WO2024093985A1 - 拣选车故障处理方法、存储介质、调度系统及拣选系统 - Google Patents

拣选车故障处理方法、存储介质、调度系统及拣选系统 Download PDF

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Publication number
WO2024093985A1
WO2024093985A1 PCT/CN2023/128277 CN2023128277W WO2024093985A1 WO 2024093985 A1 WO2024093985 A1 WO 2024093985A1 CN 2023128277 W CN2023128277 W CN 2023128277W WO 2024093985 A1 WO2024093985 A1 WO 2024093985A1
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picking
vehicle
faulty
picking vehicle
rescue
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PCT/CN2023/128277
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English (en)
French (fr)
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成鹏
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灵动科技（北京）有限公司
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Publication of WO2024093985A1 publication Critical patent/WO2024093985A1/zh

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    • 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
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • 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
    • 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
    • G06Q10/20—Administration of product repair or maintenance

Definitions

  • the present invention relates to the field of warehousing and logistics, and in particular to a method for handling faults of a picking vehicle, a computer-readable storage medium, a scheduling system and a picking system.
  • An object of the present invention is to provide an improved picking vehicle fault handling method and corresponding computer-readable storage medium, scheduling system and picking system to overcome at least one deficiency of the prior art.
  • a method for handling a picking vehicle failure which at least comprises the following steps:
  • the faulty picking vehicle can be automatically rescued by using a rescue picking vehicle selected from other picking vehicles, so as to reduce or even eliminate the need for operator involvement. This can reduce the workload of operators and improve the efficiency of handling picking vehicle failures. In addition, since there is no need to set up a picking vehicle dedicated to rescue, the number of idle picking vehicles can be reduced overall, thereby saving resources.
  • step S30 includes at least the following steps:
  • the rescue picking vehicle includes a first rescue picking vehicle for receiving the picked goods of the faulty picking vehicle and/or a second rescue picking vehicle for receiving the unexecuted part of the picking task of the faulty picking vehicle;
  • a rescue picking vehicle can be selected in a targeted manner to handle the fault, thereby improving the overall efficiency of the picking system.
  • a first rescue picking vehicle and a second rescue picking vehicle are selected from the other picking vehicles based on a first selection criterion and a second selection criterion, respectively.
  • the first selection criterion and the second selection criterion are at least partially different.
  • the first selection criterion is related to at least one of the following parameters: the distance between the other picking vehicles and the faulty picking vehicle, the remaining loading capacity of the other picking vehicles, and the own operating status of the other picking vehicles.
  • the second selection criterion is related to at least one of the following parameters: the convergence of the remaining picking positions of the other picking vehicles and the remaining picking positions of the faulty picking vehicle, the remaining loading capacity of the other picking vehicles, and the own operating status of the other picking vehicles, and the second rescue picking vehicle is selected from the other picking vehicles. This helps to handle the faulty picking vehicle in an optimized manner.
  • step S30 if the picking progress of the faulty picking vehicle indicates that the faulty picking vehicle has picked goods, the picked goods of the faulty picking vehicle are transferred to the first rescue picking vehicle in the following manner: determining the position information and posture information of the faulty picking vehicle based on the status information; and controlling the first rescue picking vehicle to dock with the faulty picking vehicle based on the position information and posture information of the faulty picking vehicle, so as to automatically transfer the picked goods of the faulty picking vehicle to the first rescue picking vehicle through the goods transfer mechanism of the faulty picking vehicle and/or the first rescue picking vehicle.
  • the cargo transfer mechanism includes a pushing mechanism of the faulty order picking vehicle and/or a taking mechanism of the first rescue order picking vehicle.
  • step S30 if the picking progress of the faulty picking vehicle indicates that the faulty picking vehicle has picked goods, the picked goods of the faulty picking vehicle are transferred to the first rescue picking vehicle in the following manner: determine the position information of the faulty picking vehicle based on the status information; control the first rescue picking vehicle to move to a position adjacent to the faulty picking vehicle based on the position information of the faulty picking vehicle; and select at least one operator as a rescue operator from at least one operator based on the distance between the operator and the faulty picking vehicle and/or the idleness of the operator, and send notification information through the operator terminal assigned to the rescue operator to notify the rescue operator of the position information of the faulty picking vehicle and the need to transfer goods.
  • the rescue operator is selected from the at least one operator in the following manner: searching for an operator who meets predetermined conditions as a rescue operator within a range where the distance from the faulty picking vehicle is less than an upper distance limit, and stopping the search if the required rescue operator is found; and if a rescue operator still needs to be found, repeating the following steps until the required rescue operator is found: determining the current upper distance limit as the updated lower distance limit, and determining an updated upper distance limit that is larger than the current upper distance limit, and searching for an operator who meets predetermined conditions as a rescue operator within a range where the distance from the faulty picking vehicle is greater than the updated lower distance limit and less than the updated upper distance limit.
  • step S30 also includes step S34 executed after step S33, in which the rescue picking vehicle is controlled to execute the unexecuted part of the picking task of the faulty picking vehicle, wherein the remaining picking task of the rescue picking vehicle is combined with the unexecuted part of the picking task of the faulty picking vehicle received by the rescue picking vehicle to generate a combined picking task, and a path is planned for the rescue picking vehicle according to the combined picking task.
  • step S30 the picking task of the faulty picking vehicle is split into at least two task parts, and at least two are selected from the other picking vehicles as rescue picking vehicles, so that the at least two task parts of the rescue faulty picking vehicle are transferred to different rescue picking vehicles respectively.
  • the picked goods of the faulty picking vehicle are split into at least two goods parts, and at least two are selected from the other picking vehicles as rescue picking vehicles, so that the at least two goods parts of the rescue faulty picking vehicle are transferred to different rescue picking vehicles respectively.
  • step S20 includes: identifying the fault type of the fault occurring in the faulty picking vehicle based on the status information of the faulty picking vehicle, wherein the fault type includes a fault that cannot be recovered in a short time and a fault that can be recovered in a short time.
  • step S30 is executed.
  • the faulty picking vehicle is controlled to perform fault repair and/or the operator is notified through the operator terminal to perform fault repair, and after the fault repair is completed, the faulty picking vehicle is allowed to continue to perform the picking task.
  • a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the processor is capable of executing the picking vehicle fault handling method according to the present invention.
  • a scheduling system includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor is able to execute the picking vehicle fault handling method according to the present invention.
  • a picking system comprising a scheduling system according to the present invention and a plurality of picking vehicles for performing picking tasks, wherein the scheduling system is communicatively connected to the plurality of picking vehicles.
  • FIG1 schematically shows a picking system according to an exemplary embodiment of the present invention
  • FIG2 schematically shows an application scenario of a picking system according to an exemplary embodiment of the present invention.
  • FIG3 schematically shows a flow chart of a method for handling a fault of a picking vehicle according to an exemplary embodiment of the present invention.
  • FIG. 4 schematically shows a first rescue picking vehicle and a fault picking vehicle docking.
  • Reference numerals list 1 Scheduling system 11 Memory 12 Processor 2 Picking Cart 201 Cargo transfer agency 202 Cargo Platform 21 Fault Picker 210 Goods picked 22 Rescue Picker 221 First Rescue Picker 222 Second Rescue Picker 3 Upstream Management System 4 Operator Terminal 51 First Range 52 Second Range
  • Fig. 1 schematically shows a picking system according to an exemplary embodiment of the present invention.
  • Fig. 2 schematically shows an application scenario of a picking system according to an exemplary embodiment of the present invention.
  • the picking system includes a scheduling system 1.
  • the scheduling system 1 includes a memory 11 and a processor 12, wherein the memory 11 stores a computer program, and when the computer program is executed by the processor 12, the processor 12 is capable of executing a picking vehicle fault handling method according to an exemplary embodiment of the present invention (described in detail below).
  • the picking system also includes a plurality of picking vehicles 2 for performing picking tasks.
  • the picking vehicle 2 is capable of automatically
  • the picking vehicle 2 is an autonomous transport device that moves mainly.
  • the picking vehicle 2 can be implemented as an AGV or an AMR, etc.
  • the picking vehicle 2 can also be configured as an automatic picking device that can realize autonomous picking.
  • the picking vehicle 2 can be moved to the storage area to perform picking operations.
  • the picking vehicle 2 can be configured to be able to communicate with the scheduling system 1 so as to send status information of the picking vehicle 2 to the scheduling system 1 and/or receive instructions from the scheduling system 1.
  • the scheduling system 1 can be connected to the upstream management system 3 in communication so as to receive tasks assigned by the upstream management system 3.
  • the upstream management system 3 is, for example, an ERP system, a WMS warehousing system, or an OMS order management system.
  • the scheduling system 1 can generate a picking list for each picking vehicle 2 based on the batch order data assigned by the upstream management system 3, and generate a task order accordingly based on the picking list.
  • the scheduling system 1 can assign the task order to each picking vehicle 2.
  • the picking vehicle 2 performs the corresponding picking task in the storage area based on the assigned task order.
  • the picking task assigned to a picking vehicle 2 may include multiple subtasks. Each subtask may correspond to a customer order, for example.
  • the picking vehicle 2 or the operator can pick the corresponding goods from the storage area 100 to the picking vehicle 2 according to the requirements of each picking task.
  • a plurality of shelves 200 are arranged in rows, and each shelf 200 is provided with a plurality of storage locations 300 for storing different goods.
  • the rows of shelves 200 are separated by aisles 400.
  • the picking vehicle 2 can move and stay in the aisle 400, so that, for example, the operator can take the goods from the storage locations 300 on the shelves 200 on both sides of the aisle 400 and put them on the picking vehicle 2.
  • the picking vehicle 2 can be parked at the picking position corresponding to the specific goods to perform the picking operation.
  • the picking system further includes an operator terminal 4 assigned to an operator.
  • the operator terminal 4 may be configured as a wearable mobile device, such as a smart watch, or as a handheld mobile device.
  • the operator terminal 4 may be configured to be able to communicate with the dispatching system 1, so as to send status information of an operator associated with the operator terminal 4 to the dispatching system 1 and/or receive instructions from the dispatching system 1.
  • Fig. 3 schematically shows a flow chart of a method for handling a picking vehicle failure according to an exemplary embodiment of the present invention.
  • the method for handling a picking vehicle failure can be executed by the dispatching system 1 shown in Fig. 1, for example.
  • the picking vehicle fault handling method includes at least the following steps:
  • S30 selecting at least one of the other picking vehicles 2 as a rescue picking vehicle 22 for rescue. Specifically, the picked goods 210 of the faulty picking vehicle 21 and/or the unexecuted part of the picking task of the faulty picking vehicle 21 are transferred to the rescue picking vehicle 22.
  • the faulty picking vehicle 21 can be automatically rescued with the aid of the rescue picking vehicle 22, so as to reduce or even eliminate the need for operator involvement. Therefore, it is possible to reduce the workload of operators and improve the efficiency of handling faults of the picking vehicle 2.
  • the rescue picking vehicle 22 is an ordinary picking vehicle 2 selected from the multiple picking vehicles 2 except for the faulty picking vehicle 22, and it can be used to perform picking tasks like the faulty picking vehicle 21.
  • the rescue picking vehicle 22 may be in an idle state where no picking tasks are assigned, or it may have been assigned its own picking tasks. In other words, there is no need to set up a picking vehicle 2 dedicated to rescue. Therefore, the number of idle picking vehicles 2 can be reduced as a whole, thereby saving resources.
  • the state information may be sent directly from the picking vehicle 2 to the dispatching system 1, or may be transmitted to the dispatching system 1 via a relay device.
  • the state information may include a variety of information.
  • the dispatching system 1 may, for example, determine the type of fault of the faulty picking vehicle 21, the picking progress of the faulty picking vehicle 21, the position of the faulty picking vehicle 21, and/or the posture of the faulty picking vehicle 21 based on the state information.
  • Step S20 may include, for example: identifying the fault type of the fault occurring in the faulty picking cart 21 based on the status information of the faulty picking cart 21, the fault type including a fault that cannot be recovered in a short time and a fault that can be recovered in a short time.
  • a fault that can be recovered in a short time includes, for example, insufficient power of the picking cart 2.
  • step S30 may be executed.
  • the faulty picking cart 21 is controlled to perform fault repair and/or the operator is notified through the operator terminal 4 to perform fault repair, and after the fault repair is completed, the faulty picking cart 21 is allowed to continue to perform the picking task.
  • step S30 at least includes steps S31 to S33 .
  • step S31 the picking progress of the faulty picking vehicle 21 is determined according to the status information.
  • step S32 according to the picking progress of the faulty picking vehicle 21, at least one is selected from the other picking vehicles as a rescue picking vehicle 22, wherein the rescue picking vehicle 22 includes a first rescue picking vehicle 221 for receiving the picked goods 210 of the faulty picking vehicle 21 and/or a second rescue picking vehicle 222 for receiving the unexecuted part of the picking task of the faulty picking vehicle 21.
  • the first rescue picking vehicle 221 can be selected from the other picking vehicles based on the first selection criteria and the second selection criteria, respectively.
  • Cart 221 and a second rescue picking cart 222 In particular, the first selection criterion and the second selection criterion are at least partially different.
  • the first selection criterion may be related to at least one of the following parameters: the distance between other picking carts and the faulty picking cart 21, the remaining loading capacity of other picking carts, and the own operating status of other picking carts.
  • the second selection criterion is related to at least one of the following parameters: the convergence of the remaining picking positions of other picking carts and the remaining picking positions of the faulty picking cart 21, the remaining loading capacity of other picking carts, and the own operating status of other picking carts, and the second rescue picking cart 222 is selected from the other picking carts.
  • step S33 the picked goods 210 of the faulty picking vehicle 21 and/or the unexecuted part of the picking task of the faulty picking vehicle 21 are transferred to the rescue picking vehicle 22, wherein the first rescue picking vehicle 221 receives the picked goods 210 of the faulty picking vehicle 21, and the second rescue picking vehicle 222 receives the unexecuted part of the picking task of the faulty picking vehicle 21.
  • the picking progress of the faulty picking vehicle 21 it can be determined whether the faulty picking vehicle 21 has picked goods 210 and whether there are still unexecuted picking tasks of the faulty picking vehicle 21. Furthermore, the type of rescue picking vehicle 22 required can be determined.
  • the picking vehicle 2 needs to pick goods A1, A2 and A3. Accordingly, according to the path planned for the picking task, the picking vehicle 2 needs to move to the picking positions P1, P2 and P3 corresponding to the goods A1, A2 and A3 to be picked, respectively. However, for example, the picking vehicle 2 completes the picking operation of the goods A1 at the picking position P1, and then fails in the process of moving to the picking position P2.
  • the dispatch center can identify that a fault that affects the picking task occurs in the process of executing the picking task based on the status information of the faulty picking vehicle 21, and the picking vehicle 2 can be identified as a faulty picking vehicle 21.
  • step S32 it can be determined that a first rescue picking vehicle 221 for receiving the picked goods 210 of the faulty picking vehicle 21 and a second rescue picking vehicle 222 for receiving the unexecuted part of the picking task of the faulty picking vehicle 21 need to be selected from the other picking vehicles.
  • the first rescue picking vehicle 221 and the second rescue picking vehicle 222 may be selected based on different first selection criteria and second selection criteria, respectively.
  • the first selection criterion may particularly consider the distance between other pickers and the faulty picker 21.
  • the picker 2 with a smaller distance to the faulty picker 21 is more preferentially selected as the first rescue picker 221, so that The first rescue picking vehicle 221 can take as little time as possible to reach the first rescue picking vehicle 221 in order to transfer the picked goods 210 of the faulty picking vehicle 21.
  • the first selection criterion may also consider the remaining loading capacity of other picking vehicles and/or the self-operation status of other picking vehicles, etc.
  • the remaining loading capacity represents the available loading capacity of the picking vehicle 2 in addition to the loading capacity that has been occupied and will be occupied by its own picking task (if any).
  • the remaining loading capacity may include the remaining loading weight, the remaining loading volume and/or the number of remaining material boxes, etc.
  • the picking vehicle 2 with a larger remaining loading capacity is more preferentially selected as the first rescue picking vehicle 221, thereby reducing the number of required first rescue picking vehicles 221.
  • the self-operation status of the picking vehicle 2 may include, for example, the remaining power of the picking vehicle 2.
  • the first selection criterion may include assigning corresponding weights to multiple parameters including the distance between other picking vehicles and the faulty picking vehicle 21, the remaining loading capacity of other picking vehicles, and the self-operation status of other picking vehicles, thereby comprehensively considering multiple parameters. As shown in FIG2 , a first rescue picking vehicle 221 can be selected from other picking vehicles according to the first selection criteria.
  • the dispatching system 1 can send instructions to the first rescue picking vehicle 221 to move it to a position adjacent to the faulty picking vehicle 21 so as to transfer the picked goods 210 of the faulty picking vehicle 21 to the first rescue picking vehicle 221.
  • the number of first rescue picking vehicles 221 can be more than one. For example, in a case where the remaining loading capacity of other picking vehicles is limited and insufficient to receive the picked goods 210 of the faulty picking vehicle 21 alone, at least two first rescue picking vehicles 221 can be selected, and the picked goods 210 of the faulty picking vehicle 21 are correspondingly split into at least two cargo parts, and transferred to the at least two first rescue picking vehicles 221 respectively.
  • the second selection criterion may particularly consider the convergence of the remaining picking positions of other picking vehicles with the remaining picking positions of the faulty picking vehicle 21.
  • the picking vehicle 2 with a higher convergence with the remaining picking positions of the faulty picking vehicle 21 is more preferentially selected as the second rescue picking vehicle 222, so that the moving path of the second rescue picking vehicle 222 can be extended as little as possible.
  • the remaining picking positions of the second rescue picking vehicle 222 are at least partially identical to the remaining picking positions of the faulty picking vehicle 21. It is also preferred that the path of the second rescue picking vehicle 222 for performing the remaining picking task passes through or is close to the remaining picking positions of the faulty picking vehicle 21.
  • the convergence of the remaining picking positions of other picking vehicles with the remaining picking positions of the faulty picking vehicle 21 may include the degree of overlap of the remaining picking positions of other picking vehicles with the remaining picking positions of the faulty picking vehicle 21 and/or the degree of proximity of the remaining picking positions of other picking vehicles with the remaining picking positions of the faulty picking vehicle 21.
  • the second selection criterion may also consider the remaining loading capacity of other picking vehicles and/or the operating status of other picking vehicles. As shown in FIG2 , a second rescue picking vehicle 222 may be selected from other picking vehicles according to the second selection criterion.
  • the remaining picking positions include, for example, picking positions corresponding to goods A3 and A4.
  • the remaining picking positions of the second rescue picking vehicle 222 are partially the same as the remaining picking positions of the faulty picking vehicle 21.
  • the number of second rescue picking vehicles 222 can be more than one. For example, when the remaining loading capacity of other picking vehicles 2 is limited and insufficient to load the goods to be picked by the faulty picking vehicle 21 alone, at least two second rescue picking vehicles 222 can be selected, and the unfinished part of the picking task of the faulty picking vehicle 21 is correspondingly split into at least two task parts, and transferred to the at least two second rescue picking vehicles 222 respectively.
  • step S30 for example, according to the remaining picking position of the faulty picking vehicle 21, based on the remaining picking positions and/or remaining loading capacity and/or the own operating status of other picking vehicles, the picking task of the faulty picking vehicle 21 is split into at least two task parts, and at least two are selected from the other picking vehicles as rescue picking vehicles 22, so that the at least two task parts of the rescued faulty picking vehicle 21 are transferred to different rescue picking vehicles 22 respectively.
  • the picked goods 210 of the faulty picking vehicle 21 can be split into at least two goods parts, and at least two are selected from the other picking vehicles as rescue picking vehicles 22, so that the at least two goods parts of the rescued faulty picking vehicle 21 are transferred to different rescue picking vehicles 22 respectively.
  • each picking vehicle can be more reasonably and fully utilized, thereby improving the overall efficiency of the picking system.
  • the first rescue picking vehicle 221 and the second rescue picking vehicle 222 can be different picking vehicles 2, or can be at least partially the same picking vehicles 2.
  • at least one of the rescue picking vehicles 22 can receive both the picked goods 210 of the faulty picking vehicle 21 and at least a portion of the picking tasks of the faulty picking vehicle 21.
  • the rescue picking vehicle 22 may be preferentially selected from the normally operating and idle picking vehicles 2.
  • the rescue picking vehicle 22 thus selected is particularly used for receiving the picked goods 210 of the faulty picking vehicle 21 and for receiving at least a part of the picking tasks of the faulty picking vehicle 21.
  • the dispatch center can determine based on the status information of the faulty picking vehicle 21 that it only has the goods A1, A2, and A3 to be picked (corresponding to the unexecuted part of the picking task of the faulty picking vehicle 21), but does not have the picked goods 210. Therefore, only one picking vehicle needs to be selected from the other picking vehicles. At least one is used as the second rescue picking vehicle 222, and the first rescue picking vehicle 221 is not needed. For another example, when the faulty picking vehicle 21 has picked up all the goods A1, A2 and A3, only at least one needs to be selected from other picking vehicles as the first rescue picking vehicle 221, and the second rescue picking vehicle 222 is not needed.
  • the first rescue picking vehicle 221 and the faulty picking vehicle 21 can automatically transfer goods. Specifically, in step S30, if the picking progress of the faulty picking vehicle 21 indicates that the faulty picking vehicle 21 has picked goods 210, the picked goods 210 of the faulty picking vehicle 21 are transferred to the first rescue picking vehicle 221 in the following manner: determining the position information and posture information of the faulty picking vehicle 21 according to the state information; and controlling the first rescue picking vehicle 221 to dock with the faulty picking vehicle 21 according to the position information and posture information of the faulty picking vehicle 21, so as to automatically transfer the picked goods 210 of the faulty picking vehicle 21 to the first rescue picking vehicle 221 through the cargo transfer mechanism 201 of the faulty picking vehicle 21 and/or the first rescue picking vehicle 221.
  • FIG4 schematically shows the first rescue picking vehicle 221 and the fault picking vehicle 21 being docked.
  • Controlling the first rescue picking vehicle 221 to dock with the fault picking vehicle 21 may include: moving the first rescue picking vehicle 221 to a position adjacent to the fault picking vehicle 21; and making the first rescue picking vehicle 221 adjacent to the fault picking vehicle 21 in a specific orientation.
  • controlling the first rescue picking vehicle 221 to dock with the fault picking vehicle 21 also includes: aligning the cargo platform 202 of the first rescue picking vehicle 221 with the cargo platform 202 of the fault picking vehicle 21 in height (e.g., flush with or slightly lower than the cargo platform 202 of the fault picking vehicle 21), wherein the height of the first rescue picking vehicle 221 and/or the cargo platform 202 of the fault picking vehicle 21 is adjustable, for example, electrically adjustable.
  • the cargo transfer mechanism 201 may, for example, include a pushing mechanism of the fault picking vehicle 21 and/or a picking mechanism of the first rescue picking vehicle 221. As shown in FIG. 4 , the faulty picking vehicle 21 can use its cargo transfer mechanism 201 to push the picked cargo 210 from the cargo platform 202 of the faulty picking vehicle 21 to the cargo platform 202 of the first rescue picking vehicle 221 .
  • the transfer of goods between the first rescue picking vehicle 221 and the faulty picking vehicle 21 can also be performed by the operator. For example, in step S30, if the picking progress of the faulty picking vehicle 21 indicates that the faulty picking vehicle 21 has picked goods 210, the picked goods 210 of the faulty picking vehicle 21 are transferred to the first rescue picking vehicle 221 in the following manner: determining the position information of the faulty picking vehicle 21 according to the status information; controlling the first rescue picking vehicle 221 to move to a position adjacent to the faulty picking vehicle 21 according to the position information of the faulty picking vehicle 21; and selecting at least one operator as a rescue operator from at least one operator according to the distance between the operator and the faulty picking vehicle 21 and/or the operator's free time.
  • the operator sends notification information through the operator terminal 4 assigned to the rescue operator to inform the rescue operator of the location information of the faulty picking vehicle 21 and the cargo transfer requirements.
  • the notification information can be transmitted to the operator through vibration, text, image and/or sound, for example.
  • the rescue operator may be selected from the at least one operator in the following manner: searching for an operator who meets the predetermined conditions as the rescue operator within a range where the distance from the faulty picking vehicle 21 is less than the upper limit of the distance, and stopping the search if the required rescue operator is found; and if the rescue operator still needs to be found, repeating the following steps until the required rescue operator is found: determining the current upper limit of the distance as the updated lower limit of the distance, and determining an updated upper limit of the distance that is larger than the current upper limit of the distance, and searching for an operator who meets the predetermined conditions as the rescue operator within a range where the distance from the faulty picking vehicle 21 is greater than the updated lower limit of the distance and less than the updated upper limit of the distance.
  • the predetermined condition may include that the operator is currently in an idle state with no tasks.
  • an operator who meets the predetermined conditions can be first searched as a rescue operator within a first range 51 whose distance from the faulty picking vehicle 21 is less than a predetermined first distance. If no suitable operator is found within the first range 51, the search range is expanded, and an operator who meets the predetermined conditions is searched as a rescue operator within a second range 5252 whose distance from the faulty picking vehicle 21 is between the first distance and a second distance (greater than the first distance). And so on, until the required rescue operator is found. After receiving the notification information through the associated operator terminal 4, the rescue operator can go to the vicinity of the faulty picking vehicle 21 to transfer the picked goods 210 of the faulty picking vehicle 21 to the first rescue picking vehicle 221.
  • step S30 may further include step S34 executed after step S33.
  • step S34 the rescue picking vehicle 22 is controlled to execute the unexecuted part of the picking task of the faulty picking vehicle 21.
  • the remaining picking tasks of the rescue picking vehicle 22 are combined with the unexecuted part of the picking tasks of the faulty picking vehicle 21 received by the rescue picking vehicle 22 to generate a combined picking task, and a path is planned for the rescue picking vehicle 22 according to the combined picking task.
  • the present invention also relates to a computer program product, which includes computer program instructions.
  • the processor 12 can execute the picking vehicle fault handling method according to the present invention.
  • the present invention also relates to a computer readable storage medium having a computer program stored thereon, wherein when the computer program is executed by at least one processor, the processor is capable of executing According to the method for handling the fault of the picking vehicle of the present invention.
  • the computer-readable storage medium may include, for example, a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the processor may be a central processing unit, or may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.

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Abstract

本发明提出了一种拣选车故障处理方法，其中，所述拣选车故障处理方法至少包括下述步骤：S10，获取用于执行拣选任务的多个拣选车的状态信息；S20，根据所述状态信息识别所述多个拣选车中的故障拣选车在执行其拣选任务的过程中发生影响拣选任务的故障；以及S30，从所述多个拣选车中的其他拣选车中选择至少一个作为救援拣选车，将故障拣选车的已拣选货物和/或故障拣选车的拣选任务中的未执行部分转移给救援拣选车。还提出了一种计算机可读存储介质、一种调度系统和一种拣选系统。根据本发明，能够减少操作人员的工作量，提高对拣选车的故障的处理效率。

Description

拣选车故障处理方法、存储介质、调度系统及拣选系统 技术领域
本发明涉及仓储物流领域，尤其涉及一种拣选车故障处理方法、一种计算机可读存储介质、一种调度系统以及一种拣选系统。
背景技术
随着电子商务的快速发展，仓储物流规模随之扩大，所处理的订单数量、对订单的处理速度等也不断提高。为了提高效率，已知在仓库中采用可自主移动的拣选车来执行拣选任务。通常，可基于原始客户订单生成相应的拣选任务，然后将拣选任务下发给拣选车，使得拣选车通过执行拣选任务来实现拣货。
如果拣选车在执行拣选任务的过程中发送故障导致其无法继续执行拣选任务，则需要操作人员对发生故障的拣选车进行处理，并进行剩余的拣选任务的拣货操作。这将大大增加操作人员的工作量。在操作人员不足的情况下，将导致拣选车的故障无法得到及时的处理。
发明内容
本发明的目的在于提供一种改进的拣选车故障处理方法和相应的计算机可读存储介质、调度系统及拣选系统，以克服现有技术的至少一个不足。
根据本发明的第一方面，提供了一种拣选车故障处理方法，其至少包括下述步骤：
S10，获取用于执行拣选任务的多个拣选车的状态信息；
S20，根据所述状态信息识别所述多个拣选车中的故障拣选车在执行其拣选任务的过程中发生影响拣选任务的故障；以及
S30，从所述多个拣选车中的其他拣选车中选择至少一个作为救援拣选车，将故障拣选车的已拣选货物和/或故障拣选车的拣选任务中的未执行部分转移给救援拣选车。
由此，可借助于从其他拣选车中选出的救援拣选车自动地对故障拣选车进行救援，以便减少、甚至无需操作人员的参与。因此能够减少操作人员的工作量，提高对拣选车的故障的处理效率。另外，由于无需设置专用于进行救援的拣选车，因此可整体上减少闲置的拣选车，从而节约资源。
在一个示例性实施例中，步骤S30至少包括下述步骤：
S31，根据状态信息，确定故障拣选车的拣选进度；
S32，根据故障拣选车的拣选进度，从所述其他拣选车中选择至少一个作为救援拣选车，其中，救援拣选车包括用于接收故障拣选车的已拣选货物的第一救援拣选车和/或用于接收故障拣选车的拣选任务中的未执行部分的第二救援拣选车；以及
S33，将故障拣选车的已拣选货物和/或故障拣选车的拣选任务中的未执行部分转移给救援拣选车，其中，第一救援拣选车接收故障拣选车的已拣选货物，第二救援拣选车接收故障拣选车的拣选任务中的未执行部分。
因此，可根据故障拣选车的拣选进度，有针对性地选择救援拣选车进行故障处理，从而提高拣选系统的整体效率。
在一个示例性实施例中，在步骤S32中，分别基于第一选择标准和第二选择标准从所述其他拣选车中选择第一救援拣选车和第二救援拣选车。特别是，第一选择标准和第二选择标准至少部分地不相同。例如，第一选择标准与下述参数中的至少一者相关：其他拣选车与故障拣选车的距离、其他拣选车的剩余装载能力、其他拣选车的自身运行状态。替代地或附加地，第二选择标准与下述参数中的至少一者相关：其他拣选车的剩余拣选位置与故障拣选车的剩余拣选位置的趋同性、其他拣选车的剩余装载能力、其他拣选车的自身运行状态，从所述其他拣选车中选择第二救援拣选车。这有助于采用优化的方式处理故障拣选车。
在一个示例性实施例中，在步骤S30中，如果故障拣选车的拣选进度指示故障拣选车具有已拣选货物，则通过下述方式将故障拣选车的已拣选货物转移给第一救援拣选车：根据状态信息确定故障拣选车的位置信息和姿态信息；以及根据故障拣选车的位置信息和姿态信息，控制第一救援拣选车与故障拣选车进行对接，以便通过故障拣选车和/或第一救援拣选车的货物转移机构自动地将故障拣选车的已拣选货物转移给第一救援拣选车。
在一个示例性实施例中，货物转移机构包括故障拣选车的推动机构和/或第一救援拣选车的拿取机构。
在一个示例性实施例中，在步骤S30中，如果故障拣选车的拣选进度指示故障拣选车具有已拣选货物，则通过下述方式将故障拣选车的已拣选货物转移给第一救援拣选车：根据状态信息确定故障拣选车的位置信息；根据故障拣选车的位置信息，控制第一救援拣选车运动至邻近故障拣选车的位置；以及根据操作人员与故障拣选车的距离和/或操作人员的空闲情况，从至少一个操作人员中选择至少一个作为救援操作人员，通过配属于所述救援操作人员的操作人员终端发送通知信息，以便向救援操作人员通知故障拣选车的位置信息和货物转移需求。
在一个示例性实施例中，通过下述方式从所述至少一个操作人员中选择所述救援操作人员：在与故障拣选车距离小于距离上限的范围内寻找符合预定条件的操作人员作为救援操作人员，如果找到所需的救援操作人员则停止寻找；以及如果仍需寻找救援操作人员，则重复执行下述步骤直到找到所需的救援操作人员：将当前的距离上限确定为更新后的距离下限，并且确定比当前的距离上限更大的更新后的距离上限，在与故障拣选车距离大于更新后的距离下限且小于更新后的距离上限的范围内寻找符合预定条件的操作人员作为救援操作人员。
在一个示例性实施例中，步骤S30还包括在步骤S33之后执行的步骤S34，在步骤S34中，控制救援拣选车执行故障拣选车的拣选任务中的未执行部分，其中，将救援拣选车的剩余拣选任务与其接收到的故障拣选车的拣选任务中的未执行部分组合并生成组合的拣选任务，根据组合的拣选任务为救援拣选车规划路径。
在一个示例性实施例中，在步骤S30中，将故障拣选车的拣选任务拆分为至少两个任务部分，从所述其他拣选车中选择至少两个作为救援拣选车，以便使救故障拣选车的所述至少两个任务部分分别被转移给不同的救援拣选车。替代地或附加地，在步骤S30中，将故障拣选车的已拣选货物拆分为至少两个货物部分，从所述其他拣选车中选择至少两个作为救援拣选车，以便使救故障拣选车的所述至少两个货物部分分别被转移给不同的救援拣选车。
在一个示例性实施例中，步骤S20包括：根据故障拣选车的状态信息识别故障拣选车发生的故障的故障类型，所述故障类型包括短时无法恢复的故障和短时可恢复的故障。在故障拣选车发生短时无法恢复的故障的情况下，执行步骤S30。在故障拣选车发生短时可恢复的故障的情况下，控制故障拣选车进行故障修复和/或通过操作人员终端通知操作人员进行故障修复，并在故障修复完成后使故障拣选车继续执行拣选任务。
根据本发明的第二方面，提供了一种计算机可读存储介质，其上存储有计算器程序，其中，当所述计算机程序被处理器执行时，所述处理器能够执行根据本发明的拣选车故障处理方法。
根据本发明的第三方面，提供了一种调度系统，其中，所述调度系统包括存储器和处理器，所述存储器存储有计算机程序，当所述计算机程序被所述处理器执行时，所述处理器能够执行根据本发明的拣选车故障处理方法。
根据本发明的第四方面，提供了一种拣选系统，其中，所述拣选系统包括根据本发明的调度系统和用于执行拣选任务的多个拣选车，其中，调度系统与所述多个拣选车通信连接。
附图说明
下面，通过参看附图更详细地描述本发明，可以更好地理解本发明的原理、特点和优点。附图包括：
图1示意性地示出了根据本发明的一个示例性实施例的拣选系统；
图2示意性地示出了根据本发明的一个示例性实施例的拣选系统的应用场景；以及
图3示意性地示出了在根据本发明的一个示例性实施例的拣选车故障处理方法的流程图；以及
图4示意性地示出了进行对接的第一救援拣选车与故障拣选车。
附图标记列表
1       调度系统
11      存储器
12      处理器
2       拣选车
201     货物转移机构
202     载货平台
21      故障拣选车
210     已拣选货物
22      救援拣选车
221     第一救援拣选车
222     第二救援拣选车
3       上游管理系统
4       操作人员终端
51      第一范围
52      第二范围
具体实施方式
为了使本发明所要解决的技术问题、技术方案以及有益的技术效果更加清楚明白，以下将结合附图以及多个示例性实施例对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用于解释本发明，而不是用于限定本发明的保护范围。
应理解，在本文中，表述“第一”、“第二”等仅用于描述性目的，而不应理解为指示或暗示相对重要性，也不应理解为隐含指明所指示的技术特征的数量。限定有“第一”、“第二”的特征可以明示或者隐含地表示包括至少一个该特征。
图1示意性地示出了根据本发明的一个示例性实施例的拣选系统。图2示意性地示出了根据本发明的一个示例性实施例的拣选系统的应用场景。
如图1所示，拣选系统包括调度系统1。所述调度系统1包括存储器11和处理器12，所述存储器11存储有计算机程序，当所述计算机程序被所述处理器12执行时，所述处理器12能够执行根据本发明的示例性实施例的拣选车故障处理方法(将在下文详细描述)。
拣选系统还包括用于执行拣选任务的多个拣选车2。拣选车2是能够自 主移动的自主运输装置。特别是，拣选车2可实施为AGV或AMR等。拣选车2也可构造成能够实现自主拣货的自动拣货装置。拣选车2可移动至仓储区，以进行拣选作业。拣选车2可配置成能够与调度系统1通信，以便向调度系统1发送拣选车2的状态信息和/或接收调度系统1的指令。
调度系统1可与上游管理系统3通信连接，以便接收上游管理系统3派发的任务。上游管理系统3例如为ERP系统、WMS仓储系统或OMS订单管理系统等。例如，调度系统1可根据上游管理系统3派发的批量订单数据，生成用于各拣选车2的拣选单，并根据拣选单相应地生成任务单。调度系统1可将任务单分配给各拣选车2。拣选车2依据分配到的任务单，在仓储区内执行相应的拣选任务。一个拣选车2分配到的拣选任务可包括多个子任务。各子任务例如可分别对应于客户订单。
在仓储区100，拣选车2或操作人员可根据各拣选任务的要求将相应的货物从仓储区100拣选至拣选车2上。在仓储区100内，成排地布置有多个货架200，每个货架200上设有用于存放不同货物的多个储位300。成排的货架200之间以通道400间隔开。拣选车2能够在通道400中移动和停留，以便例如通过操作人员从通道400两侧的货架200上的储位300拿取货物并放到拣选车2上。在需要拣选特定的货物的情况下，拣选车2可停靠在与该特定的货物对应的拣选位置处，以便进行拣选操作。
可选地，拣选系统还包括配属于操作人员的操作人员终端4。例如，所述操作人员终端4可构造成可穿戴式移动设备、如智能手表等，或者构造成手持式移动设备等。操作人员终端4可配置成能够与调度系统1通信，以便向调度系统1发送与操作人员终端4相关联的操作人员的状态信息和/或接收调度系统1的指令。
图3示意性地示出了在根据本发明的一个示例性实施例的拣选车故障处理方法的流程图。所述拣选车故障处理方法例如可由图1所示的调度系统1执行。
如图3所示，所述拣选车故障处理方法至少包括下述步骤：
S10，获取用于执行拣选任务的多个拣选车2的状态信息；
S20，根据所述状态信息识别所述多个拣选车2中的故障拣选车21在执行其拣选任务的过程中发生影响拣选任务的故障；以及
S30，从所述多个拣选车2中的其他拣选车中选择至少一个作为救援拣选车22，以进行救援。具体而言，将故障拣选车21的已拣选货物210和/或故障拣选车21的拣选任务中的未执行部分转移给救援拣选车22。
由此，可借助于救援拣选车22自动地对故障拣选车21进行救援，以便减少、甚至无需操作人员的参与。因此能够减少操作人员的工作量，提高对拣选车2的故障的处理效率。在此，救援拣选车22是从所述多个拣选车2中除了故障拣选车22之外的其他拣选车中选出的普通的拣选车2，其可与故障拣选车21一样用于执行拣选任务。在被选作救援拣选车22时，救援拣选车22可能处于未被分配拣选任务的空闲状态，也可能已分配有自己的拣选任务。换言之，无需设置专用于进行救援的拣选车2。因此，可整体上减少闲置的拣选车2，从而节约资源。
在步骤S10中，状态信息例如可由拣选车2直接发送至调度系统1，或者也可经由中继装置传送至调度系统1。状态信息可包含多种信息。调度系统1例如可根据状态信息确定故障拣选车21发生的故障的故障类型、故障拣选车21的拣选进度、故障拣选车21的位置和/或故障拣选车21的姿态等。
步骤S20例如可包括：根据故障拣选车21的状态信息识别故障拣选车21发生的故障的故障类型，所述故障类型包括短时无法恢复的故障和短时可恢复的故障。短时可恢复的故障例如包括拣选车2电量不足等。在故障拣选车21发生短时无法恢复的故障的情况下，可执行步骤S30。在故障拣选车21发生短时可恢复的故障的情况下，控制故障拣选车21进行故障修复和/或通过操作人员终端4通知操作人员进行故障修复，并在故障修复完成后使故障拣选车21继续执行拣选任务。
可选地，如图3所示，步骤S30至少包括步骤S31至S33。
在步骤S31中，根据状态信息，确定故障拣选车21的拣选进度。
在步骤S32中，根据故障拣选车21的拣选进度，从所述其他拣选车中选择至少一个作为救援拣选车22，其中，救援拣选车22包括用于接收故障拣选车21的已拣选货物210的第一救援拣选车221和/或用于接收故障拣选车21的拣选任务中的未执行部分的第二救援拣选车222。例如，可分别基于第一选择标准和第二选择标准从所述其他拣选车中选择第一救援拣选 车221和第二救援拣选车222。特别是，第一选择标准和第二选择标准至少部分地不相同。例如，第一选择标准可与下述参数中的至少一者相关：其他拣选车与故障拣选车21的距离、其他拣选车的剩余装载能力、其他拣选车的自身运行状态。替代地或附加地，第二选择标准与下述参数中的至少一者相关：其他拣选车的剩余拣选位置与故障拣选车21的剩余拣选位置的趋同性、其他拣选车的剩余装载能力、其他拣选车的自身运行状态，从所述其他拣选车中选择第二救援拣选车222。
在步骤S33中，将故障拣选车21的已拣选货物210和/或故障拣选车21的拣选任务中的未执行部分转移给救援拣选车22，其中，第一救援拣选车221接收故障拣选车21的已拣选货物210，第二救援拣选车222接收故障拣选车21的拣选任务中的未执行部分。
根据故障拣选车21的拣选进度，可确定故障拣选车21是否具有已拣选货物210以及故障拣选车21的拣选任务是否仍有未执行部分。进而，可确定所需的救援拣选车22的类型。
以图2所示的故障拣选车21为例。根据分配到的拣选任务，该拣选车2需要拣选货物A1、A2和A3。相应地，依据针对该拣选任务规划的路径，该拣选车2需依次移动至分别与待拣选的货物A1、A2和A3对应的拣选位置P1、P2和P3。然而，例如该拣选车2在拣选位置P1处完成货物A1的拣选操作，然后在移动至拣选位置P2的过程中发生故障。调度中心可根据故障拣选车21的状态信息识别到其在执行拣选任务的过程中发生影响拣选任务的故障，该拣选车2可被标识为故障拣选车21。根据故障拣选车21的状态信息，可确定故障拣选车21具有已拣选货物210，即已装载的A1，并且具有待拣选的货物A2和A3(对应故障拣选车21的拣选任务中的未执行部分)。因此，在步骤S32中，可确定需要从所述其他拣选车中选择用于接收故障拣选车21的已拣选货物210的第一救援拣选车221和接收故障拣选车21的拣选任务中的未执行部分的第二救援拣选车222。
如上文所述，可分别基于不同的第一选择标准和第二选择标准来选择第一救援拣选车221和第二救援拣选车222。
第一选择标准尤其可考虑其他拣选车与故障拣选车21的距离。与故障拣选车21的距离越小的拣选车2越优先被选为第一救援拣选车221，使得 第一救援拣选车221能够花费尽量少的时间到达第一救援拣选车221处以便转移故障拣选车21的已拣选货物210。第一选择标准还可考虑其他拣选车的剩余装载能力和/或其他拣选车的自身运行状态等。剩余装载能力表示拣选车2的除了已被占用和其自身的拣选任务(如果存在的话)将要占用的装载能力之外的可用的装载能力。剩余装载能力可包括剩余装载重量、剩余装载体积和/或剩余料箱数量等。剩余装载能力越大的拣选车2越优先被选为第一救援拣选车221，从而减少所需的第一救援拣选车221的数量。拣选车2的自身运行状态例如包括拣选车2的剩余电量。第一选择标准可包括对包含其他拣选车与故障拣选车21的距离、其他拣选车的剩余装载能力和其他拣选车的自身运行状态在内的多个参数赋予相应的权重，从而综合考虑多个参数。如图2所示，可根据第一选择标准，从其他拣选车中选出一个第一救援拣选车221。调度系统1可向第一救援拣选车221发送指令，使其运动至邻近故障拣选车21的位置，以便将故障拣选车21的已拣选货物210转移给第一救援拣选车221。应理解，第一救援拣选车221的数量可多于一个。例如，在其他拣选车的剩余装载能力都有限并且不足以独自接收故障拣选车21的已拣选货物210的情况下，可选出至少两个第一救援拣选车221，故障拣选车21的已拣选货物210被相应地拆分为至少两个货物部分，并且分别转移给所述至少两个第一救援拣选车221。
第二选择标准尤其可考虑其他拣选车的剩余拣选位置与故障拣选车21的剩余拣选位置的趋同性。与故障拣选车21的剩余拣选位置的趋同性越高的拣选车2越优先被选为第二救援拣选车222，从而能够尽量少地延长第二救援拣选车222的移动路径。例如，第二救援拣选车222的剩余拣选位置与故障拣选车21的剩余拣选位置至少部分地相同是优选的。第二救援拣选车222的用于执行剩余拣选任务的路径经过或者靠近故障拣选车21的剩余拣选位置也是优选的。其他拣选车的剩余拣选位置与故障拣选车21的剩余拣选位置的趋同性可包括其他拣选车的剩余拣选位置与故障拣选车21的剩余拣选位置的重合程度和/或其他拣选车的剩余拣选位置与故障拣选车21的剩余拣选位置的邻近程度。第二选择标准还可考虑其他拣选车的剩余装载能力和/或其他拣选车的自身运行状态。如图2所示，可根据第二选择标准，从其他拣选车中选出一个第二救援拣选车222。第二救援拣选车222 的剩余拣选位置例如包括与货物A3和A4对应的拣选位置。可以看出，第二救援拣选车222的剩余拣选位置与故障拣选车21的剩余拣选位置部分地相同。第二救援拣选车222的数量可多于一个。例如，在其他拣选车2的剩余装载能力都有限并且不足以独自装载故障拣选车21的待拣选货物的情况下，可选出至少两个第二救援拣选车222，故障拣选车21的拣选任务的未完成部分被相应地拆分为至少两个任务部分，并且分别转移给所述至少两个第二救援拣选车222。
可选地，在步骤S30中，例如根据故障拣选车21的剩余拣选位置，基于其他拣选车的剩余拣货位置和/或剩余装载能力和/或自身运行状态，将故障拣选车21的拣选任务拆分为至少两个任务部分，并从所述其他拣选车中选择至少两个作为救援拣选车22，以便救故障拣选车21的所述至少两个任务部分分别转移给不同的救援拣选车22。类似地，例如可根据故障拣选车21的已拣选货物，基于其他拣选车的剩余装载能力和/或自身运行状态，将故障拣选车21的已拣选货物210拆分为至少两个货物部分，从所述其他拣选车中选择至少两个作为救援拣选车22，以便将救故障拣选车21的所述至少两个货物部分分别被转移给不同的救援拣选车22。通过这种拆分，能够更合理且充分地利用各拣选车，从而提高拣选系统的整体效率。
第一救援拣选车221和第二救援拣选车222可以是不同的拣选车2，也可以是至少部分地相同的拣选车2。例如，救援拣选车22中的至少一者可既接收故障拣选车21的已拣选货物210，也接收故障拣选车21的至少一部分拣选任务。
可选地，在步骤S30中，如果其他拣选车中存在正常运行且空闲的拣选车2，则可优先在正常运行且空闲的拣选车2中选择救援拣选车22。由此选出的救援拣选车22特别是既用于接收故障拣选车21的已拣选货物210，也用于接收故障拣选车21的至少一部分拣选任务。
作为另一示例，如果故障拣选车21还未拣选货物A1、A2和A3中的任一个就发生故障，则调度中心可根据故障拣选车21的状态信息确定其仅具有待拣选的货物A1、A2和A3(对应故障拣选车21的拣选任务中的未执行部分)，而不具有已拣选货物210。因此只需从所述其他拣选车中选择 至少一个作为第二救援拣选车222，而无需第一救援拣选车221。又如，在故障拣选车21已拣选所有的货物A1、A2和A3的情况下，只需从其他拣选车中选择至少一个作为第一救援拣选车221，而无需第二救援拣选车222。
在一个示例性实施例中，第一救援拣选车221和故障拣选车21可自动地进行货物转移。具体而言，在步骤S30中，如果故障拣选车21的拣选进度指示故障拣选车21具有已拣选货物210，则通过下述方式将故障拣选车21的已拣选货物210转移给第一救援拣选车221：根据状态信息确定故障拣选车21的位置信息和姿态信息；以及根据故障拣选车21的位置信息和姿态信息，控制第一救援拣选车221与故障拣选车21进行对接，以便通过故障拣选车21和/或第一救援拣选车221的货物转移机构201自动地将故障拣选车21的已拣选货物210转移给第一救援拣选车221。
图4示意性地示出了进行对接的第一救援拣选车221与故障拣选车21。控制第一救援拣选车221与故障拣选车21进行对接可包括：使第一救援拣选车221运动至邻近故障拣选车21的位置；以及使第一救援拣选车221以特定的方位与故障拣选车21邻接。可选地，控制第一救援拣选车221与故障拣选车21进行对接还包括：使第一救援拣选车221的载货平台202与故障拣选车21的载货平台202在高度上对准(例如齐平于或略低于故障拣选车21的载货平台202)，其中，第一救援拣选车221和/或故障拣选车21的载货平台202的高度是可调节的，例如可通过电动方式调节。货物转移机构201例如可包括故障拣选车21的推动机构和/或第一救援拣选车221的拿取机构。如图4所示，故障拣选车21可借助于其货物转移机构201将已拣选货物210从故障拣选车21的载货平台202向第一救援拣选车221的载货平台202推动。
第一救援拣选车221与故障拣选车21之间的货物转移也可由操作人员来进行。例如，在步骤S30中，如果故障拣选车21的拣选进度指示故障拣选车21具有已拣选货物210，则通过下述方式将故障拣选车21的已拣选货物210转移给第一救援拣选车221：根据状态信息确定故障拣选车21的位置信息；根据故障拣选车21的位置信息，控制第一救援拣选车221运动至邻近故障拣选车21的位置；以及根据操作人员与故障拣选车21的距离和/或操作人员的空闲情况，从至少一个操作人员中选择至少一个作为救援操 作人员，通过配属于所述救援操作人员的操作人员终端4发送通知信息，以便向救援操作人员通知故障拣选车21的位置信息和货物转移需求。所述通知信息例如可通过振动、文字、图像和/或声音等方式传递给操作人员。
例如，可通过下述方式从所述至少一个操作人员中选择所述救援操作人员：在与故障拣选车21距离小于距离上限的范围内寻找符合预定条件的操作人员作为救援操作人员，如果找到所需的救援操作人员则停止寻找；以及如果仍需寻找救援操作人员，则重复执行下述步骤直到找到所需的救援操作人员：将当前的距离上限确定为更新后的距离下限，并且确定比当前的距离上限更大的更新后的距离上限，在与故障拣选车21距离大于更新后的距离下限且小于更新后的距离上限的范围内寻找符合预定条件的操作人员作为救援操作人员。例如，所述预定条件可包括操作人员当前处于无任务的空闲状态。
参见图2，例如可首先在与故障拣选车21距离小于预定的第一距离的第一范围51内寻找符合预定条件的操作人员作为救援操作人员。在第一范围51内没有找到合适的操作人员的情况下，扩大寻找范围，并在与故障拣选车21距离在第一距离与(大于第一距离的)第二距离之间的第二范围5252内寻找符合预定条件的操作人员作为救援操作人员。以此类推，直到找到所需的救援操作人员。救援操作人员通过相关联的操作人员终端4接收到通知信息之后，可前往至故障拣选车21附近，以便将故障拣选车21的已拣选货物210转移给第一救援拣选车221。
回到图3，步骤S30可选地还包括在步骤S33之后执行的步骤S34。在步骤S34中，控制救援拣选车22执行故障拣选车21的拣选任务中的未执行部分。在此，将救援拣选车22的剩余拣选任务与其接收到的故障拣选车21的拣选任务中的未执行部分组合并生成组合的拣选任务，根据组合的拣选任务为救援拣选车22规划路径。
另外，本发明还涉及一种计算机程序产品，其包括计算器程序指令，当所述计算机程序指令被一个或多于一个处理器12执行时，所述处理器12能够执行根据本发明的拣选车故障处理方法。
本发明还涉及一种计算机可读存储介质，其上存储有计算器程序，其中，当所述计算机程序被至少一个处理器执行时，所述处理器能够执行根 据本发明的拣选车故障处理方法。计算机可读存储介质例如可包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡，安全数字卡，闪存卡、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。处理器可以是中央处理单元，还可以是其他通用处理器、数字信号处理器、专用集成电路、现成可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者也可以是任何常规的处理器等。
尽管这里详细描述了本发明的特定实施方式，但它们仅仅是为了解释的目的而给出的，而不应认为它们对本发明的范围构成限制。在不脱离本发明精神和范围的前提下，各种替换、变更和改造可被构想出来。

Claims (13)

  1. 一种拣选车故障处理方法，其中，所述拣选车故障处理方法至少包括下述步骤：
    S10，获取用于执行拣选任务的多个拣选车(2)的状态信息；
    S20，根据所述状态信息识别所述多个拣选车(2)中的故障拣选车(21)在执行其拣选任务的过程中发生影响拣选任务的故障；以及
    S30，从所述多个拣选车(2)中的其他拣选车中选择至少一个作为救援拣选车(22)，将故障拣选车(21)的已拣选货物(210)和/或故障拣选车(21)的拣选任务中的未执行部分转移给救援拣选车(22)。
  2. 根据权利要求1所述的拣选车故障处理方法，其中，
    步骤S30至少包括下述步骤：
    S31，根据状态信息，确定故障拣选车(21)的拣选进度；
    S32，根据故障拣选车(21)的拣选进度，从所述其他拣选车中选择至少一个作为救援拣选车(22)，其中，救援拣选车(22)包括用于接收故障拣选车(21)的已拣选货物(210)的第一救援拣选车(221)和/或用于接收故障拣选车(21)的拣选任务中的未执行部分的第二救援拣选车(222)；以及
    S33，将故障拣选车(21)的已拣选货物(210)和/或故障拣选车(21)的拣选任务中的未执行部分转移给救援拣选车(22)，其中，第一救援拣选车(221)接收故障拣选车(21)的已拣选货物(210)，第二救援拣选车(222)接收故障拣选车(21)的拣选任务中的未执行部分。
  3. 根据权利要求2所述的拣选车故障处理方法，其中，
    在步骤S32中，分别基于第一选择标准和第二选择标准从所述其他拣选车中选择第一救援拣选车(221)和第二救援拣选车(222)，其中：
    第一选择标准和第二选择标准至少部分地不相同；和/或
    第一选择标准与下述参数中的至少一者相关：其他拣选车与故障拣选车(21)的距离、其他拣选车的剩余装载能力、其他拣选车的自身运 行状态；和/或
    第二选择标准与下述参数中的至少一者相关：其他拣选车的剩余拣选位置与故障拣选车(21)的剩余拣选位置的趋同性、其他拣选车的剩余装载能力、其他拣选车的自身运行状态，从所述其他拣选车中选择第二救援拣选车(222)。
  4. 根据权利要求2或3所述的拣选车故障处理方法，其中，
    在步骤S30中，如果故障拣选车(21)的拣选进度指示故障拣选车(21)具有已拣选货物(210)，则通过下述方式将故障拣选车(21)的已拣选货物(210)转移给第一救援拣选车(221)：
    根据状态信息确定故障拣选车(21)的位置信息和姿态信息；以及
    根据故障拣选车(21)的位置信息和姿态信息，控制第一救援拣选车(221)与故障拣选车(21)进行对接，以便通过故障拣选车(21)和/或第一救援拣选车(221)的货物转移机构(201)自动地将故障拣选车(21)的已拣选货物(210)转移给第一救援拣选车(221)。
  5. 根据权利要求4所述的拣选车故障处理方法，其中，
    货物转移机构(201)包括故障拣选车(21)的推动机构和/或第一救援拣选车(221)的拿取机构。
  6. 根据权利要求2或3所述的拣选车故障处理方法，其中，
    在步骤S30中，如果故障拣选车(21)的拣选进度指示故障拣选车(21)具有已拣选货物(210)，则通过下述方式将故障拣选车(21)的已拣选货物(210)转移给第一救援拣选车(221)：
    根据状态信息确定故障拣选车(21)的位置信息；
    根据故障拣选车(21)的位置信息，控制第一救援拣选车(221)运动至邻近故障拣选车(21)的位置；以及
    根据操作人员与故障拣选车(21)的距离和/或操作人员的空闲情况，从至少一个操作人员中选择至少一个作为救援操作人员，通过配属于所述救援操作人员的操作人员终端(4)发送通知信息，以便向救援操作人员通 知故障拣选车(21)的位置信息和货物转移需求。
  7. 根据权利要求6所述的拣选车故障处理方法，其中，
    通过下述方式从所述至少一个操作人员中选择所述救援操作人员：
    在与故障拣选车(21)距离小于距离上限的范围内寻找符合预定条件的操作人员作为救援操作人员，如果找到所需的救援操作人员则停止寻找；以及
    如果仍需寻找救援操作人员，则重复执行下述步骤直到找到所需的救援操作人员：将当前的距离上限确定为更新后的距离下限，并且确定比当前的距离上限更大的更新后的距离上限，在与故障拣选车(21)距离大于更新后的距离下限且小于更新后的距离上限的范围内寻找符合预定条件的操作人员作为救援操作人员。
  8. 根据权利要求2-7中任一项所述的拣选车故障处理方法，其中，
    步骤S30还包括在步骤S33之后执行的步骤S34，在步骤S34中，控制救援拣选车(22)执行故障拣选车(21)的拣选任务中的未执行部分，其中，将救援拣选车(22)的剩余拣选任务与其接收到的故障拣选车(21)的拣选任务中的未执行部分组合并生成组合的拣选任务，根据组合的拣选任务为救援拣选车(22)规划路径。
  9. 根据权利要求1-8中任一项所述的拣选车故障处理方法，其中，
    在步骤S30中，将故障拣选车(21)的拣选任务拆分为至少两个任务部分，从所述其他拣选车中选择至少两个作为救援拣选车(22)，以便使救故障拣选车(21)的所述至少两个任务部分分别被转移给不同的救援拣选车(22)；和/或
    在步骤S30中，将故障拣选车(21)的已拣选货物(210)拆分为至少两个货物部分，从所述其他拣选车中选择至少两个作为救援拣选车(22)，以便使救故障拣选车(21)的所述至少两个货物部分分别被转移给不同的救援拣选车(22)。
  10. 根据权利要求1-9中任一项所述的拣选车故障处理方法，其中，
    步骤S20包括：根据故障拣选车(21)的状态信息识别故障拣选车(21)发生的故障的故障类型，所述故障类型包括短时无法恢复的故障和短时可恢复的故障，其中：
    在故障拣选车(21)发生短时无法恢复的故障的情况下，执行步骤S30；
    在故障拣选车(21)发生短时可恢复的故障的情况下，控制故障拣选车(21)进行故障修复和/或通过操作人员终端(4)通知操作人员进行故障修复，并在故障修复完成后使故障拣选车(21)继续执行拣选任务。
  11. 一种计算机可读存储介质，其上存储有计算器程序，其中，当所述计算机程序被处理器(12)执行时，所述处理器(12)能够执行根据权利要求1-10中任一项所述的拣选车故障处理方法。
  12. 一种调度系统(1)，其中，所述调度系统(1)包括存储器(11)和处理器(12)，所述存储器(11)存储有计算机程序，当所述计算机程序被所述处理器(12)执行时，所述处理器(12)能够执行根据权利要求1-10中任一项所述的拣选车故障处理方法。
  13. 一种拣选系统，其中，所述拣选系统包括根据权利要求12所述的调度系统(1)和用于执行拣选任务的多个拣选车(2)，其中，调度系统(1)与所述多个拣选车(2)通信连接。
PCT/CN2023/128277 2022-10-31 2023-10-31 拣选车故障处理方法、存储介质、调度系统及拣选系统 WO2024093985A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN109877831A (zh) * 2019-02-27 2019-06-14 广州高新兴机器人有限公司 多机器人的自主故障救援方法、装置及计算机存储介质
KR20210044598A (ko) * 2019-10-15 2021-04-23 엘지전자 주식회사 배송 로봇의 관제 서버 및 그의 배송 로봇 제어 방법
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CN115032981A (zh) * 2022-05-10 2022-09-09 上海景吾酷租科技发展有限公司 酒店配送机器人相互协作的方法及系统

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CN109877831A (zh) * 2019-02-27 2019-06-14 广州高新兴机器人有限公司 多机器人的自主故障救援方法、装置及计算机存储介质
KR20210044598A (ko) * 2019-10-15 2021-04-23 엘지전자 주식회사 배송 로봇의 관제 서버 및 그의 배송 로봇 제어 방법
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