AGV-based scheduling task execution method and device, electronic equipment and storage medium
By identifying target storage locations and unloading locations in high-bay warehouses and optimizing AGV transport routes, the problem of low transport efficiency when order goods are stored in deep locations is solved, resulting in more efficient AGV operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-12-09
- Publication Date
- 2026-03-24
AI Technical Summary
In existing technologies, AGVs have low efficiency in handling order goods in high-bay warehouses, especially when the order goods are located deep in the warehouse. Obstructing goods need to be removed before handling, which makes the operation complicated and inefficient.
By determining the target storage location and the unloading storage location, it is determined whether there is an empty storage location within the preset range. If there is, the unloading goods are moved to the empty storage location first. If not, the optimal strategy is selected based on the AGV movement time to optimize the AGV's handling route and improve efficiency.
It improves the efficiency of AGV in handling order goods in high-bay warehouses and reduces unnecessary handling time and operation steps by dynamically matching the optimal scheduling strategy.
Smart Images
Figure CN115924384B_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present invention relate to the field of intelligent warehousing technology, and in particular to a scheduling task execution method, device, electronic device and storage medium based on AGV. Background Technology
[0002] In the warehousing and logistics industry, with the booming development of goods-to-person delivery, more and more industries are starting to use Automated Guided Vehicles (AGVs) to replace manual operations, thus bidding farewell to the traditional purely manual operation mode.
[0003] Generally, to increase warehousing capacity, high-bay warehouses combined with double-deep racking are commonly used. High-bay warehouses typically have multi-level racking, while double-deep racking indicates that two rows of goods are placed on either side or one side of the aisle. While this storage method increases capacity, there are situations where orders for goods are stored in the deep bays. In these cases, obstructing items must first be moved to buffer locations before the orders are moved to the worktable, completing one scheduling operation for the AGV (Automated Guided Vehicle) on the orders.
[0004] Therefore, how to control AGVs to move goods more efficiently in order to improve the efficiency of AGV cargo transfer is a key issue that needs to be addressed. Summary of the Invention
[0005] This invention provides a method, apparatus, electronic device, and storage medium for executing scheduling tasks based on AGVs, which can improve existing schemes for controlling AGVs to execute scheduling tasks.
[0006] In a first aspect, embodiments of the present invention provide a method comprising:
[0007] The target storage location is determined based on the order information, and the unpacking storage location is determined based on the target storage location. The target storage location is the storage location where the ordered goods are located, and the unpacking storage location is the storage location where the unpacked goods are located.
[0008] If there is an empty storage space within the preset range of the box-turning storage space, then a target empty storage space is determined within the preset range, and the AGV is controlled to execute the scheduling task based on the target storage space, the box-turning storage space, the target empty storage space, and the cache storage space.
[0009] If there are no empty storage locations within the preset range of the box-turning storage location, a target strategy is determined based on the movement time of the AGV from the box-turning storage location to the cache storage location, and the scheduling task is executed according to the target strategy.
[0010] Secondly, embodiments of the present invention provide an AGV-based scheduling task execution device, the device comprising:
[0011] The determination module is used to determine the target storage location based on the order information, and to determine the unpacking storage location based on the target storage location, wherein the target storage location is the storage location where the ordered goods are located, and the unpacking storage location is the storage location where the unpacked goods are located;
[0012] The first execution module is used to determine a target empty storage location within the preset range of the empty storage location when there is an empty storage location within the preset range, and to control the AGV to execute the scheduling task based on the target storage location, the empty storage location, the target empty storage location, and the cache storage location.
[0013] The second execution module is used to determine a target strategy based on the movement time of the AGV from the box-turning storage location to the cache storage location when there is no empty storage location within the preset range of the box-turning storage location, and to execute the scheduling task according to the target strategy.
[0014] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:
[0015] At least one processor; and
[0016] A memory communicatively connected to the at least one processor; wherein,
[0017] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to execute the AGV-based scheduling task execution method according to any embodiment of the present invention.
[0018] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the AGV-based scheduling task execution method described in any embodiment of the present invention.
[0019] The technical solution for AGV-based scheduling task execution in this embodiment of the invention first determines the target storage location based on order information, and then determines the unloading storage location based on the target storage location. The target storage location is the storage location where the ordered goods are located, and the unloading storage location is the storage location where the unloaded goods are located. Next, it is determined whether there is an empty storage location within a preset range of the unloading storage location. If so, a target empty storage location is determined within the preset range, and the AGV is controlled to execute the scheduling task based on the target storage location, the unloading storage location, the target empty storage location, and the buffer storage location. If not, a target strategy is further determined based on the movement time of the AGV from the unloading storage location to the buffer storage location, and the scheduling task is executed according to the target strategy. The solution provided in this embodiment includes multiple scheduling strategies and can match the optimal scheduling strategy according to the actual working conditions, achieving the beneficial effect of improving AGV working efficiency.
[0020] It should be understood that the description in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the embodiments of the present invention will become readily apparent from the following description. Attached Figure Description
[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a flowchart illustrating an AGV-based task scheduling execution method provided in an embodiment of the present invention.
[0023] Figure 2 This is another flowchart illustrating the AGV-based task execution method provided in this embodiment of the invention.
[0024] Figure 3 This is a schematic diagram of a storage rack provided in an embodiment of the present invention;
[0025] Figure 4 This is a schematic diagram of a scheduling task execution device based on AGV provided in an embodiment of the present invention;
[0026] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation
[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.
[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.
[0029] Figure 1 This is a flowchart illustrating an AGV-based scheduling task execution method provided in an embodiment of the present invention. This embodiment is applicable to situations where AGVs are controlled to execute scheduling tasks. The method can be executed by an AGV-based scheduling task execution device, which can be implemented in hardware and / or software and can be configured in computer equipment such as a server. (Reference) Figure 1 The method may specifically include the following steps:
[0030] S110. Determine the target storage location based on the order information, and determine the unloading storage location based on the target storage location.
[0031] Order information is information about the currently required goods issued by the system. This information may include: the name of the ordered goods and their location, where the location indicates the storage location in the warehouse. In this embodiment, the location of the ordered goods can be referred to as the target storage location.
[0032] Existing warehousing and storage methods typically combine high-bay warehouses with double-deep racking. When retrieving orders, there are situations where the ordered goods are located deep within the racking, making them impossible to retrieve directly. There are also obstructions on the side of the ordered goods closest to the aisle. The general operating procedure is as follows: First, an AGV is controlled to move the obstructing goods away. Then, the ordered goods are retrieved from the target location and placed in the designated buffer location. Next, another small AGV is controlled to move the ordered goods from the buffer location to the workbench, allowing the operator to perform subsequent operations on the ordered goods.
[0033] The aforementioned buffer storage location serves as a transit storage location for temporarily storing ordered goods in the warehouse. The purpose of setting up buffer storage locations is to address situations where operators' workbenches may already have goods in operation, and placing the current order goods directly on the workbenches could lead to insufficient time for operators to process them. Therefore, the retrieved order goods are first stored in the buffer storage location. Buffer storage locations are generally located on the lowest level of the warehouse shelving, near the outer aisle, to facilitate the transfer of order goods by small AGVs. The specific location of the buffer storage location is not restricted here.
[0034] Before moving the ordered goods to the cache storage location, obstructing items need to be moved. This involves removing the obstructing items, retrieving the ordered goods, and then returning the obstructing items to their original positions. At this point, the deep storage location where the ordered goods were located is now empty. When returning the obstructing items, they should be placed in the deep storage location (i.e., the target storage location where the ordered goods were before being moved). This is done to facilitate the next use of the shallow storage location outside the aisle for direct storage of goods, without the need for additional handling of obstructing items.
[0035] It should be noted that the obstructing goods mentioned above are the overturned goods mentioned in this embodiment, and the storage location where the overturned goods are located is called the overturned storage location.
[0036] When the AGV performs the relevant box-turning operation on the box-turning goods and completes the scheduling task of the order goods, it can be achieved by two operation methods: Method 1: When there is an empty storage space in the warehouse, first move the box-turning goods from the box-turning storage space to the empty storage space, and then move the order goods from the target storage space to the buffer storage space; Method 2: First store the box-turning goods in the box-turning storage space to the basket position of the AGV, and then move the order goods in the target storage space to the AGV, so as to realize the AGV's handling of the order goods.
[0037] In Method Two above, the AGV's basket position can be understood as follows: the AGV is an automated guided vehicle with multiple layers of shelves, and each shelf can hold one box of goods. The advantage of this setup is that it eliminates the need to move the boxed goods multiple times. For example, the AGV can have six baskets. When moving goods on the shelves, priority is given to moving the goods to the basket with the smallest height difference from the AGV. The specific number of baskets the AGV has is not limited here.
[0038] Specifically, the implementation of method two can be broken down into the following two processes:
[0039] Process 1: Take out the unpacked goods from the unpacking location and store them in basket 1. Take out the order goods from the target location and store them in basket 2. Control the AGV to move the order goods and unpacked goods to the buffer location. Place the order goods in basket 2 into the buffer location. Return to the original location and store the unpacked goods in basket 1 into the target location where the original order goods are located. End the scheduling task.
[0040] Process 2: Take out the unpacked goods from the unpacking location and store them in basket 1. Take out the order goods from the target location and store them in basket 2. Take out the unpacked goods from basket 1 and store them in the target location where the original order goods were located. Control the AGV to move the order goods in basket 2 to the cache location. Place the order goods in basket 2 in the cache location. End the scheduling task.
[0041] Therefore, the AGV-based scheduling task execution scheme provided in this embodiment of the invention focuses on minimizing the time required for AGVs to move order goods from the target storage location to the cache storage location. Specifically, the time required for AGVs to perform related box-turning operations on the goods during the process of moving order goods from the target storage location to the cache storage location must also be considered.
[0042] S120. Determine whether there is an empty storage space within the preset range of the box-turning storage space.
[0043] An empty storage location refers to a storage location on the warehouse racks where no goods are stored. The purpose of identifying empty storage locations is to first move unpacked goods from unpacked storage locations to empty storage locations, and then move the ordered goods from the target storage location to the cache storage location.
[0044] The aforementioned preset range can be a fixed value set based on experience, generally depending on factors such as the length and height of the storage racks and the running time of the AGV for unloading boxes. For example, if there are empty storage locations within five racks above, below, to the left, and to the right of the unloading location, centered on the unloading location, then the preset range is considered to be within the range of empty storage locations. The limitation method of the aforementioned preset range is not limited to the example above.
[0045] If there is an empty storage space, the scheduling strategy provided in step S130 is executed; if there is no empty storage space, the scheduling strategy provided in step S140 is executed.
[0046] It should be noted that in this embodiment, when there are empty storage spaces within the preset range, the scheduling task is executed first according to the scheduling strategy provided in step S130. Therefore, when executing the scheduling task based on empty storage spaces within the preset range, the working time required by the AGV must be less than the time of the scheduling strategy provided in step S140. Therefore, the selection of the above-mentioned preset range needs to be reasonable, and the selected range should not be too large.
[0047] S130. Determine the target empty storage location within the preset range, and control the AGV to execute scheduling tasks based on the target storage location, the unloading storage location, the target empty storage location, and the cache storage location.
[0048] When there are multiple empty storage locations within the preset range, the target empty storage location can be determined first among the multiple empty storage locations. The selection method of the current target empty storage location can be determined based on the principle of minimizing the AGV handling time, that is, the storage location with the shortest time to move the unpacked goods from the unpacking storage location to the empty storage location is determined as the target empty storage location.
[0049] When controlling the AGV to execute scheduling tasks, first move the unpacked goods from the unpacking storage location to the target empty storage location; then return to the target storage location and move the order goods from the target storage location to the cache storage location.
[0050] It's important to note that when AGVs move goods in the warehouse, they can only stop in the warehouse aisles. Generally, ordered goods and unpacked goods are in the same column on the shelves. Therefore, when moving ordered goods from the target location or unpacked goods from the unpacking location, the AGV's position remains almost unchanged; what changes is the extension length of the gripping mechanism on the AGV. That is, when ordered goods and unpacked goods are at the same height, controlling the extension and retraction of the gripping mechanism on the AGV by different lengths achieves the purpose of gripping either the unpacked goods or the ordered goods.
[0051] S140. Determine the target strategy based on the movement time of the AGV from the unloading storage location to the cache storage location, and execute the scheduling task according to the target strategy.
[0052] If there are no empty storage locations within the preset range, the scheduling strategy needs to be executed according to the second method in step S110. It can be seen from the two scheduling processes included in the second method in step S110 that the difference between process one and process two is whether to return the unpacked goods first or to move the order goods first. When the distance between the unpacked storage location and the cache storage location is too long, process two is better than process one, and process two can be used as the target strategy. Otherwise, process one is better than process two.
[0053] The problem of determining the target strategy based on the distance between the box-turning storage location and the cache storage location can be transformed into the problem of determining the movement time of the AGV from the box-turning storage location to the cache storage location. The process that allows the AGV to complete the scheduling task in a shorter time is determined as the target strategy, so as to improve the working efficiency of the AGV.
[0054] The AGV-based scheduling task execution method provided in this embodiment of the invention first determines the target storage location based on order information, and then determines the unloading storage location based on the target storage location. The target storage location is the storage location where the ordered goods are located, and the unloading storage location is the storage location where the unloaded goods are located. Next, it is determined whether there is an empty storage location within a preset range of the unloading storage location. If so, a target empty storage location is determined within the preset range, and the AGV is controlled to execute the scheduling task based on the unloading storage location, the target empty storage location, and the cache storage location. If not, a target strategy is further determined based on the movement time of the AGV from the unloading storage location to the cache storage location, and the scheduling task is executed according to the target strategy. The solution provided in this embodiment includes multiple scheduling strategies and can match the optimal scheduling strategy according to the actual working conditions, achieving the beneficial effect of improving AGV working efficiency.
[0055] Figure 2 This is another flowchart illustrating the AGV-based task execution method provided in this embodiment of the invention. Figure 3 This is a structural schematic diagram of a storage rack provided in an embodiment of the present invention; the relationship between this embodiment and the above embodiments further refines the corresponding features of the above embodiments. For example... Figure 2 As shown, the method may include the following steps:
[0056] S210. Determine the target storage location based on the order information.
[0057] The target storage location is the storage location where the ordered goods are located. Figure 3 In the example, if the location of the goods in the order is position A in the diagram, then position A is the target storage location.
[0058] S220. Determine the storage location where there is obstruction to goods on the side of the target storage location closest to the aisle as the repositioning storage location.
[0059] Taking the storage of goods in a warehouse using a double-deep racking system as an example, there are four rows of racks on each side of an aisle. In the current aisle, the racks in the second row are deep racks. When the target storage location of the order goods is a deep storage location, the storage location of the goods near the aisle that are obstructing the movement of the order goods can be identified as the box-turning storage location. That is, the box-turning goods in the box-turning storage location need to be moved to facilitate the movement of the order goods.
[0060] Please continue to refer to Figure 3 ,exist Figure 3 In the example of double-row racking, adding one double-row racking side-by-side on each side of each row of racking creates a double-deep racking system (not shown in the diagram). The aisle between the double-row racking systems is where AGVs travel. Taking the partial structural diagram of the double-deep racking system shown in the diagram as an example, position A is the aforementioned deep storage location. The goods in storage location B, which obstructs the movement of ordered goods from position A, are boxed goods; therefore, position B is the boxed goods storage location.
[0061] S230. Determine whether there is an empty storage space within the preset range of the box-turning storage space.
[0062] If it exists, proceed to steps S240 to S251; if it does not exist, proceed to steps S260 to S262.
[0063] S240. Obtain at least two candidate empty storage locations within a preset range.
[0064] All empty storage locations within the preset range are called candidate empty storage locations. If there are multiple candidate empty storage locations, it is further necessary to determine the target empty storage location from among them. The target empty storage location is the storage location where the AGV needs to move the unpacked goods from the unpacking storage location to the current empty storage location in the shortest time, i.e., execute steps S241 to S243; Figure 3 In the example, positions C1, C2, and C3 can all be candidate empty storage locations.
[0065] If there is only one candidate empty storage location within the preset range, then the current candidate empty storage location is determined as the target empty storage location, i.e., step S250 is executed, and the process of steps S241 to S243 is not required.
[0066] S241. For each candidate empty storage location, determine the AGV's driving mode based on the driving distance from the unloading storage location to the candidate empty storage location.
[0067] Since the unpacked goods and the ordered goods are on the same row of shelves, the AGV's position will not change much when it unpacks goods from unpacking location B and retrieves ordered goods from target location A. Therefore, the current step of determining the AGV's driving mode based on the travel distance from the unpacking location to the candidate empty location can also be expressed as determining the AGV's driving mode based on the travel distance from the target location to the candidate empty location.
[0068] When there are multiple candidate empty storage locations (positions C1, C2, and C3), the method of determining the AGV's driving mode based on the driving distance from the inverted storage location B to the candidate empty storage location can be understood as follows: first, determine the distance of the AGV from the inverted storage location B to each candidate empty storage location based on the coordinates of the inverted storage location B and the coordinates of each candidate empty storage location; then, calculate the driving mode of the AGV to each candidate empty storage location based on the corresponding distance.
[0069] The above-mentioned AGV driving mode can be understood as follows: depending on the distance, the AGV generally accelerates first, then moves at a constant speed, and finally decelerates over a relatively long distance; while it accelerates first and then decelerates over a relatively short distance. Therefore, the time required for the AGV to travel varies depending on the driving mode at different distances.
[0070] The time required for the AGV to "accelerate first, then maintain a constant speed, and finally decelerate" when traveling a relatively long distance can be called the complete acceleration, deceleration, and translation time; the time required for the AGV to "accelerate first and then decelerate" when traveling a relatively short distance can be called the incomplete acceleration, deceleration, and translation time.
[0071] S242. Calculate the transport time for the AGV to move the unpacked goods from the unpacking warehouse to the candidate empty warehouse based on the driving mode.
[0072] The above incomplete acceleration / deceleration translation time has the following formula:
[0073]
[0074] The complete acceleration / deceleration translation time described above has the following formula:
[0075]
[0076] Where X represents the distance traveled by the AGV; V represents the maximum operating speed; a 加 =a 加 Non-standard values represent acceleration and deceleration. X = Difference in x-coordinates between the starting and ending storage locations * Width of a single storage location; V, a 加 and a 加 These are all standard parameters for AGVs.
[0077] S243. The candidate empty storage location with the shortest transportation time is determined as the target empty storage location.
[0078] Step S243 can determine the candidate empty storage location with the shortest time as the target empty storage location.
[0079] If multiple candidate empty storage locations take the same amount of time, the target empty storage location can be determined according to the following principles:
[0080] 1. Storage location depth priority: Storage location depth 2 > Storage location depth 1, that is, the boxes are preferentially transferred to the deep storage location. If the storage location with the shortest time has both the corresponding deep and shallow storage locations empty, the boxes will be preferentially stored in the deep storage location.
[0081] 2. Storage location height priority: High storage location > Low storage location, that is, empty storage locations at higher positions are given priority.
[0082] 3. Priority of horizontal distance between storage locations: closer distance > farther distance.
[0083] An alternative approach, based on the distance between the AGV storage location and the candidate empty storage location, taking into account the driving mode and the time required for the corresponding driving mode, may also consider the clamping time when the AGV removes the AGV storage location after moving the AGV to the candidate empty storage location, as well as the time required to adjust the state of each mechanism during the AGV's movement.
[0084] When an AGV picks up or places goods at position D, the required process may be: the chassis moves laterally --- the clamping mechanism lifts and lowers --- the box is picked up --- the box is placed.
[0085] The above terms are explained as follows: Chassis lateral movement: The chassis mechanism moves left and right at different lateral distances in the storage space to align with the target lateral position;
[0086] The clamping mechanism moves up and down at different storage heights to align with the target height.
[0087] Box retrieval movement: The clamping mechanism extends and retracts to hook the box back;
[0088] Box placement movement: The clamping mechanism extends and retracts to push the box onto the shelf.
[0089] It should be noted that the AGV's operation process differs depending on the location of the candidate empty storage location when moving from the unloading storage location to each candidate empty storage location. Please refer to [link / reference needed]. Figure 3 Taking the example where the AGV travels the same distance to candidate empty storage locations C1 and C3, C1 is in the same column as the empty storage location B, and C3 is at the same height as B. If C1 is chosen as the target empty storage location, the AGV's movement is as follows: it picks up the empty goods at location B and moves them to position D on the AGV, then raises the AGV to the height of C1, and finally places the empty goods at position D into position C1, completing the empty storage operation. If C3 is chosen as the target empty storage location, the AGV's movement is as follows: it picks up the empty goods at location B and moves them to position D on the AGV, then rotates the AGV to position C3, and finally places the empty goods at position D into position C3, completing the empty storage operation. Therefore, the time required to adjust the working state of each mechanism of the AGV varies depending on the location of the empty storage location.
[0090] The solution provided in this embodiment takes into account the different driving modes of the AGV when the distance from the unloading storage location to the candidate empty storage location is different. It also takes into account the time required for the AGV to work in various states when the candidate empty location is in different positions. The consideration of factors is more comprehensive, so as to improve the accuracy of subsequent determination of the target empty storage location and thus improve the working efficiency of the AGV.
[0091] S250. Plan the first scheduling route based on the unloading warehouse location and the target empty warehouse location, and plan the second scheduling route based on the target warehouse location and the cache warehouse location.
[0092] The first scheduling route can be determined by: obtaining the coordinates of the empty storage location and the target empty storage location on the storage rack; taking the empty storage location as the starting position and the target empty storage location as the ending position to determine the first scheduling route for the AGV.
[0093] The second scheduling route can be determined by: obtaining the coordinates of the target storage location and the cache storage location on the storage rack; using the target storage location as the starting position and the cache storage location as the ending position to determine the second scheduling route for the AGV.
[0094] S251. Control the AGV to move the unpacked goods from the unpacking storage location to the target empty storage location according to the first scheduling route, and control the AGV to move the order goods from the target storage location to the cache storage location according to the second scheduling route, thus completing the scheduling task.
[0095] S260. Obtain the first time required for the AGV to execute the scheduled task according to the first strategy.
[0096] Please continue to refer to Figure 3 For example, the current first strategy can be implemented as follows:
[0097] 1. Control the AGV to pick up the boxed goods from the box-turning storage position B and move them to the AGV's basket position D;
[0098] 2. Control the AGV to pick up the ordered goods from the target storage location A and move them to the AGV's transport position E;
[0099] 3. Control the AGV to move from the unloading storage location to the buffer storage location, and pick up the order goods from the handling location E to the buffer storage location;
[0100] 4. Control the AGV to move from the cache location to the initial position, and pick up the unpacked goods from the basket location D to the target location to complete the scheduling task.
[0101] When executing a scheduling task according to the first strategy, the first time period includes the travel time of the first scheduling route and the first state change time of the AGV. The travel time of the first scheduling route is the time required to travel from the unloaded goods to the buffer position, plus the return time according to the current route. The first state change time of the AGV may include: the time for picking up the unloaded goods, the time for placing the unloaded goods, the time for picking up the ordered goods, the time for placing the ordered goods, and the time for placing the unloaded goods after returning.
[0102] The above times can be further subdivided and marked as follows:
[0103] 1. Time for retrieving goods from a container: The time for the container retrieval mechanism to perform the retrieval motion at the storage depth is defined as t1;
[0104] 2. Time for placing the inverted goods into the handling position: Acceleration-deceleration lifting motion in the direction of the height difference between the pick-up and placement points *2 + the picking and placing motion of the clamping mechanism in the depth direction of the basket position, with a pick-up time t2;
[0105] 3. Order pickup time: The order pickup time is the same as the pickup time for unpacked goods, which is t1;
[0106] 4. Time for moving from the unloading storage location to the cache storage location: Loaded movement refers to the lifting and lowering motion of the pick-and-place mechanism across the height difference, and the AGV chassis moving laterally in the horizontal direction. The time is defined as t3.
[0107] 5. Order placement time: The placement movement of the box at the placement position depth takes time t4;
[0108] 6. Return time from cache location: The return process is the reverse process of moving the cached data, and the time is the same, t3.
[0109] 7. Time for placing the boxed goods: t4.
[0110] In summary, let T1 be the time required for the first strategy. The following relationship can be obtained:
[0111] T1=(t1+t3+t4)*2+t2 (3)
[0112] It should be noted that, in Figure 3 In the example, the AGV is an automated guided vehicle with multiple layers of mobile shelves. When picking up unpacked goods to the basket position and picking up order goods to the handling position, the basket position and the handling position are not limited to D and E in the figure. The position with the same height as the order goods can also be used as the handling position, and other positions closest to the handling position can be used as the basket position. The specific selection of the handling position and basket position is not restricted here.
[0113] When a location is designated as a handling location, other locations on the AGV's shelves can be used as basket locations. Each layer can store one unloaded item, and the specific usage of the basket locations is not restricted here.
[0114] S261. Obtain the second time required for the AGV to execute the scheduled task according to the second strategy.
[0115] Please continue to refer to Figure 3 For example, the current second strategy can be implemented as follows:
[0116] 1. Control the AGV to pick up the boxed goods from the box-turning storage location and move them to the first basket position D of the AGV;
[0117] 2. Control the AGV to pick up the order goods from the target storage location and move them to the second basket position F of the AGV;
[0118] 3. Control the AGV to pick up the unpacked goods from the first basket position D and move them to the target storage location A;
[0119] 4. Control the AGV to move from the target storage location to the cache storage location, and pick up the order goods from the second basket F and put them into the cache storage location to complete the scheduling task.
[0120] When executing scheduling tasks according to the second strategy, the second time includes the second route movement time and the second state change time of the AGV. Specifically, the second route movement time is the time taken to move from the unloading storage location to the cache storage location; the second state change time includes: the time to retrieve unloaded goods, the time to place them in the first basket location, the time to retrieve ordered goods, the time to place them in the second basket location, and the time to retrieve the ordered goods to the cache storage location.
[0121] The above times can be further subdivided and marked as follows:
[0122] 1. Time for retrieving goods from a container: The time for the container retrieval mechanism to perform the retrieval motion at the storage depth is defined as t1;
[0123] 2. Time for placing the inverted goods into the first basket: Acceleration-deceleration lifting motion in the direction of the height difference between the pick-up and placement points *2 + pick-up and placement motion of the fork arm in the depth direction of the basket position, pick-up time t2;
[0124] 3. Order pickup time: The order pickup time is the same as the pickup time for unpacked goods, which is t1;
[0125] 4. Time to place the order goods into the second basket: Time to place the basket into the box position: Acceleration-deceleration lifting motion in the direction of the height difference between the pick-up and placement points *2 + fork arm placing the box at the depth of the basket position, pick-up time t2;
[0126] 5. Time for retrieving the boxed goods from the first basket: The clamping mechanism moves to retrieve the box in the depth direction of the basket, and the retrieval time is t5;
[0127] 6. Time for tilting the container: The time for the clamping mechanism to tilt the container during its storage depth stroke is defined as t6;
[0128] 7. Time for moving from the unloading storage location to the cache storage location: Loaded movement refers to the lifting and lowering motion of the picking and placing mechanism across the height difference, and the AGV chassis moving laterally in the horizontal direction. The time is defined as t3.
[0129] 8. Time to retrieve ordered goods from the second basket: t1;
[0130] 9. Order release time: t4.
[0131] In summary, let T2 be the time required for the second strategy. The following relationship can be obtained:
[0132] T2=(t1+t2+t3+t4)*2+t5+t6 (4)
[0133] S262. Determine the strategy with the shortest time between the first and second time intervals as the target strategy, and execute the scheduling task according to the target strategy.
[0134] If there are no empty storage locations, the strategy with the shortest time is selected as the target strategy based on the time T1 obtained in step S260 and the time T2 obtained in step S261.
[0135] The AGV-based scheduling task execution method provided in this embodiment offers multiple scheduling strategies. Firstly, if there are empty storage locations within the preset range of the retrieval location, the method of moving the order goods to the cache location by storing the unpacked goods in the target empty storage location is prioritized. If there are no empty storage locations, a first strategy and a second strategy are further provided. Combining the time required for the AGV to change states in each movement within each strategy, the shortest time is selected as the target strategy, making the consideration of factors more comprehensive. The solution provided in this embodiment improves the working efficiency of the AGV by dynamically calculating the scheduling time in real time according to the actual working conditions and finally selecting the optimal scheduling strategy.
[0136] Figure 4 This is a structural diagram of an AGV-based scheduling task execution device provided in an embodiment of the present invention. This device is suitable for executing the AGV-based scheduling task execution method provided in an embodiment of the present invention. Figure 4 As shown in Figure 4, the device may specifically include: a determining module 310, a first execution module 320, and a second execution module 330, wherein:
[0137] The determining module 310 is used to determine the target storage location based on the order information, and to determine the unpacking storage location based on the target storage location, wherein the target storage location is the storage location where the ordered goods are located, and the unpacking storage location is the storage location where the unpacked goods are located;
[0138] The first execution module 320 is used to determine a target empty storage location within the preset range of the empty storage location when there is an empty storage location within the preset range, and to control the AGV to execute the scheduling task based on the target storage location, the empty storage location, the target empty storage location, and the cache storage location.
[0139] The second execution module 330 is used to determine a target strategy based on the movement time of the AGV from the box-turning warehouse to the cache warehouse when there is no empty warehouse within the preset range of the box-turning warehouse, and to execute the scheduling task according to the target strategy.
[0140] The AGV-based scheduling task execution device provided in this embodiment of the invention first determines the target storage location based on order information, and then determines the unloading storage location based on the target storage location. The target storage location is the storage location where the ordered goods are located, and the unloading storage location is the storage location where the unloaded goods are located. Next, it determines whether there is an empty storage location within a preset range of the unloading storage location. If there is, a target empty storage location is determined within the preset range, and the AGV is controlled to execute the scheduling task based on the target storage location, the unloading storage location, the target empty storage location, and the buffer storage location. If there is no empty storage location, a target strategy is further determined based on the movement time of the AGV from the unloading storage location to the buffer storage location, and the scheduling task is executed according to the target strategy. The solution provided in this embodiment includes multiple scheduling strategies and can match the optimal scheduling strategy according to the actual working conditions, achieving the beneficial effect of improving AGV working efficiency.
[0141] In one embodiment, the first execution module 320 includes: a first acquisition unit, a first determination unit, a calculation unit, and a second determination unit, wherein:
[0142] The first acquisition unit is used to acquire at least two candidate empty storage locations within the preset range;
[0143] The first determining unit is used to determine the driving mode of the AGV for each candidate empty storage location based on the driving distance from the unloading storage location to the candidate empty storage location.
[0144] The calculation unit is used to calculate the transportation time for the AGV to move the unpacked goods from the unpacking storage location to the candidate empty storage location based on the driving mode;
[0145] The second determining unit is used to determine the candidate empty storage location with the shortest transportation time as the target empty storage location.
[0146] In one embodiment, the first execution module 320 further includes: a planning unit and a moving unit, wherein:
[0147] The planning unit is used to plan a first scheduling route based on the unloading storage location and the target empty storage location, and to plan a second scheduling route based on the target storage location and the cache storage location;
[0148] The mobile unit is used to control the AGV to move the unpacked goods from the unpacking storage location to the target empty storage location according to the first scheduling route, and to control the AGV to move the order goods from the target storage location to the cache storage location according to the second scheduling route, thereby completing the scheduling task.
[0149] In one embodiment, the second execution module 330 includes: a second acquisition unit, a third acquisition unit, and a third determination unit, wherein:
[0150] The second acquisition unit is used to acquire the first time required when controlling the AGV to execute the scheduling task according to the first strategy. The first time includes the travel time of the first scheduling route and the first state change time of the AGV.
[0151] The third acquisition unit is used to acquire the second time required when controlling the AGV to execute the scheduling task according to the second strategy. The second time includes the second route movement time and the second state change time of the AGV.
[0152] The third determining unit is used to determine the strategy with the shortest time between the first time and the second time as the target strategy.
[0153] In one embodiment, the second execution module 330 further includes: a first control unit, a second control unit, a third control unit, and a fourth control unit, wherein:
[0154] The first control unit is used to control the AGV to pick up the unloading goods from the unloading storage position and place them into the AGV's basket position;
[0155] The second control unit is used to control the AGV to pick up the order goods from the target storage location and move them to the AGV's transport position;
[0156] The third control unit is used to control the AGV to move from the unloading storage location to the buffer storage location, and to pick up the order goods into the buffer storage location;
[0157] The fourth control unit is used to control the AGV to move from the buffer storage location to the unloading storage location, and to pick up the unloaded goods and place them in the target storage location, thereby completing the scheduling task.
[0158] In one embodiment, the second execution module 330 further includes: a fifth control unit, a sixth control unit, a seventh control unit, and an eighth control unit, wherein:
[0159] The fifth control unit is used to control the AGV to pick up the unpacked goods from the unpacking storage position and move them to the first basket position of the AGV;
[0160] The sixth control unit is used to control the AGV to pick up the order goods from the target storage location and move them to the second basket position of the AGV;
[0161] The seventh control unit is used to control the AGV to pick up the unpacked goods from the first basket position and move them to the target storage location;
[0162] The eighth control unit is used to control the AGV to move from the target storage location to the cache storage location, and to pick up the ordered goods from the second basket and place them in the cache storage location, thereby completing the scheduling task.
[0163] In one embodiment, the determining module is specifically used to determine the storage location on the side of the target storage location closest to the aisle where there is an obstruction to the goods as the unloading storage location.
[0164] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0165] This invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to execute the AGV-based scheduling task execution method according to any embodiment of this invention.
[0166] This invention also provides a computer-readable medium storing computer instructions that, when executed by a processor, implement the AGV-based task scheduling execution method described in any embodiment of this invention.
[0167] The following is for reference. Figure 5 It shows a schematic diagram of the structure of a computer system 500 suitable for implementing an electronic device according to embodiments of the present invention. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.
[0168] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 502 or programs loaded from storage section 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the system 500. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.
[0169] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 510 as needed so that computer programs read from it can be installed into storage section 508 as needed.
[0170] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs the functions defined above in the system of this invention.
[0171] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to include: determining a target storage location based on order information, and determining a box-turning storage location based on the target storage location, wherein the target storage location is the storage location of the ordered goods, and the box-turning storage location is the storage location of the box-turning goods; when there is an empty storage location within a preset range of the box-turning storage location, determining a target empty storage location within the preset range, and controlling an AGV to execute the scheduling task based on the box-turning storage location, the target empty storage location, and a cache storage location; when there is no empty storage location within the preset range of the box-turning storage location, determining a target strategy based on the movement time of the AGV from the box-turning storage location to the cache storage location, and executing the scheduling task based on the target strategy.
[0172] According to the technical solutions of the present invention, a variety of scheduling strategies are provided, and the optimal scheduling strategy can be matched according to the actual working conditions, which achieves the beneficial effect of improving the working efficiency of AGV.
[0173] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.
Claims
1. A method for scheduling and executing tasks based on AGVs, characterized in that, include: The target storage location is determined based on the order information, and the unpacking storage location is determined based on the target storage location. The target storage location is the storage location where the ordered goods are located, and the unpacking storage location is the storage location where the unpacked goods are located. If there is an empty storage space within the preset range of the box-turning storage space, then a target empty storage space is determined within the preset range, and the AGV is controlled to execute the scheduling task based on the target storage space, the box-turning storage space, the target empty storage space, and the cache storage space. If there are no empty storage locations within the preset range of the unloading storage location, a target strategy is determined based on the movement time of the AGV from the unloading storage location to the cache storage location, and the scheduling task is executed according to the target strategy; wherein, the cache storage location is a transit storage location in the warehouse for temporarily storing order goods; The step of determining the target empty storage location within the preset range includes: Obtain at least two candidate empty storage locations within the preset range; For each candidate empty storage location, the driving mode of the AGV is determined based on the driving distance from the unloading storage location to the candidate empty storage location; The transport time for the AGV to move the unpacked goods from the unpacking storage location to the candidate empty storage location is calculated based on the driving mode. The candidate empty warehouse location with the shortest handling time is determined as the target empty warehouse location; the handling time also includes the clamping time when the AGV removes the boxed goods while moving them to the candidate empty warehouse location, and the time required to adjust the state of each mechanism when the AGV moves. The method further includes: if the time taken for multiple candidate empty storage locations is the same, first select the deep storage location according to depth priority, then select the high storage location according to height priority, and finally select the storage location with the closest horizontal distance according to the horizontal distance priority.
2. The method according to claim 1, characterized in that, The step of controlling the AGV to execute the scheduling task based on the target storage location, the unloading storage location, the target empty storage location, and the cache storage location includes: A first scheduling route is planned based on the unloading storage location and the target empty storage location; a second scheduling route is planned based on the target storage location and the cache storage location. The AGV is controlled to move the unpacked goods from the unpacking storage location to the target empty storage location according to the first scheduling route, and the AGV is controlled to move the order goods from the target storage location to the cache storage location according to the second scheduling route, thus completing the scheduling task.
3. The method according to claim 1, characterized in that, The step of determining the target strategy based on the movement time of the AGV from the unloading storage location to the cache storage location includes: The first time required for the AGV to execute the scheduling task according to the first strategy is obtained, and the first time includes the travel time of the first scheduling route and the first state change time of the AGV. The second time required for the AGV to execute the scheduling task according to the second strategy is obtained, and the second time includes the second route movement time and the second state change time of the AGV. The strategy with the shortest time between the first time and the second time is determined as the target strategy.
4. The method according to claim 3, characterized in that, When the target policy is the first policy, the scheduling task is executed according to the first policy, including: The AGV is controlled to pick up the unpacked goods from the unpacking storage location and place them into the AGV's basket position; Control the AGV to pick up the ordered goods from the target storage location and move them to the AGV's transport position; Control the AGV to move from the unloading storage location to the cache storage location, and pick up the order goods into the cache storage location; The AGV is controlled to move from the cache storage location to the unloading storage location, and the unloaded goods are picked up and placed in the target storage location to complete the scheduling task.
5. The method according to claim 3, characterized in that, When the target policy is the second policy, the scheduling task is executed according to the second policy, including: The AGV is controlled to pick up the unpacked goods from the unpacking storage location and place them in the first basket position of the AGV; The AGV is controlled to pick up the order goods from the target storage location and move them to the second basket position of the AGV; The AGV is controlled to pick up the unpacked goods from the first basket position and move them to the target storage location; The AGV is controlled to move from the target storage location to the cache storage location, and the ordered goods are picked up from the second basket and placed into the cache storage location, thus completing the scheduling task.
6. The method according to claim 1, characterized in that, The step of determining the unloading location based on the target location includes: The storage location on the side of the target storage location closest to the aisle that obstructs the goods is identified as the unloading storage location.
7. A scheduling task execution device based on AGV, characterized in that, include: The determination module is used to determine the target storage location based on the order information, and to determine the unpacking storage location based on the target storage location, wherein the target storage location is the storage location where the ordered goods are located, and the unpacking storage location is the storage location where the unpacked goods are located; The first execution module is used to determine a target empty storage location within the preset range of the box-turning storage location when there is an empty storage location within the preset range, and to control the AGV to execute the scheduling task based on the target storage location, the box-turning storage location, the target empty storage location, and the cache storage location. The second execution module is used to determine a target strategy based on the movement time of the AGV from the box-turning storage location to the cache storage location when there is no empty storage location within the preset range of the box-turning storage location, and to execute the scheduling task according to the target strategy; wherein, the cache storage location is a transit storage location in the warehouse for temporarily storing order goods; The first execution module includes: a first acquisition unit, a first determination unit, a calculation unit, and a second determination unit. The first acquisition unit is used to acquire at least two candidate empty storage locations within the preset range; The first determining unit is used to determine the driving mode of the AGV for each candidate empty storage location based on the driving distance from the unloading storage location to the candidate empty storage location. The calculation unit is used to calculate the transportation time for the AGV to move the unpacked goods from the unpacking storage location to the candidate empty storage location based on the driving mode; The second determining unit is used to determine the candidate empty warehouse location with the shortest handling time as the target empty warehouse location; the handling time also includes the clamping time when the AGV removes the inverted goods when it moves the inverted goods to the candidate empty warehouse location, and the time required to adjust the state of each mechanism when the AGV moves. The device further includes a storage location determination module, which, when multiple candidate empty storage locations take the same amount of time, first selects a deep storage location based on depth priority, then selects a high storage location based on height priority, and finally selects a storage location with a horizontal proximity based on horizontal distance priority.
8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the AGV-based scheduling task execution method according to any one of claims 1-6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the AGV-based scheduled task execution method as described in any one of claims 1-6.
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