Storage multi-robot task scheduling method based on congestion control

Abstract

The invention discloses a congestion control method for storage multiple robots, comprising the steps of: S1, updating a shelf position of a core dispatching mechanism; S2, selecting corresponding storage multiple robots and parking shelf positions according to order information of the core dispatching institution, and randomly generating task numbers; S3, using the core scheduling mechanism to generate a single picking task according to the corresponding storage multiple robots, the parking shelf positions and the updated shelf positions; S4, using the congestion control method according to the single picking task to plan the optimal execution path of the storage multiple robots; S5, according to the optimal execution path, the corresponding storage multiple robots performing the single picking tasks according to the order of the task numbers, so as to realize the task scheduling of the storage multiple robots. The method solves the problems of low practicability, high maintenance cost, long system running time, low operating efficiency, low resource utilization rate and unreasonable resource allocation in the prior art.

Description

technical field [0001] The invention relates to the technical field of warehousing robots, in particular to a task scheduling method for multi-robot warehousing based on congestion control. Background technique [0002] Robot technology has made great progress with the improvement of computer technology. Since the 21st century, emerging technologies such as artificial intelligence, sensor technology, and communication technology have laid a solid foundation for robot applications. Robots have advantages that humans cannot match in many aspects, and can be widely used in complex, highly repetitive, and high-risk fields. At present, a large number of researchers have been injected into many fields such as robot structure design, perception system, control system, and intelligent decision-making. In recent years, with the development of sensor technology and robot control theory, it has become possible to commercialize robots. Robots have been widely used in many fields such a...

AI Technical Summary

Problems solved by technology

[0005] (1) The path planning method of the prior art is only aimed at the single robot situation, and cannot meet the requirements of the multi-robot situation, and the practicability of the method is low;

[0006] (2) For some existing technologies in a multi-robot environment, due to the simultaneous operation of multiple robots in the work area, it is inevitable to encounter situations such as preempting the road and collisions, and the more robots are put into work, the narrower the environment, the robot There is a greater probability of collisions during the interval, causing the robot to be easily damaged and increasing maintenance costs;

[0007] (3) And due to situations such as preempting roads and collisions, it is easy to cause a high degree of congestion in some areas, resulting in long system running time and low efficiency;

[0008] (4) In the prior art, when dealing with sequential tasks, the robot has a scheduling problem with many useless movements, resulting in low resource utilization and unreasonable resource allocation.

Images