Transfer robot picking task scheduling method for movable goods shelf warehousing system

Abstract

The invention discloses a transfer robot picking task scheduling method for a movable goods shelf warehousing system, and belongs to the field of electronic commerce. The method comprises the following steps of constructing a picking task allocation and robot transfer sequence planning model with the minimum picking completion time of all orders as a target; and inputting information such as to-be-picked goods shelf information associated with all customer orders, time information about time required for replacing two goods shelves by a transfer robot, time information for manual picking of the goods shelves on a picking table, a determined time interval, and the number of the transfer robots and the picking tables into the picking task allocation and robot transfer sequence planning model, and obtaining a picking task allocation and transfer sequence planning scheme of the transfer robot based on existing integer programming model solution software. According to the method, the technical scheme is simultaneously provided for the picking task allocation and service sequences of the transfer robot, the walking distance of the transfer robot is reduced, the total picking time is reduced, the optimization effect is achieved, and the working efficiency of the movable goods shelf warehousing system is improved.

Description

technical field [0001] The invention relates to the field of electronic commerce, in particular to a picking task scheduling method for a handling robot oriented to a mobile shelf storage system. Background technique [0002] With the rapid development of logistics automation technology, mobile shelf storage system has been widely used in the storage industry. In order to improve the working efficiency of the handling robot, CN2018105791765 discloses a shelf handling method, device and system using the goods-to-person system, which generates handling tasks for pre-handled shelves and assigns pre-handled shelves to off-shelf shelves The nearest idle handling robot, and then choose the shortest path for the robot in handling. For the newly added order, give priority to whether the shelf with the handling task can meet the order picking. If the current shelf with the handling task cannot meet the order picking, then Re-select the shelf to generate a new handling task. This me...

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Problems solved by technology

Both of the above two patents involve the method of partitioning, but how to partition to achieve efficient picking is a difficult problem in this field. The partitioning methods are different for different types of warehouses with different commodities. The same warehouse is oriented to different The relationship between customer orders and commodities will be different. If the zoning is not appropriate or the zoning cannot be flexibly adjusted with the allocation of customer orders and storage locations, an inappropriate zoning scheme will reduce the picking efficiency of the warehouse.

[0005] In short, the advantages and disadvantages of the scheduling method in the prior art still need to be tested. During the picking process, the robot will still send the shelf back to the original position after moving the shelf to the picking table, prolonging the driving distance, and the robot All the allocated shelves are not taken into account when planning the handling sequence, and it is easy to fall into a local optimum. There is still room for improvement in the existing scheduling system

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