CN118034198A - Task scheduling method, device, equipment and storage medium - Google Patents
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Abstract
The application provides a task scheduling method, device, equipment and storage medium, relates to the technical field of robot control, and solves the problem that scheduling management of an AGV mobile robot cannot meet the requirement of picking of a large number of tasks and the picking efficiency is low.
Description
Technical Field
The present application relates to the field of robot control technologies, and in particular, to a task scheduling method, device, equipment, and storage medium.
Background
With the rapid development of the electronic information industry, the mass of the electronic commerce industry is rapidly increasing. The comprehensive and popular electronic business makes people shopping conveniently and simultaneously provides a great challenge for traditional warehouse picking. The Amazon 'Kiva' intelligent warehousing system firstly utilizes an AGV (Automated Guided Vehicle, automatic guided vehicle) mobile robot to replace a picker, releases the picker from time-consuming commodity picking operation, and further lifts reform waves of the warehousing industry. Such picking patterns using AGV mobile robots can greatly improve the picking efficiency of goods, which is being widely attempted in the industry.
The goods to person picking mode working principle of the AGV mobile robot is as follows: AGV mobile robot carries the storage goods shelves from the storage position of warehouse to sorting platform, supplies the staff of sorting platform to select the back warehouse promptly, and this AGV mobile robot can send back the former storage position in the warehouse with this storage goods shelves again, has guaranteed the orderly deposit of storage goods shelves like this.
However, the warehouse system in the mode still has some problems, such as the scheduling management of the AGV mobile robot cannot meet the picking requirement of mass tasks, so that the picking efficiency is lower. Specifically, in the task processing process, the AGV mobile robot needs to sort back and forth a platform and a warehouse when carrying goods, and behaviors such as repeated driving paths, too many unnecessary paths and the like often occur, so that the sorting efficiency is seriously affected.
Disclosure of Invention
The embodiment of the application provides a task scheduling method, device, equipment and storage medium, which solve the problem that the scheduling management of an AGV mobile robot cannot meet the requirement of picking of a large number of tasks, so that the picking efficiency is low.
In a first aspect, an embodiment of the present application provides a task scheduling method, applied to a central control device, where the central control device is in communication connection with an AGV mobile robot to schedule the AGV mobile robot, the central control device sets a task set in response to a picking requirement corresponding to each storage shelf, and a picking state of each storage shelf is recorded in task information corresponding to each task in the task set, so as to identify whether each storage shelf is to be picked, where the method includes:
According to the set task information, determining the task similarity of each task and another other task to construct a similarity matrix;
selecting two seed tasks corresponding to the task similarity with the maximum value from the similarity matrix;
Based on the seed tasks and the similarity matrix, selecting a plurality of tasks as tasks in the same batch until the number of the tasks in the same batch is equal to the storage capacity of the turnover shelf corresponding to the sorting platform;
dispatching a plurality of AGV mobile robots to allow each AGV mobile robot to execute a target task in the same batch of tasks;
and under the condition that the task completion information from the sorting platform is received, the task with the highest task priority is called from the task set to update the tasks in the same batch until the task set is empty.
In a second aspect, an embodiment of the present application further provides a task scheduling device, where the task scheduling device is applied to a central control device, and the central control device is in communication connection with an AGV mobile robot to schedule the AGV mobile robot, where the central control device is configured to set a task set in response to a picking requirement corresponding to each storage shelf, and a picking state of each storage shelf is recorded in task information corresponding to each task in the task set, so as to identify whether each storage shelf is to be picked, where the device includes:
the similarity determining module is configured to determine the task similarity of each task and another other task according to the set task information so as to construct a similarity matrix;
the target screening module is configured to select two seed tasks corresponding to the task similarity with the maximum value from the similarity matrix;
the task selection module is configured to select a plurality of tasks as tasks in the same batch based on the seed tasks and the similarity matrix until the number of the tasks in the same batch is equal to the storage quantity of the turnover shelf corresponding to the sorting platform;
The task scheduling module is configured to schedule the plurality of AGV mobile robots to allow each AGV mobile robot to execute a target task in the same batch of tasks;
And the task updating module is configured to call the task with the highest task priority from the task set under the condition that the task completion information from the sorting platform is received so as to update the tasks in the same batch until the task set is empty.
In a third aspect, an embodiment of the present application further provides a central control device, including:
One or more processors;
Storage means for storing one or more programs,
When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the task scheduling method described above.
In a fourth aspect, embodiments of the present application also provide a storage medium storing computer-executable instructions that, when executed by a processor, are configured to perform the task scheduling method described above.
According to the scheme, the central control equipment determines the tasks with similar picking demands on the storage shelves through the task similarity among the tasks, so that the corresponding seed tasks are determined, the tasks with similar picking demands can be preferentially processed by the AGV mobile robot, the picking efficiency is effectively improved, and the dispatching management of the AGV mobile robot is more reasonable and effective.
Drawings
FIG. 1 is a schematic diagram illustrating steps of a task scheduling method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating steps for constructing a similarity matrix according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating steps for selecting tasks of the same batch according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating steps for updating tasks in the same batch according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a task scheduling device according to an embodiment of the present application;
Fig. 6 is a schematic structural diagram of a central control device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in further detail below with reference to the drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not limiting of embodiments of the application. It should be further noted that, for convenience of description, only some, but not all structures related to the embodiments of the present application are shown in the drawings, and those skilled in the art will appreciate that any combination of technical features may constitute alternative embodiments as long as the technical features are not contradictory to each other after reading the present specification.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship. In the description of the present application, "a plurality" means two or more, and "a number" means one or more.
In the modern warehousing industry, sorting stations are sorted by the staff or sorting robots responsible for the sorting work, and of course, there are a plurality of storage turnover shelves corresponding to each sorting station, so as to store the goods temporarily. With the development of the e-commerce industry, the modern warehouse industry increasingly uses AGV mobile robots to pick goods. In the goods-to-person picking mode of the AGV mobile robot, the AGV robot selects goods shelves needing to be picked from a plurality of storage goods shelves in a warehouse and conveys the goods shelves to a sorting platform for workers to pick, and finally the goods shelves are conveyed back to the original position. In the related art, the scheduling management of the AGV mobile robot cannot meet the picking demands of mass tasks, so that the picking efficiency is lower.
Therefore, the application provides a task scheduling method which is applied to the central control equipment, and the central control equipment is in communication connection with the AGV mobile robot to schedule the AGV mobile robot. And a task set is arranged corresponding to the picking requirement of each storage shelf, and a plurality of tasks are conceivable in the task set, and the picking state of each storage shelf is recorded in task information corresponding to each task so as to identify whether each storage shelf is to be picked. For example, by setting a corresponding number to identify whether each storage shelf is to be picked, specifically, if the storage shelf is to be picked as 1, the storage shelf is not required to be picked as 0.
The central control equipment controls the AGV mobile robot by adopting the task scheduling method provided by the application so as to schedule the AGV mobile robot to execute the tasks in the task set. Fig. 1 is a schematic step diagram of a task scheduling method according to an embodiment of the present application, which specifically includes the following steps:
Step S110, determining the task similarity of each task and another other task according to the set task information so as to construct a similarity matrix.
The order of the individual storage shelves is recorded in the task information. When two tasks need to pick one same storage shelf, the task similarity is 1, and similarly, the more the same storage shelf needs to be picked, the higher the task similarity is, and the task similarity is 0.
In an embodiment, as shown in fig. 2, fig. 2 is a schematic diagram of steps for constructing a similarity matrix according to an embodiment of the present application, and the specific steps are as follows:
Step S210, constructing a task information vector according to task information corresponding to each task.
Step S220, task similarity between each task and another other task is calculated in sequence based on the task information vector of each task so as to determine a similarity matrix.
It can be understood that the task information corresponding to each task records the picking requirement for each storage shelf, and for this purpose, the picking requirement can be identified by a corresponding numerical value, for example, 1 indicates that the storage shelf is to be picked, and 0 indicates that the storage shelf does not need to be picked. Thus, for each task, P j in the constructed task information vector S i＝[P1,P2,……,Pj,Ps represents the j-th storage shelf and represents whether to pick with a value of 0 or 1. It is contemplated that P S represents the picking demand for the last storage shelf recorded in the mission information.
Thus, based on the task information vector for each task, the task similarity for each task to another other task may be calculated, e.g., using the following formula:
Wherein E represents an identity matrix, S i represents task information corresponding to a current task, and S y represents task similarity of another other task.
And under the condition that the task similarity of each task and another other task is determined, taking the determined task similarity as a corresponding element in a similarity matrix to be constructed, so as to provide the similarity matrix for subsequent processing.
Step S120, selecting two seed tasks corresponding to the task similarity with the maximum value from the similarity matrix.
Task similarities corresponding to the two seed tasks have the largest value in a similarity matrix, and it is conceivable that the task similarities in the similarity matrix are arranged in rows and columns, and each task similarity corresponds to two tasks. Therefore, through searching each element in the similarity matrix, the task similarity with the maximum value in the matrix can be determined, and further the corresponding index, namely two seed tasks corresponding to the task similarity, can be determined.
Step S130, based on the seed tasks and the similarity matrix, selecting a plurality of tasks as tasks in the same batch until the number of the tasks in the same batch is equal to the storage capacity of the turnover shelf corresponding to the sorting platform.
The number of tasks in the same batch is limited by the storage quantity of the turnover shelf corresponding to the sorting platform, and the central control equipment needs to select a plurality of tasks meeting the storage quantity as tasks in the same batch. And selecting tasks associated with the seed tasks from the similarity matrix as tasks in the same batch when the tasks in the same batch are selected, until the tasks meet the corresponding quantity. In an embodiment, for selecting tasks of the same batch, as shown in fig. 3, fig. 3 is a schematic diagram of steps for selecting tasks of the same batch according to an embodiment of the present application, and specific steps are as follows:
step S310, selecting a plurality of task similarities of a row and a column where the task similarity corresponding to the seed task is located in the similarity matrix to construct a candidate set.
Step S320, selecting the task with the highest task similarity with the seed task in the candidate set as the task with the same batch.
Step S330, if the number of the current tasks in the same batch is smaller than the storage amount of the turnover shelf corresponding to the sorting platform, continuously selecting the tasks as the tasks in the same batch according to the high-low sequence of the task similarity in the candidate set until the number of the tasks in the same batch is equal to the storage amount of the turnover shelf corresponding to the sorting platform.
It can be appreciated that in the process of selecting tasks in the same batch, a candidate set can be correspondingly constructed first, and the candidate set also has a plurality of task similarities. Specifically, after the seed task is determined, selecting a plurality of task similarities in a row and a column where task similarities corresponding to the seed task are located in a similarity matrix as data in a to-be-constructed to-be-selected set.
When the tasks in the same batch are selected, the task with the highest task similarity with the seed task is selected from the to-be-selected set to serve as one of the tasks in the same batch, and the seed task is also used as one of the tasks in the same batch, so that the tasks in the same batch are sequentially selected. In addition, the number of tasks in the same batch needs to be detected, and under the condition that the number of tasks is still smaller than the storage quantity of the turnover shelf corresponding to the sorting platform, tasks meeting the conditions need to be continuously searched in the to-be-selected collection. If the tasks in the to-be-selected collection are continuously selected as the tasks in the same batch according to the high-low sequence of the task similarity, it is conceivable that the selecting process in the to-be-selected collection is continuously circulated, the task similarity selected in each circulation is smaller than the task similarity selected in the last circulation, so that the corresponding tasks are selected according to the high-low sequence of the task similarity, and of course, when the number of the tasks in the same batch is equal to the storage quantity of the turnover shelf corresponding to the sorting platform, circulation is terminated, and the final tasks in the same batch are obtained.
And step S140, dispatching the plurality of AGV mobile robots to enable each AGV mobile robot to execute target tasks in the same batch of tasks.
It is conceivable that the tasks in the set of tasks are associated with sorting stations, each sorting station performing sorting work on the racks to be sorted in the different tasks. For example, the sorting stations are correspondingly provided with station information in which the picking states of the storage shelves are recorded to identify whether each storage shelf is picked by the sorting station. Taking one task in the same batch of tasks as a target task, wherein the storage shelves required to be selected in the target task are processed by a sorting platform, and correspondingly, the AGV mobile robot is scheduled to carry the corresponding storage shelf to the sorting platform.
And step S150, under the condition that the task completion information from the sorting platform is received, the task with the highest task priority is called from the task set so as to update the tasks in the same batch until the task set is empty.
After the staff has completed the sorting work in the sorting station, it can send a task completion message to the central control device via the sorting station indicating that sorting of the goods on the storage shelves has been completed. And after receiving the task completion information, the central control equipment reallocates tasks to the sorting platform, such as the task with the highest task priority is called from the task set, and the tasks in the same batch are updated.
It is conceivable that, during each update, after the number of tasks in the same batch satisfies the number of bins, the update is suspended to wait for the sorting deck to finish. That is, the central control device adds corresponding tasks as tasks of the same batch in response to the task completion information, so that the process is continuously repeated to update, and the tasks in the task set are completely processed.
In an embodiment, for updating the tasks of the same batch, the central control device needs to determine the similarity between the platform information corresponding to the sorting platform and the remaining tasks, so as to determine the task priority. Specifically, as shown in fig. 4, fig. 4 is a schematic diagram illustrating steps for updating tasks in the same batch according to an embodiment of the present application, and the specific steps are as follows:
Step S410, determining the residual similarity corresponding to the residual task according to the task information and the platform information of the residual task in the task set.
Step S420, determining a task response ratio corresponding to the remaining task based on the waiting time of the remaining task and the task path length corresponding to the remaining task.
Step S430, determining task priority of each residual task according to the residual similarity and the task response ratio corresponding to each residual task.
Step S440, selecting the task with the highest task priority, and adding the task to the tasks in the same batch.
It will be appreciated that the platform information corresponding to the sorting platform is used to represent statistics of the storage shelves still to be sorted, i.e. similar to the task information, and may also identify the sorting requirement by a corresponding value, for example, 1 indicates that the storage shelf still needs to be sorted, and 0 indicates that the storage shelf does not need to be sorted. Correspondingly, the platform information can also be represented in the form of vectors, as in S res＝[P1ˋ,P2ˋ,……,Pfˋ,Ps 'where P f' represents the f-th storage rack and the value 0 or 1 indicates whether picking is still required. It is contemplated that P S denotes the picking demand for the last storage shelf recorded in the mission information.
Therefore, for the remaining similarity of the remaining tasks, the central control device may be calculated based on the platform information and the task information of the remaining tasks, and may specifically be expressed by the following formula:
K is the storage number of the turnover shelf, and S m is task information corresponding to the residual task m.
The central control device also needs to calculate a task response ratio corresponding to the remaining task, where the task response ratio is associated with a waiting duration of the remaining task and a task path length corresponding to the remaining task. It will be appreciated that the waiting time for the remaining tasks is the time between the start time of task creation and the current time at which the task response ratio is calculated. The central control device is provided with a corresponding coordinate system for the space range of the warehouse so as to facilitate the movement of the AGV mobile robot in the warehouse. Therefore, the task path length corresponding to the remaining tasks can be determined according to the start coordinates corresponding to the start positions of the tasks and the end coordinates of the end positions of the tasks.
After determining the task response ratio, the central control device may further calculate task priorities of the remaining tasks, for example, in some embodiments, the task priorities may be a sum of the squared task response ratio and the remaining similarity, and may specifically be expressed by the following formula:
Q＝OSm+W2
Wherein, W is the task response ratio, QS m is the residual similarity corresponding to the residual task m.
And selecting the task with the highest task priority corresponding to each remaining task to be used as the task with the same batch. It is conceivable that if the number of tasks in the same batch of tasks does not reach the limit of the number of storage locations, correspondingly, the task with the highest next task priority may be selected as the same batch of tasks. It is contemplated that each selected task will not be selected during the next selection.
According to the scheme, the central control equipment determines the tasks with similar picking demands on the storage shelves through the task similarity between the tasks, so that corresponding seed tasks are determined, the same batch of tasks are acquired, the AGV mobile robot can preferentially process the tasks with similar picking demands, the picking efficiency is effectively improved, and the scheduling management of the AGV mobile robot is more reasonable and effective.
In some embodiments, for the calculation of the task response ratio, the central control device may take the product of the absolute value of the quotient of the waiting time length and the task path length and the task coefficient as the task response ratio. The difference between the calculated task response ratio current time and the starting time of the task is used as the waiting time; the task path length is expressed in terms of the distance between the start and end coordinates. The method can be specifically expressed by the following formula:
Wherein t is the current time, For the start time of task w,/>As the starting coordinates of the task w,The end point coordinates of the task w are given, and phi is the task coefficient.
It should be noted that, in some embodiments, the value of the task coefficient is related to the number of tasks in the task set, and the more the number of tasks, the smaller the value of the task coefficient. That is, the specific value of the task coefficient is inversely related to the number of tasks, and the specific value can be set according to the running condition of the system, for example, the specific value is in the setting range (10-40), and the more the number of tasks is satisfied, the smaller the value of the task coefficient is.
Fig. 5 is a schematic structural diagram of a task scheduling device according to an embodiment of the present application, where the task scheduling device is configured to execute the task scheduling method, and has functional modules and beneficial effects of the execution method. The device is applied to the well accuse equipment, and well accuse equipment carries out communication connection with AGV mobile robot in order to dispatch AGV mobile robot, and well accuse equipment responds to the requirement of selecting that corresponds each storing goods shelves and is provided with the task set, has recorded the state of selecting of each storing goods shelves in the task information that every task corresponds in the task set to whether sign each storing goods shelves wait to select. As shown, the apparatus includes a similarity determination module 501, a target screening module 502, a task selection module 503, a task scheduling module 504, and a task update module 505.
Wherein the similarity determining module 501 is configured to determine, according to the set task information, task similarity of each task with another other task, so as to construct a similarity matrix;
the target screening module 502 is configured to select two seed tasks corresponding to the task similarity with the maximum value from the similarity matrix;
The task selection module 503 is configured to select a plurality of tasks as tasks in the same batch based on the seed task and the similarity matrix until the number of tasks in the same batch is equal to the storage capacity of the turnover shelf corresponding to the sorting station;
the task scheduling module 504 is configured to schedule the plurality of AGV mobile robots for each AGV mobile robot to execute a target task in the same batch of tasks;
the task update module 505 is configured to, upon receiving task completion information from the sorting deck, invoke a task with a highest task priority from the task set to update the same batch of tasks until the task set is empty.
On the basis of the above embodiment, the similarity determination module 501 is further configured to:
Constructing a task information vector according to task information corresponding to each task;
based on the task information vector of each task, task similarity of each task and other tasks is calculated in turn to determine a similarity matrix.
On the basis of the above embodiment, the task selection module 503 is further configured to:
selecting a plurality of task similarities of a row and a column where task similarities corresponding to the seed task are located from the similarity matrix to construct a set to be selected;
Selecting a seed task and a task with highest task similarity with the seed task in a to-be-selected set as tasks in the same batch;
If the number of the current tasks in the same batch is smaller than the storage amount of the turnover shelf corresponding to the sorting platform, continuously selecting the tasks in the to-be-selected set according to the high-low sequence of the task similarity as the tasks in the same batch until the number of the tasks in the same batch is equal to the storage amount of the turnover shelf corresponding to the sorting platform.
On the basis of the embodiment, the sorting platform is correspondingly provided with platform information, and the platform information records the sorting state of the storage shelves so as to identify whether each storage shelf is sorted by the sorting platform; the task update module 505 is further configured to:
determining the residual similarity corresponding to the residual tasks according to the task information and the platform information of the residual tasks in the task set;
Determining a task response ratio corresponding to the residual task based on the waiting time of the residual task and the task path length corresponding to the residual task;
Determining the task priority of each residual task according to the residual similarity and the task response ratio corresponding to each residual task;
and selecting the task with the highest task priority, and adding the task to the tasks in the same batch.
Based on the above embodiment, the task update module 505 is further configured to:
The product of the absolute value of the quotient of the waiting time length and the task path length and the task coefficient is taken as the task response ratio.
Based on the above embodiment, the task priority is given as the sum of the squared task response ratio and the remaining similarity.
Based on the above embodiment, the value of the task coefficient is related to the number of tasks in the task set, and the more the number of tasks, the smaller the value of the task coefficient.
It should be noted that, in the embodiment of the task scheduling device, each module is only divided according to the functional logic, but not limited to the above division, so long as the corresponding function can be implemented; in addition, the specific names of the modules are only for distinguishing from each other, and are not used to limit the protection scope of the present application.
Fig. 6 is a schematic structural diagram of a central control device according to an embodiment of the present application, where the central control device is configured to execute the task scheduling method according to the foregoing embodiment, and has functional modules and beneficial effects corresponding to the execution method. As shown, the server includes a processor 601, a memory 602, an input device 603, and an output device 604. The number of processors 601 may be one or more, one processor 601 being illustrated in the figure; the processor 601, memory 602, input device 603 and output device 604 may be connected by a bus or other means, the connection being illustrated by a bus. The memory 602 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the task scheduling method in the embodiment of the present application. The processor 601 executes corresponding various functional applications and data processing by executing software programs, instructions and modules stored in the memory 602, i.e., implements the task scheduling method described above.
The memory 602 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data or the like recorded or created according to the use process. In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 602 may further comprise remotely located memory relative to the processor 601, which may be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 603 may be used to input corresponding numeric or character information to the processor 601 and to generate key signal inputs related to user settings and function control of the device; the output means 604 may be used to send or display key signal outputs related to user settings and function control of the device.
Embodiments of the present application also provide a storage medium storing computer-executable instructions that, when executed by a processor, are configured to perform related operations in a task scheduling method provided by any of the embodiments of the present application.
Computer-readable storage media, including both permanent and non-permanent, removable and non-removable media, may be implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (10)
1. The task scheduling method is characterized by being applied to central control equipment, wherein the central control equipment is in communication connection with an AGV mobile robot to schedule the AGV mobile robot, the central control equipment is provided with a task set in response to the picking requirement of each storage shelf, the picking state of each storage shelf is recorded in task information corresponding to each task in the task set, so as to identify whether each storage shelf is to be picked, and the method comprises the following steps:
According to the set task information, determining the task similarity of each task and another other task to construct a similarity matrix;
Selecting two seed tasks corresponding to the task similarity with the maximum value from the similarity matrix;
based on the seed tasks and the similarity matrix, selecting a plurality of tasks as tasks in the same batch until the number of the tasks in the same batch is equal to the storage capacity of the turnover shelf corresponding to the sorting platform;
Dispatching a plurality of AGV mobile robots to enable each AGV mobile robot to execute a target task in the same batch of tasks;
And under the condition that the task completion information from the sorting platform is received, the task with the highest task priority is called from the task set to update the tasks in the same batch until the task set is empty.
2. The task scheduling method according to claim 1, wherein determining task similarity of each task with another other task according to the set task information to construct a similarity matrix includes:
Constructing a task information vector according to task information corresponding to each task;
and calculating task similarity of each task and another other task in turn based on the task information vector of each task so as to determine the similarity matrix.
3. The task scheduling method according to claim 1, wherein selecting a plurality of tasks as the same batch of tasks based on the seed task and the similarity matrix until the number of the same batch of tasks is equal to a storage amount of the turnover shelf corresponding to the sorting station includes:
selecting a plurality of task similarities of a row and a column where the task similarity corresponding to the seed task is located from a similarity matrix to construct a candidate set;
Selecting the task with the highest task similarity with the seed task in the to-be-selected set as a task with the same batch;
If the number of the current tasks in the same batch is smaller than the storage amount of the turnover shelf corresponding to the sorting platform, continuously selecting the tasks in the to-be-selected set according to the high-low sequence of the task similarity as the tasks in the same batch until the number of the tasks in the same batch is equal to the storage amount of the turnover shelf corresponding to the sorting platform.
4. The task scheduling method according to claim 1, wherein the sorting stations are correspondingly provided with station information, and a sorting state of the storage shelves is recorded in the station information so as to identify whether each storage shelf is sorted by the sorting station;
and under the condition that the task completion information from the sorting platform is received, invoking the task with the highest task priority from the task set to update the tasks in the same batch until the task set is empty, wherein the task processing method comprises the following steps of:
Determining the residual similarity corresponding to the residual tasks according to the task information of the residual tasks in the task set and the platform information;
Determining a task response ratio corresponding to the residual task based on the waiting time of the residual task and the task path length corresponding to the residual task;
determining the task priority of each residual task according to the residual similarity corresponding to each residual task and the task response ratio;
and selecting the task with the highest task priority, and adding the task to the tasks in the same batch.
5. The task scheduling method according to claim 4, wherein the determining the task response ratio corresponding to the remaining task based on the waiting time of the remaining task and the task path length corresponding to the remaining task includes:
and taking the product of the absolute value of the quotient of the waiting time length and the task path length and a task coefficient as the task response ratio.
6. A method according to claim 4 or 5, wherein the task priority is given by the sum of the squared task response ratio and the remaining similarity.
7. The task scheduling method according to claim 5, wherein the value of the task coefficient is associated with the number of tasks in the task set, and the larger the number of tasks, the smaller the value of the task coefficient.
8. The utility model provides a task scheduling device, its characterized in that is applied to well accuse equipment, well accuse equipment carries out communication connection with AGV mobile robot in order to dispatch AGV mobile robot, well accuse equipment responds to the requirement of picking that corresponds each storing goods shelves and is provided with the task set, every in the task set the task information that the task corresponds has the state of picking of each storing goods shelves to sign each storing goods shelves is waiting to pick, the device includes:
the similarity determining module is configured to determine the task similarity of each task and another other task according to the set task information so as to construct a similarity matrix;
The target screening module is configured to select two seed tasks corresponding to the task similarity with the maximum value from the similarity matrix;
The task selection module is configured to select a plurality of tasks as tasks in the same batch based on the seed tasks and the similarity matrix until the number of the tasks in the same batch is equal to the storage quantity of the turnover shelf corresponding to the sorting platform;
the task scheduling module is configured to schedule the plurality of AGV mobile robots to execute target tasks in the same batch of tasks by each AGV mobile robot;
and the task updating module is configured to call the task with the highest task priority from the task set under the condition that the task completion information from the sorting platform is received, so as to update the tasks in the same batch until the task set is empty.
9. A center control device, comprising:
One or more processors;
Storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the task scheduling method of any one of claims 1-7.
10. A storage medium storing computer executable instructions which, when executed by a processor, are for performing the task scheduling method of any one of claims 1-7.
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