 minutes is not done, the emergency degree is increased to 2.

(2) The t1 and t2 are adjustable time parameters, and the parameter setting is based on the time required for the AGV to perform a task cycle for the current AGV, namely, the time required by the AGV to take a shelf, go to a working station, perform manual operation and the AGV to take a shelf to return to a storage area, wherein the task cycle time is about 10 minutes;

considering that the library tasks are made preferentially, the priority is preferably upgraded if the AGVs are not scheduled to make the library tasks at the time of the two task cycles. Preferably, t1=2×cycletime, t2=3×cycletime.

For a delivery task, calculating the remaining time to be completed of the task based on the estimated arrival time issued by the upper warehouse control system (WMS, warehouse Management System):

(1) if t3 minutes exist, the emergency degree is increased to 1;

if the time exceeds the time limit, the emergency degree is increased to 2.

(2) Above-mentioned t3 is adjustable time parameter, and the parameter setting is according to AGV gets goods delivery work deliveryTime of goods shelves to work district, and present deliveryTime average value is 6 minutes, and more than 95% can accomplish in 10 minutes, and t3 sets up to 95% interval corresponding time, 10 minutes. In other embodiments, t3 may be set to other time values for completing the shipping job in the 90-100% probability interval.

(3) Tasks with high task grades are preferentially allocated, tasks with priority values of 2 are firstly made, then tasks with priority values of 1 are made, task vehicle finding logic is called, and vehicles are allocated to the tasks;

(4) According to a flow control strategy, screening tasks which are not arranged with AGVs, namely stopping dispatching when the number of tasks of the AGVs distributed by the work station reaches the upper limit upBound;

further, in the step (4), the reason why the dispatching of vehicles is stopped is that the number of vehicles in the whole field is prioritized, and too many AGVs are allocated to one workstation, which may cause the other workstations to lack vehicles.

In the step (4), the task number of the AGV reaches the upper limit, and the upBound setting is based on a range interval of 0.85 to 1.15 times of the value of avedelevelytime/aveHumanTime, preferably, upbound=avedelevelytime/aveHumanTime, where avedelevelytime is the time of the AGV delivery frame to go to the working area, aveHumanTime is the average time of manual work on the shelf, and this setting mode can ensure that the manual work is not stopped under the condition of saturated task of the working station, i.e. reduce waiting of personnel.

(5) Considering the balanced job of the warehouse-in and warehouse-out, namely that the proportion of the whole-field warehouse-in and warehouse-out tasks has a set value based on service data, for example, 1.5-2.5:1, preferably 2:1, the warehouse-out tasks are distributed every 2s, the warehouse-in tasks are distributed every 1s, the time interval of task distribution is set, and if the current task processing cycle is finished, the current workstation stops the vehicle distribution consideration, and then the follow-up vehicle distribution link is skipped;

(6) And for the task with low priority, calling task vehicle finding logic, dispatching vehicles for the task, updating parameters after dispatching, and turning to the next task processing cycle.

In this embodiment, the task vehicle finding logic includes two types:

for simple logic, the task dispatch is sequentially selected as follows:

a) step1, sequentially selecting a task dispatch vehicle from a task list of vehicles to be dispatched, and recording the current task as curJob;

b) step2, calculating the distance between all idle vehicles and the curJob start point, such as Manhattan distance or path distance considering site factors;

c) step3, selecting the vehicle curVeh with the shortest distance value from the vehicle curVeh, arranging curVeh to be curJob, and returning to step1.

Another task dispatch based on the best matching hungarian algorithm:

a) step1, calculating the distance between all idle vehicles and the curJob starting point, such as Manhattan distance or the path distance considering site factors, for each task curJob;

b) step2 and circulation step1, calculating the distances between all jobs and all vehicles;

c) step3, calculating the optimal allocation of the tasks and the vehicles according to the Hungary algorithm.

In the embodiment, after the method is online, the key index of the AGV dispatching, the average box receiving time of the AGV is reduced from about 120s to about 75s, and the storage efficiency is greatly improved.

The embodiment also provides a charging method of the RCS, the system is preferably 10s every 5-15s, whether charging is needed is determined according to the electricity quantity reported by the trolley, and the charging strategy comprises the following seven steps:

(1) The charging is set to three thresholds, the three thresholds can be configured in real time, a secondary charging threshold (mustCharge), a primary charging threshold (needledcharge) and a stop charging threshold (stopCharge);

(2) The electric quantity of the trolley is larger than the second level and smaller than the first level, a charging task is generated, and if an unallocated WCS task exists, the task of the WCS is preferentially done;

if the electric quantity of the trolley is lower than the second-level threshold value, the task of the WCS is not received;

(3) Distributing charging piles: searching an available charging pile closest to the current position of the trolley, and occupying the charging pile once the charging pile is successfully distributed;

(4) The off-line vehicle, the vehicle with the task, the fault reporting vehicle and the vehicle with the state of jacking do not generate a charging task;

(5) And (3) charging completion:

(1) the AGV reaches a charging stopping threshold, a charging stopping task is automatically distributed, and the trolley exits from the charging pile to the previous point of the charging pile;

(2) if the WCS task exists, immediately receiving the task;

(3) if no WCS task exists, a working task is allocated to find the nearest shelf point stop.

(6) And (3) charging maintenance: every 30 cycles, charging maintenance is carried out, and the RCS schedules the vehicle to charge to 95%;

(7) Busyness charging.

In summary, the RCS dispatching method provided by the invention has the advantages that the dispatching frame is used for carrying the operation task through the upper system, the dispatching task can be intelligently carried out, the work efficiency of the AGV trolley is improved, the AGV trolley can be sequentially dispatched to the task from high to low according to the task priority, the AGV trolley can automatically reach the starting point of the task and automatically return after the service is completed, in the process of carrying out the carrying, the AGV trolley can automatically carry out path planning according to the delivery task and the warehouse-in task, so that the carrying operation of a goods shelf is carried out in a designated working area, the intelligent logistics transportation is realized, the problems that the task is not dispatched in time at present, the vehicle cannot be found by the carrying task, the division of the task priority is lacking, the transfer period of partial goods is longer, the logistics goods shelf load is larger, and the difficulty of the warehouse-in operation and the delivery operation is increased are solved, and therefore, the logistics transportation efficiency can be greatly improved.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An intelligent dispatching method based on a robot management system is characterized by comprising the following steps:

acquiring a task list of an unassigned AGV;

updating task priority;

2. The intelligent dispatching method based on the robot management system according to claim 1, wherein the updating task priority comprises:

3. The intelligent dispatching method based on the robot management system as claimed in claim 2, wherein: t3 is set to the time that the AGV has a 90-100% probability interval to complete the delivery job.

4. The intelligent dispatching method based on the robot management system as claimed in claim 1, wherein: the step of setting the time interval for dispatching the warehouse-in and warehouse-out tasks in consideration of the warehouse-in and warehouse-out balancing operation comprises the following steps:

5. The intelligent dispatching method based on the robot management system as claimed in claim 1, wherein: according to the flow control strategy, screening tasks not arranged with AGVs, and stopping dispatching when the number of tasks of the work station currently distributed with AGVs reaches an upper limit, wherein the step of dispatching comprises:

and stopping dispatching when the number of tasks of the AGVs currently allocated to the work station reaches an upper limit of upBound, wherein the value of upBound is in a range of 85% -115% DeliveryTime/aveHumanTime, aveDeliveryTime is the average time of the AGVs to go to a work area, and aveHumanTime is the average time of work on a shelf in the work station.

6. The intelligent dispatching method based on the robot management system as claimed in claim 1, wherein: the task vehicle finding logic comprises:

7. The intelligent dispatching method based on the robot management system as claimed in claim 6, wherein: the calculating of the distance between all idle AGVs and the current task starting point comprises the following steps:

8. The intelligent dispatching method based on the robot management system as claimed in claim 1, wherein: the task vehicle finding logic comprises:

9. The intelligent dispatching method based on the robot management system as claimed in claim 1, wherein: the method also comprises an RCS charging method, wherein the RCS charging method comprises the following steps:

10. The intelligent dispatching method based on the robot management system as claimed in claim 9, wherein: the RCS charging method comprises the following steps:

charging the AGV according to the busyness; and