CN116757444B - Method for dispatching folding trays of mobile robot - Google Patents
Method for dispatching folding trays of mobile robot Download PDFInfo
- Publication number
- CN116757444B CN116757444B CN202311009238.6A CN202311009238A CN116757444B CN 116757444 B CN116757444 B CN 116757444B CN 202311009238 A CN202311009238 A CN 202311009238A CN 116757444 B CN116757444 B CN 116757444B
- Authority
- CN
- China
- Prior art keywords
- folding
- tray
- robot
- task
- robots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000011065 in-situ storage Methods 0.000 claims description 9
- 238000009826 distribution Methods 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 6
- 238000005265 energy consumption Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06316—Sequencing of tasks or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Human Resources & Organizations (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Entrepreneurship & Innovation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Development Economics (AREA)
- General Business, Economics & Management (AREA)
- Game Theory and Decision Science (AREA)
- Mechanical Engineering (AREA)
- Educational Administration (AREA)
- Accounting & Taxation (AREA)
- Finance (AREA)
- Robotics (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The mobile robot folding tray dispatching method comprises the steps of obtaining a folding tray task and controlling a robot to move to a dispatching waiting area; judging the idle state of the folding station, and distributing robots in a dispatching waiting area for the idle folding station; controlling the allocated robots to move to corresponding folding stations to execute the task of folding the trays; by setting the scheduling waiting area, specific task information can be issued to the robot through the lower WCS scheduling system after the robot reaches the scheduling waiting area, instead of the upper WMS system at the stage of approaching from the task starting point to the folding station, the task information of the task end point and the folding height can be issued through the lower WCS scheduling system; therefore, interference caused by actions such as avoiding and the like in the running process of the robot can be avoided, the operation execution sequence which is designated too early is prevented from being disturbed due to interference factors in the running process, and the accuracy and the high efficiency of scheduling are ensured.
Description
Technical Field
The application relates to the technical field of warehouse logistics, in particular to a mobile robot folding tray dispatching method.
Background
When the warehouse system executes warehouse-in and warehouse-out tasks, new empty trays are generated, in order to stack and store the empty trays in time to reduce the occupied space, a dispatching robot is needed to stack the trays, and when the empty trays are needed to be reused, the dispatching robot is also needed to take out the stacked trays. The conventional dispatching system sends the information of the task starting point, the task end point, the folding height and the like of the folding tray task to the robot in advance, so that a plurality of robots can only finish the operation content corresponding to the folding height on the folding station according to the sequence of receiving the task, if the operation content is not in sequence, the problem that the folding height sent to the robot is not matched with the actual folding station tray set height is caused, and the task of the robot cannot be executed. The robots can wait after the sequence due to temporary actions such as deceleration or parking avoidance and the like when the robots travel to the folding station, and the linkage influence is caused, so that the overall dispatching efficiency is low, and the carrying capacity of the robots is wasted.
Disclosure of Invention
The application provides a mobile robot folding tray dispatching method capable of avoiding path interference factors and improving dispatching efficiency aiming at the defects in the prior production technology.
The technical scheme adopted by the application is as follows: the mobile robot folding tray dispatching method comprises the following steps:
acquiring a task of folding the tray, and controlling the robot to move to a dispatch waiting area;
judging the idle state of the folding station, and distributing robots in a dispatching waiting area for the idle folding station;
and controlling the allocated robots to move to the corresponding folding stations to execute the task of folding the trays.
Further, a waiting point position is arranged in the scheduling waiting area and used for limiting the parking position of the robot; the waiting points are mutually spaced and are linearly arranged along the distribution position of the folding station.
Further, the robot parked by the limited waiting points can be transferred unidirectionally among the waiting points; on the robot unidirectional transfer path, the robot allocation priority of the downstream-located folding station is higher than that of the upstream-located folding station.
Further, the area boundary of the dispatch waiting zone is adjacently engaged with the job area surrounding the folding station.
Further, after the robots in the dispatch waiting area are allocated to the idle folding stations, the method further comprises,
after the robot allocated to the folding station finishes the task and leaves the operation area of the folding station, judging whether the folding station has the folding tray task, if so, continuing to allocate the tray-dismantling robot in the next dispatching waiting area for the folding station until the folding tray task on the folding station is completely executed.
Further, if all the folding stations are in a non-idle state, a first number of robots in a dispatch waiting area is obtained; judging whether the first number is smaller than a second number corresponding to the set threshold value, if so, controlling the first number of robots to wait in situ; if not, controlling the second number of robots to wait in situ, and leaving the rest robots from the dispatch waiting area.
Further, the controlling the second number of robots to wait in situ, after the remaining robots leave the dispatch waiting area, further comprises,
judging whether the remaining battery capacity of the robot leaving the dispatch waiting area is smaller than a safety set value, if yes, controlling the robot to move to a charging area for charging; if not, according to the priorities of the other warehouse tasks except the tray folding task, the other warehouse tasks with the highest priorities are distributed to the robot.
Further, the robot to be distributed is controlled to move to the corresponding folding station to execute the task of folding the tray, comprising,
acquiring the initial stacking disc height in the folding station;
obtaining a target fork height required by a current tray folding task according to the initial tray folding height;
and controlling the robot to execute the task of folding the pallet according to the target pallet fork height.
Further, the control robot performs a palletizing task according to a target fork height, including,
and in the process that the robot moves from the dispatch waiting area to the folding station, controlling the fork to adjust the height of the target fork, and carrying out folding tray action after the robot enters the working area around the folding station.
Further, the tray folding task comprises a tray folding task and a tray folding task, and the robot comprises a tray folding robot and a tray folding robot; the tray removing robot is configured to convey empty trays between the folding station and the empty tray recycling area, and the tray stacking robot is configured to convey empty trays between the folding station and the empty tray replenishment area.
The beneficial effects of the application are as follows: the mobile robot folding tray dispatching method comprises the following steps: acquiring a task of folding the tray, and controlling the robot to move to a dispatch waiting area; judging the idle state of the folding station, and distributing robots in a dispatching waiting area for the idle folding station; controlling the allocated robots to move to corresponding folding stations to execute the task of folding the trays; by setting the scheduling waiting area, specific task information can be issued to the robot through the lower WCS scheduling system after the robot reaches the scheduling waiting area, instead of the upper WMS system at the stage of approaching from the task starting point to the folding station, the task information of the task end point and the folding height can be issued through the lower WCS scheduling system; therefore, interference caused by actions such as avoiding and the like in the running process of the robot can be avoided, the operation execution sequence which is designated too early is prevented from being disturbed due to interference factors in the running process, and the accuracy and the high efficiency of scheduling are ensured.
Drawings
FIG. 1 is a schematic illustration of a palletized pallet schedule according to the present application;
FIG. 2 is a schematic view of the engagement of a dispatch waiting zone with a job area of a folding station in accordance with the present application;
FIG. 3 is a schematic diagram of a robotic unidirectional transfer of one embodiment of the application;
FIG. 4 is a schematic view of the folding station frame of the present application;
fig. 5 is a schematic illustration of the empty tray placement in the unstacking station of the present application.
Detailed Description
The following describes specific embodiments of the present application with reference to the drawings.
The following description of the embodiments of the present application 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, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The mobile robot folding tray scheduling method provided by the embodiment of the application can be applied to the warehouse operation site layout shown in figure 1; as shown in fig. 1, a warehouse job site including a tray folding task generally includes: the folding station can be an open area defined on the ground or other platforms and used for stacking the empty trays, and can also be an empty tray stacking area with an auxiliary frame structure; the area is defined on the ground or other platforms, namely, the two-dimensional code navigation method can be in a mode of pasting entity marking lines and selectively assisting the entity marking lines, or the area virtually defined on the basis of site map information in the WCS system; the division of the empty tray recycling area and the empty tray supplementing area is also the same as the division of the area of the folding station; the auxiliary frame body structure has the function of being capable of being used for abutting against or being close to the side face of the empty tray stack so as to place the empty tray stack to topple or incline to generate safety risks, and at least one side of the periphery of the frame body structure is provided with a notch, so that the forks of the robot and the forked empty tray enter or leave a stacking area conveniently.
Further, referring to fig. 4 and 5, the frame structure may be a semi-enclosed frame structure constructed of a plurality of bars, and fig. 5 is a side view of the frame structure, wherein the dotted line portion is a multi-layered empty tray stacked within the frame structure.
Referring to fig. 1, the mobile robot folding tray scheduling method includes the steps of:
acquiring a task of folding the tray, and controlling the robot to move to a dispatch waiting area;
judging the idle state of the folding station, and distributing robots in a dispatching waiting area for the idle folding station;
and controlling the allocated robots to move to the corresponding folding stations to execute the task of folding the trays.
The robot controlled by the scheduling method specifically refers to an AGV (automatic guided vehicle) carrying vehicle, a scheduling waiting area can be defined based on scene map information in a scheduling system, and auxiliary robot identification such as marking and the like pasted in reality can be assisted; referring to fig. 2, upper and lower dashed boxes respectively represent the job area of the folding station and the unidirectional transfer area of the dispatch waiting area; the task of the dispatching system to obtain the folding tray can be in a regular or real-time mode.
By setting the dispatch waiting area, the dispatch of the robot when executing the task of folding the tray can be divided into three steps: firstly, controlling a robot to move from a task starting point to a scheduling waiting area, wherein the task starting point can be other positions such as an empty tray recycling area or an empty tray supplementing area or a charging area; secondly, distributing the robots reaching the scheduling waiting area to idle folding stations, namely, designating a task end point; and thirdly, enabling the allocated robot to execute the tray-dismantling and tray-stacking task action according to the tray-dismantling and tray-stacking height information corresponding to the tray-dismantling task on the folding station.
The three-step scheduling can firstly not issue specific task information to the robot through an upper WMS system at the stage from the task starting point to the folding station, but issue task information of the task end point and the folding height through a lower WCS scheduling system after the robot reaches a scheduling waiting area; therefore, interference caused by actions such as avoiding and the like in the running process of the robot can be avoided, the operation execution sequence which is designated too early is prevented from being disturbed due to interference factors in the running process, and the accuracy and the high efficiency of scheduling are ensured.
In addition, the dispatch waiting area may be a fixed area defined in the field, or may be an area range smaller than a certain distance value set according to the distance between the robot and the folding station.
The tray folding task comprises a tray folding task and a tray folding task, and the robot comprises a tray folding robot and a tray folding robot; the tray removing robot is configured to convey empty trays between the folding station and the empty tray recycling area, and the tray stacking robot is configured to convey empty trays between the folding station and the empty tray replenishment area.
The method comprises the steps of distributing robots in a scheduling waiting area for idle folding stations, and distributing two distribution contents of a disc removing robot in the scheduling waiting area for folding stations with disc removing tasks and a disc stacking robot in the scheduling waiting area for folding stations with disc stacking tasks according to different tasks.
The control robot moves to the scheduling waiting area, and according to the different tasks and the corresponding robot types, the control robot comprises two control contents, namely controlling the disc disassembling robot to move to the scheduling waiting area and controlling the disc stacking robot to move to the scheduling waiting area; the tray removing robot going to the dispatch waiting area can be a robot which starts from the empty tray recycling area when the empty tray carrying task is just executed, or can be a robot which is idle in other areas in the operation area; the stacking robot that goes to the dispatch waiting area may be a robot that acquires empty trays from the empty tray supply area, or may be a robot that conveys empty trays in other areas in the work area.
Robots in the dispatch waiting area can be freely parked or uniformly distributed in the dispatch waiting area at intervals; as an embodiment, a waiting point is set in the scheduling waiting area and used for limiting the parking position of the robot, the waiting point can be a virtual point set in the WCS scheduling system or can be a navigation two-dimensional code pasted in a real site, and the robot can realize accurate fixed-point parking waiting by parking right above the waiting point or at other relative positions;
the plurality of waiting points are spaced from each other and are linearly arranged along the distribution position of the folding station, the plurality of waiting points are connected to form a continuous straight line or folding line, referring to fig. 1 and 2, the folding station is three in total, namely, the folding station A, the folding station B and the folding station C, and then five waiting points (wherein the waiting point B is shielded by the robot A and is not shown, and the waiting point D is shielded by the robot B and is not shown) are also arranged along the distribution direction of the three folding stations, so that the robot in the dispatching waiting area can be ensured to quickly reach the folding station.
Referring to fig. 2 and 3, as one embodiment, the robot parked as defined by the waiting spots may be transferred unidirectionally between the waiting spots; if there are a plurality of idle folding stations, the task of folding the tray is preferentially distributed to the folding station positioned at the downstream, and on the unidirectional transfer path of the robot, the robot distribution priority of the folding station positioned at the downstream is higher than that of the folding station positioned at the upstream.
Unidirectional transfer refers to transfer of all robots between different equivalent points, all following one direction. For example, when waiting for a point a, a waiting point B, a waiting point C, a waiting point D, and a waiting point E in the figure to move, a transition from a downstream waiting point to an upstream waiting point cannot be generated, and if the robot uniformly follows a transition sequence of a→b→c→d→e, the waiting point d→the waiting point B is a non-allowable transition mode.
The operation mode of unidirectional transfer shown in fig. 2 and 3 is particularly suitable for the operation characteristics of a robot such as a side fork AGV, wherein the side fork AGV refers to a forklift with the fork extending and retracting direction perpendicular to the running direction, and the operation mode has the advantages that the side fork AGV does not need to turn when executing a tray folding task, only needs to keep the position of a notch of a side fork aligning frame body structure, and can drive away in the original direction after the tray folding is completed, so that the tray folding efficiency can be greatly improved.
By designating the priority for the folding station based on the unidirectional transfer direction, the robot in the dispatching waiting area can be preferentially moved to the folding station with the highest priority, the advantage of unidirectional transfer is fully exerted, the upstream area of the transfer direction of the dispatching waiting area is timely vacated, the subsequent newly arrived robot is conveniently parked on the waiting point, and the dispatching circulation of the robot is kept smooth. Meanwhile, the unidirectional transfer of the robots can also avoid transfer blockage caused by mutual interference of robots with opposite running directions, and the efficiency of the robots from a dispatch waiting area to a corresponding folding station is improved. Further, referring to fig. 3, the width of the dispatch waiting zone may be set to be greater than twice the width of the robot, thereby allowing the robot to pass over other robots on the path in a unidirectional transfer as indicated by the arrow in the figure, while reducing interference of reverse motion, and making the dispatch more flexible.
Referring to fig. 2, the zone boundaries of the dispatch waiting zone are adjacently engaged with the job zones surrounding the unstacking station.
The scheduling waiting areas are close to the folding stations as much as possible, the occupied area of the folding job execution stage can be effectively controlled, the advantage that the path of the robot between the task starting point scheduling waiting areas can be freely planned is achieved, and the folding job scheduling method is suitable for the local areas of various storage sites.
As an embodiment, after the robots in the dispatch waiting area are allocated to the free folding stations, the method further comprises,
after the robot allocated to the folding station finishes the task and leaves the operation area of the folding station, judging whether the folding station has the folding tray task, if so, continuing to allocate the tray-dismantling robot in the next dispatching waiting area for the folding station until the folding tray task on the folding station is completely executed.
In order to ensure the safety of robot operation, the folding station is matched with only one robot to finish the task of folding the tray, and the task judgment can be performed after the tray folding is carried out once by the folding station by continuously judging and dispatching step by step, and the robot in a dispatching waiting area is controlled to continuously execute the task in time when the task of folding the tray is not executed.
As an embodiment, if all the folding stations are in a non-idle state, obtaining a first number of robots in a dispatch waiting zone; judging whether the first number is smaller than a second number corresponding to the set threshold value, if so, controlling the first number of robots to wait in situ; if not, controlling the second number of robots to wait in situ, and leaving the rest robots from the dispatch waiting area.
The folding station is in an idle state, namely the operation area of the folding station is not occupied by other robots, and the folding station is provided with a folding tray task; because the surplus and the use requirement of the empty trays are related to other warehouse tasks such as warehouse-in and warehouse-out tasks in the warehouse system, the number of the task of folding the trays fluctuates; the number of robots in the scheduling waiting area is not more than a second number, and the robots are used for executing the tray folding tasks and corresponding scheduling fluctuation; however, when the number of robots in the dispatch waiting area is too large, that is, the number of real-time robots exceeds the second number, robot redundancy is caused, and the robots with excessive supply need to be dispatched away from the dispatch waiting area, which is to make the dispatch waiting area have enough space for the robots to walk and transfer, and to release the occupied carrying capacity, so that the partially released robots from the tray folding task can assist other storage links, such as tray warehouse unloading, tray warehouse entering, tray warehouse moving and the like.
As an example, the controlling the second number of robots to wait in situ, after the remaining robots leave the dispatch waiting zone, further comprises,
judging whether the remaining battery capacity of the robot leaving the dispatch waiting area is smaller than a safety set value, if yes, controlling the robot to move to a charging area for charging; if not, according to the priorities of the other warehouse tasks except the tray folding task, the other warehouse tasks with the highest priorities are distributed to the robot.
The safety setting value of the robot power is not mechanically set as a percentage, but is set based on the reference remaining power percentage, the energy consumption per unit time, and the environmental parameter; the corresponding calculation formula is as follows: s=al×p×α, where S is a safety set value, a is a reference remaining capacity percentage, L is a real battery capacity, p is an energy consumption parameter per unit time, and α is an environmental parameter; the unit of the safety set value S and the real capacity L of the battery is mAh, the reference remaining capacity percentage a can be set to be 20%, the battery is placed to be overdischarged to shorten the service life, the real capacity L of the battery is the actual electric energy which can be stored by the current battery, the unit time energy consumption parameter p is the ratio of the average energy consumption of all robots which execute the tasks of the same type of tray folding in the previous time period to the standard energy consumption input in the system, the power consumption strength of the robots is estimated, the higher the actual energy consumption is, the higher the electric quantity safety set value which should be reserved is, and the environment parameter alpha is an empirical value set according to the temperature and the humidity.
As one example, the controlling the assigned robot to move to the corresponding unstacking station performs unstacking tray tasks, including,
acquiring the initial stacking disc height in the folding station;
obtaining a target fork height required by a current tray folding task according to the initial tray folding height;
and controlling the robot to execute the task of folding the pallet according to the target pallet fork height.
The initial tray stacking height refers to the existing tray stacking height on the folding station, and the height can be obtained by calculating the number of times of tray folding and tray stacking in the past task records of the dispatching system, and can also be obtained by detecting by means of measuring equipment arranged on the folding station; the target pallet fork height is the height when the pallet fork is aligned to the jack of the uppermost layer or the pallet of the first layers for the tray disassembly task, and is the height when the pallet fork places the empty pallet currently forked to the upper part of the pallet pile in the folding station for the tray stacking task.
As one example, the control robot performs the task of collapsing the pallet according to a target pallet fork height, including,
and in the process that the robot moves from the dispatch waiting area to the folding station, controlling the fork to adjust the height of the target fork, and carrying out folding tray action after the robot enters the working area around the folding station.
The fork height is adjusted in advance before reaching the gap of the folding station, so that the action execution time can be shortened, the task execution efficiency of a single robot is further improved, and the overall dispatching efficiency is promoted.
The above description is intended to illustrate the application and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the application.
Claims (9)
1. The mobile robot folding tray dispatching method is characterized in that:
acquiring a task of folding the tray, and controlling the robot to move to a dispatch waiting area;
judging the idle state of the folding station, and distributing robots in a dispatching waiting area for the idle folding station;
controlling the allocated robots to move to corresponding folding stations to execute the task of folding the trays;
firstly, controlling a robot to move to a dispatch waiting area; distributing robots reaching a scheduling waiting area to idle folding stations; enabling the allocated robot to execute tray dismantling or tray stacking task actions according to the tray folding height information of the tray folding task on the corresponding folding station;
the robot to be distributed is controlled to move to a corresponding folding station to execute a tray folding task, and the tray folding task comprises the steps of obtaining the initial tray folding height in the folding station; obtaining a target fork height required by a current tray folding task according to the initial tray folding height; the control robot executes a tray folding task according to the target fork height;
the target fork height is the height when the fork is aligned with the tray jack of the uppermost layer or the tray jacks of the first layers for the tray disassembly task, and is the height when the fork places the empty tray currently forked to the tray pile in the folding station for the tray stacking task.
2. The mobile robot unstacking tray scheduling method as set forth in claim 1, wherein: a waiting point position is arranged in the scheduling waiting area and used for limiting the parking position of the robot; the waiting points are mutually spaced and are linearly arranged along the distribution position of the folding station.
3. The mobile robot unstacking tray scheduling method as claimed in claim 2, wherein: the robot parked by the limited waiting points can be transferred unidirectionally among a plurality of waiting points; on the robot unidirectional transfer path, the robot allocation priority of the downstream-located folding station is higher than that of the upstream-located folding station.
4. The mobile robot unstacking tray scheduling method as set forth in claim 1, wherein: and the area boundary of the scheduling waiting area is adjacently connected with the operation area around the folding station.
5. The mobile robot unstacking tray scheduling method as set forth in claim 1, wherein: after the robots in the dispatch waiting area are allocated for the idle folding stations, the method further comprises,
after the robot allocated to the folding station finishes the task and leaves the operation area of the folding station, judging whether the folding station has the folding tray task, if so, continuing to allocate the tray-dismantling robot in the next dispatching waiting area for the folding station until the folding tray task on the folding station is completely executed.
6. The mobile robot unstacking tray scheduling method as set forth in claim 1, wherein: if all the folding stations are in a non-idle state, obtaining a first number of robots in a dispatch waiting area; judging whether the first number is smaller than a second number corresponding to the set threshold value, if so, controlling the first number of robots to wait in situ; if not, controlling the second number of robots to wait in situ, and leaving the rest robots from the dispatch waiting area.
7. The mobile robot unstacking tray scheduling method as set forth in claim 6, wherein: the controlling the second number of robots to wait in situ, after the remaining robots leave the dispatch waiting area, further comprises,
judging whether the remaining battery capacity of the robot leaving the dispatch waiting area is smaller than a safety set value, if yes, controlling the robot to move to a charging area for charging; if not, according to the priorities of the other warehouse tasks except the tray folding task, the other warehouse tasks with the highest priorities are distributed to the robot.
8. The mobile robot unstacking tray scheduling method as set forth in claim 1, wherein: the control robot performs a palletizing task according to a target fork height, including,
and in the process that the robot moves from the dispatch waiting area to the folding station, controlling the fork to adjust the height of the target fork, and carrying out folding tray action after the robot enters the working area around the folding station.
9. The mobile robot unstacking tray scheduling method as set forth in claim 1, wherein: the tray folding task comprises a tray folding task and a tray folding task, and the robot comprises a tray folding robot and a tray folding robot; the tray removing robot is configured to convey empty trays between the folding station and the empty tray recycling area, and the tray stacking robot is configured to convey empty trays between the folding station and the empty tray replenishment area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311009238.6A CN116757444B (en) | 2023-08-11 | 2023-08-11 | Method for dispatching folding trays of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311009238.6A CN116757444B (en) | 2023-08-11 | 2023-08-11 | Method for dispatching folding trays of mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116757444A CN116757444A (en) | 2023-09-15 |
| CN116757444B true CN116757444B (en) | 2023-11-14 |
Family
ID=87959376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311009238.6A Active CN116757444B (en) | 2023-08-11 | 2023-08-11 | Method for dispatching folding trays of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116757444B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313935A (en) * | 2018-03-29 | 2018-07-24 | 泸州品创科技有限公司 | A kind of AGV of high level stacking distiller's yeast pallet carrying |
| CN110059992A (en) * | 2018-01-19 | 2019-07-26 | 北京京东尚科信息技术有限公司 | Goods warehousing method, apparatus and computer readable storage medium |
| CN110844494A (en) * | 2019-11-19 | 2020-02-28 | 云南和富科技有限公司 | Efficient carrying system based on intelligent forklift AGV and control method thereof |
| CN110963219A (en) * | 2019-11-05 | 2020-04-07 | 广西志得实业有限公司 | Intelligent production line for disassembling and assembling container freight yard station |
| CN215159248U (en) * | 2021-06-22 | 2021-12-14 | 杭州思而行科技有限公司 | Curved brick fermentation circulation system |
| WO2021254415A1 (en) * | 2020-06-18 | 2021-12-23 | 北京卫星制造厂有限公司 | Time window-based agv intelligent scheduling method |
| WO2022068595A1 (en) * | 2020-09-30 | 2022-04-07 | 深圳市海柔创新科技有限公司 | Warehouse management method and apparatus, device, medium, and warehousing system |
| CN116101671A (en) * | 2023-01-20 | 2023-05-12 | 未来机器人（深圳）有限公司 | Method, device, equipment and storage medium for carrying bagged materials |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7698204B2 (en) * | 2000-12-28 | 2010-04-13 | John C. Abendroth | Method and system for e-commerce freight management |
-
2023
- 2023-08-11 CN CN202311009238.6A patent/CN116757444B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110059992A (en) * | 2018-01-19 | 2019-07-26 | 北京京东尚科信息技术有限公司 | Goods warehousing method, apparatus and computer readable storage medium |
| CN108313935A (en) * | 2018-03-29 | 2018-07-24 | 泸州品创科技有限公司 | A kind of AGV of high level stacking distiller's yeast pallet carrying |
| CN110963219A (en) * | 2019-11-05 | 2020-04-07 | 广西志得实业有限公司 | Intelligent production line for disassembling and assembling container freight yard station |
| CN110844494A (en) * | 2019-11-19 | 2020-02-28 | 云南和富科技有限公司 | Efficient carrying system based on intelligent forklift AGV and control method thereof |
| WO2021254415A1 (en) * | 2020-06-18 | 2021-12-23 | 北京卫星制造厂有限公司 | Time window-based agv intelligent scheduling method |
| WO2022068595A1 (en) * | 2020-09-30 | 2022-04-07 | 深圳市海柔创新科技有限公司 | Warehouse management method and apparatus, device, medium, and warehousing system |
| CN215159248U (en) * | 2021-06-22 | 2021-12-14 | 杭州思而行科技有限公司 | Curved brick fermentation circulation system |
| CN116101671A (en) * | 2023-01-20 | 2023-05-12 | 未来机器人（深圳）有限公司 | Method, device, equipment and storage medium for carrying bagged materials |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116757444A (en) | 2023-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5556975B1 (en) | Shipping work plan creation system, shipping work plan creation method and shipping work method | |
| EP2709233B1 (en) | Vehicle and non-contact power supply system | |
| US11912505B2 (en) | Method and picking system with improved operation of autonomous conveying vehicles | |
| CN204457019U (en) | A kind of intelligent three-dimensional shutdown system based on transfer robot and vehicle-containing | |
| CN207198902U (en) | A kind of automatic transportation task scheduling system based on AGV mobile platforms | |
| CN104944092A (en) | System and method for automatic conveying of tire factory | |
| CN105911969A (en) | Intelligent factory-workshop unmanned transport vehicle memory system | |
| CN110844494A (en) | Efficient carrying system based on intelligent forklift AGV and control method thereof | |
| CN114326623A (en) | Dispatching method for AGV (automatic guided vehicle) operation under shore bridge of automatic wharf | |
| CN114529073A (en) | Traveling path planning method for container approaching process of loading and unloading handling system | |
| CN110304387A (en) | It is a kind of can Multidirectional motion one-stop haulage equipment and its method for carrying | |
| CN110239967A (en) | A kind of automatic cabinet stockyard | |
| CN114330830A (en) | Operation method for cooperatively transporting same goods by multiple AGV and storage medium | |
| CN116757444B (en) | Method for dispatching folding trays of mobile robot | |
| CN115689404A (en) | Construction site unmanned logistics transportation cluster control system | |
| CN211811619U (en) | Warehouse pipe device of intelligent crane | |
| WO2021219742A1 (en) | Optimal utilizing of operational capacity of container handling vehicles assigned to interact with same port for transferring storage containers to and from an automatic storage and retrieval system | |
| CN104691813A (en) | Full-automatic destacking, stacking and packaging system | |
| CN111717845A (en) | Forklift AGV basket distribution transfer system and automatic control method thereof | |
| CN116101671A (en) | Method, device, equipment and storage medium for carrying bagged materials | |
| CN113104776B (en) | Tin printing scheduling system and method based on unmanned forklift | |
| CN115676275A (en) | Method, device and equipment for carrying trolley and computer readable storage medium | |
| CN114803346A (en) | Control method and control device for automatic loading and unloading production line and production line | |
| CN112867685B (en) | Method and installation for transferring reels | |
| CN109164798B (en) | Intelligent traffic control regulation and control system in AGV dolly transportation process |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |