Robot control system based on coordinated job scheduling

Abstract

The invention relates to the field of robot control, and particularly discloses a robot control system based on coordinated job scheduling, which analyzes the carrying capacity of a logistics robot by acquiring the residual loading capacity of the logistics robot and the size of a to-be-distributed logistics order commodity. The method comprises the following steps: carrying a plurality of logistics robots, acquiring a driving distance of the logistics robots and a total distance for transporting commodities of a to-be-distributed logistics order, analyzing the cruising ability of the logistics robots, and preliminarily screening out the logistics robots capable of receiving the to-be-distributed logistics order according to the carrying ability and the cruising ability; the method comprises the following steps: acquiring a distance and a road condition of a logistics robot for picking to-be-distributed logistics order commodities and unfinished logistics order information, analyzing the picking time efficiency of the logistics robot, analyzing the workload of the logistics robot, and finally determining an adaptive logistics robot of the to-be-distributed logistics order according to the picking time efficiency and the workload. The logistics robot suitable for the logistics order is analyzed from multiple dimensions, and the operation efficiency of the logistics center is improved.

Description

Technical Field

[0001] The invention relates to the field of robot control, and in particular to a robot control system based on coordinated operation scheduling. Background Art

[0002] With the rapid development of e-commerce, consumers have higher and higher requirements for delivery speed and service quality. Logistics robots can quickly and accurately complete the handling and sorting of goods, greatly improving the operational efficiency of logistics centers, becoming an indispensable part of the logistics industry, and have been rapidly developed and widely used.

[0003] When existing logistics centers assign transport orders to logistics robots, most of them are based on the principle of closest distance and idleness, that is, the transport orders are assigned to the logistics robots that are closest to the transport order and are in an idle state. This method has improved the transportation efficiency of the logistics center to a certain extent, but there are some shortcomings: 1. It does not take into account that logistics robots may have different loading capacities to carry goods of different sizes, and thus there may be situations where idle logistics robots but with small loading capacity cannot carry large goods and non-idle logistics robots but with large remaining loading capacity can carry small goods. As a result, the existing method of assigning transport orders to logistics robots is not rigorous enough and has a small scope of application.

[0004] 2. When the existing methods assign transport orders to logistics robots, they only evaluate the timeliness of the logistics robot's transportation from the perspective of distance, without considering the impact of transportation road conditions. In addition, a logistics robot may receive multiple transport orders at a time, that is, carry multiple goods at a time. Therefore, when analyzing the transportation timeliness of the logistics robot, it is also necessary to consider the time required for the logistics robot to complete the previous transportation order. As a result, the reliability of the existing methods for analyzing the transportation timeliness of the logistics robot is relatively low, and the scope of application is small.

[0005] 3. When assigning transportation orders to logistics robots, existing methods do not take into account the endurance of the logistics robots, that is, whether the remaining power of the logistics robots can support them to reach the location of the goods and whether they can return to the charging station before the power is exhausted.

[0006] 4. Existing methods do not take into account the load balance of logistics robots when assigning transportation orders to logistics robots, that is, some logistics robots may be overworked while other logistics robots are idle. Summary of the invention

[0007] In view of the above problems, the present invention proposes a robot control system based on coordinated job scheduling to realize the function of controlling the robot.

[0008] The technical solution adopted by the present invention to solve its technical problems is: the present invention provides a robot control system based on coordinated job scheduling, including: a logistics order basic information acquisition module, a logistics robot handling capacity analysis module, a logistics robot endurance analysis module, a logistics robot preliminary screening module, a logistics robot picking time analysis module, a logistics robot workload analysis module, a logistics order adaptation robot acquisition module, and a database.

[0009] The logistics order basic information acquisition module is respectively connected to the logistics robot handling capacity analysis module and the logistics robot endurance analysis module; the logistics robot preliminary screening module is respectively connected to the logistics robot handling capacity analysis module, the logistics robot endurance analysis module, the logistics robot picking time analysis module and the logistics robot workload analysis module; the logistics order adaptation robot acquisition module is respectively connected to the logistics robot picking time analysis module and the logistics robot workload analysis module; and the database is respectively connected to the logistics robot handling capacity analysis module and the logistics robot endurance analysis module.

[0010] Logistics order basic information acquisition module: used to obtain the basic information of the logistics center's logistics orders to be allocated, where the basic information includes the name, weight, volume and specific location of the goods in the logistics center's cargo storage area.

[0011] Logistics robot handling capacity analysis module: used to obtain the remaining loading capacity of each working logistics robot in the logistics center, and analyze the handling capacity compliance coefficient of each working logistics robot based on the weight and volume of the goods in the logistics order to be distributed.

[0012] Logistics robot endurance analysis module: used to obtain the drivable distance of each working logistics robot, and obtain the total distance of each working logistics robot transporting the goods of the logistics order to be distributed, and analyze the endurance compliance coefficient of each working logistics robot.

[0013] Logistics robot preliminary screening module: used to screen out the working logistics robots that can receive the logistics orders to be assigned according to the handling capacity compliance coefficient and endurance compliance coefficient of each working logistics robot, and record them as designated logistics robots.

[0014] Logistics robot picking time consumption analysis module: used to obtain the driving route and road condition information of each designated logistics robot picking the logistics order goods to be allocated, and analyze the relative time consumption coefficient of each designated logistics robot picking the logistics order goods to be allocated.

[0015] Logistics robot workload analysis module: used to obtain the total number of logistics orders received, the total distance traveled and the total loading capacity of each designated logistics robot during the working cycle, and analyze the workload coefficient of each designated logistics robot.

[0016] Logistics order adaptation robot acquisition module: used to obtain the adaptation logistics robot for the logistics order to be allocated according to the workload coefficient of each designated logistics robot and the relative time coefficient of picking the goods in the logistics order to be allocated, and send the logistics order information.

[0017] Database: used to store the rated loading capacity, full power, remaining power safety margin and energy consumption of various types of logistics robots in the logistics center.

[0018] Compared with the prior art, the robot control system based on coordinated job scheduling described in the present invention has the following beneficial effects: 1. The present invention obtains the rated loading capacity and loaded capacity of the logistics robot to obtain the remaining loading capacity of the logistics robot, and combines the weight and volume of the goods in the logistics order to be allocated to screen the logistics robots that can receive the logistics orders to be allocated in terms of handling capacity, thereby enhancing the rigor of allocating logistics orders to the logistics robots and expanding the scope of application.

[0019] 2. When evaluating the picking time efficiency of a logistics robot, the present invention analyzes the total time consumed by the logistics robot to pick goods in the logistics order to be distributed based on the distance and road condition information of the logistics robot's driving route and the information of unfinished logistics orders, thereby improving the reliability of evaluating the picking time efficiency of the logistics robot and expanding the scope of application.

[0020] 3. The present invention obtains the available power of the logistics robot based on the remaining power of the logistics robot and the power that needs to be retained, and further obtains the drivable distance of the logistics robot. Combined with the total distance that the logistics robot transports the goods of the logistics order to be distributed, the present invention analyzes whether the endurance of the logistics robot is capable of receiving the logistics order to be distributed, thereby ensuring that the power of the logistics robot supports it to reach the location of the goods and can be charged in time before the power is exhausted.

[0021] 4. The present invention takes into account the workload of the logistics robots and assigns the logistics orders to be distributed to the logistics robots with smaller workloads, thereby avoiding the situation where the logistics robots are overworked or idle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 This is a system module connection diagram of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1 As shown, the present invention provides a robot control system based on coordinated job scheduling, including a logistics order basic information acquisition module, a logistics robot handling capability analysis module, a logistics robot endurance analysis module, a logistics robot preliminary screening module, a logistics robot picking time analysis module, a logistics robot workload analysis module, a logistics order adaptation robot acquisition module, and a database.

[0026] The logistics order basic information acquisition module is respectively connected to the logistics robot handling capacity analysis module and the logistics robot endurance analysis module; the logistics robot preliminary screening module is respectively connected to the logistics robot handling capacity analysis module, the logistics robot endurance analysis module, the logistics robot picking time analysis module and the logistics robot workload analysis module; the logistics order adaptation robot acquisition module is respectively connected to the logistics robot picking time analysis module and the logistics robot workload analysis module; and the database is respectively connected to the logistics robot handling capacity analysis module and the logistics robot endurance analysis module.

[0027] The logistics order basic information acquisition module is used to acquire the basic information of the logistics order to be allocated by the logistics center, wherein the basic information includes the name, weight, volume and specific location of the goods in the goods storage area of ​​the logistics center.

[0028] As a preferred solution, the basic information of the logistics orders to be distributed can be obtained through the order management system and warehouse management system of the logistics center.

[0029] As a preferred solution, the operation process of the logistics center includes warehousing, storage, picking, packaging and outbound links. Among them, the warehousing link: after the arrival of the goods, they are inspected, accepted, registered and placed in the appropriate location in the warehouse according to the preset storage strategy; storage link: through an effective inventory management system, ensure that the goods are properly stored and maintained; picking link: when receiving the outbound instruction, the corresponding goods are selected according to the order information; packaging link: the picked goods are packaged and prepared for shipment; outbound link: the packaged goods are transported out of the logistics center and delivered to the end customer or the next logistics node.

[0030] As a preferred solution, the working task of the logistics center logistics robot described in the present invention is to go to the cargo storage area of ​​the logistics center to select the corresponding goods and transport them to the cargo packaging area of ​​the logistics center according to the logistics order information.

[0031] As a preferred solution, the logistics center logistics robot can receive multiple logistics orders at a time, that is, it can pick out multiple goods from the cargo storage area of ​​the logistics center and transport them to the cargo packaging area of ​​the logistics center at a time, thereby improving the operating efficiency of the logistics center.

[0032] The logistics robot handling capacity analysis module is used to obtain the remaining loading capacity of each working logistics robot in the logistics center, and analyze the handling capacity compliance coefficient of each working logistics robot in combination with the weight and volume of the goods in the logistics order to be distributed.

[0033] Furthermore, the specific working process of the logistics robot handling capacity analysis module includes: D1: obtaining the rated loading capacity of each working logistics robot in the logistics center, and obtaining the rated loading weight and rated loading volume of each working logistics robot in the logistics center.

[0034] As a preferred solution, the rated loading capacity of each working logistics robot in the logistics center is obtained. The specific method is: obtain the model of each working logistics robot in the logistics center, and extract the rated loading capacity of each model of logistics robots in the logistics center stored in the database, and screen to obtain the rated loading capacity of each working logistics robot in the logistics center.

[0035] D2: Obtain the number of logistics orders received by each working logistics robot in the logistics center. If the number of logistics orders received by a certain working logistics robot is zero, execute D3; if the number of logistics orders received by a certain working logistics robot is not zero, execute D4.

[0036] D3: The rated loading capacity of the working logistics robot is taken as its remaining loading capacity.

[0037] D4: Obtain the basic information of each logistics order received by the working logistics robot, obtain the weight and volume of the goods in each logistics order received by the working logistics robot, add them up respectively to obtain the loaded weight and loaded volume of the working logistics robot, subtract the loaded weight from the rated loading weight of the working logistics robot, and subtract the loaded volume from the rated loading volume to obtain the remaining loading weight and remaining loading volume of the working logistics robot.

[0038] D5: According to the analysis method of D3-D4, obtain the remaining loading capacity of each working logistics robot in the logistics center.

[0039] As a preferred solution, the working logistics robots in the logistics center represent the logistics robots put into use in the logistics center.

[0040] As a preferred solution, the logistics center is equipped with logistics robots of different models with different rated loading capacities to carry goods of different volumes and weights, wherein the rated loading capacity includes the rated loading weight and the rated loading volume.

[0041] Furthermore, the specific working process of the logistics robot handling capacity analysis module also includes: recording the remaining load weight and remaining load volume of each working logistics robot in the logistics center as , Indicates The number of the working logistics robot, .

[0042] The weight and volume of the goods in the logistics order to be allocated are recorded as .

[0043] By analyzing the formula Get the handling capacity compliance coefficient of each working logistics robot ,in Represents the rounding symbol.

[0044] It should be noted that the present invention obtains the rated loading capacity and loaded capacity of the logistics robot to obtain the remaining loading capacity of the logistics robot, and combines the weight and volume of the goods in the logistics order to be allocated to screen the logistics robots that can receive the logistics orders to be allocated in terms of handling capacity, thereby enhancing the rigor of allocating logistics orders to the logistics robots and expanding the scope of application; The logistics robot endurance analysis module is used to obtain the drivable distance of each working logistics robot, and obtain the total distance of each working logistics robot transporting the goods of the logistics order to be distributed, and analyze the endurance compliance coefficient of each working logistics robot.

[0045] Furthermore, the specific working process of the logistics robot endurance analysis module includes: obtaining the remaining power of each currently working logistics robot.

[0046] The full charge and remaining charge safety margin of each model of logistics robots in the logistics center stored in the database are extracted, the full charge and remaining charge safety margin of each working logistics robot are screened, and multiplied to obtain the retained charge of each working logistics robot.

[0047] The remaining power of each working logistics robot is subtracted from its retained power to obtain the available power of each working logistics robot.

[0048] The energy consumption of various types of logistics robots in the logistics center stored in the database is extracted, the energy consumption of each working logistics robot is screened, and the drivable distance of each working logistics robot is obtained according to the available power and energy consumption of each working logistics robot.

[0049] As a preferred solution, the remaining power safety margin of the logistics robot refers to the ratio between the remaining power of the logistics robot and the full power.

[0050] As a preferred solution, the logistics robot's retained power enables the logistics robot to reach a charging station for charging before the power is exhausted.

[0051] In a specific embodiment, the logistics robot's remaining power safety margin is five percent or ten percent.

[0052] As a preferred solution, the energy consumption of the logistics robot represents the distance that can be traveled per unit of electricity.

[0053] Furthermore, the specific working process of the logistics robot endurance analysis module also includes: E1: obtaining the number of logistics orders received by each working logistics robot in the logistics center. If the number of logistics orders received by a certain working logistics robot is zero or the goods of the received logistics orders have been picked, execute E2; if the number of logistics orders received by a certain working logistics robot is not zero and the goods of the received logistics orders have not been picked all, execute E3.

[0054] E2: Obtain the current position of the working logistics robot, further obtain the route from the current position of the working logistics robot to the specific location of the logistics order goods to be allocated and the route from the specific location of the logistics order goods to be allocated to the cargo packaging area of ​​the logistics center, integrate them, and obtain the route for the working logistics robot to transport the logistics order goods to be allocated.

[0055] E3: Record the logistics orders that have not been picked up among the logistics orders received by the logistics robot as the unfinished logistics orders of the logistics robot, count the number of unfinished logistics orders of the working logistics robot, obtain the current position of the working logistics robot and the specific location of each unfinished logistics order product, mark the current position of the working logistics robot, the specific location of each unfinished logistics order product, the specific location of the logistics order products to be allocated, and the location of the cargo packaging area of ​​the logistics center in sequence on the logistics center map, obtain each route segment and integrate them in sequence to obtain the route for the working logistics robot to transport the logistics order products to be allocated.

[0056] As a preferred solution, the specific location of the unfinished logistics order goods indicates the specific location of the unfinished logistics order goods in the cargo storage area of ​​the logistics center. The method for obtaining the specific location of the unfinished logistics order goods is the same as the method for obtaining the specific location of the logistics order goods to be allocated, and the principle is the same.

[0057] As a preferred solution, when analyzing the route of the working logistics robot transporting the logistics order goods to be allocated, if the working logistics robot has an unfinished logistics order, the working logistics robot first reaches the specific location of the unfinished logistics order goods from the current location, then reaches the specific location of the logistics order goods to be allocated from the specific location of the unfinished logistics order goods, and finally reaches the cargo packaging area of ​​the logistics center from the specific location of the logistics order goods to be allocated.

[0058] E4: According to the analysis method of E2-E3, the route of each working logistics robot in transporting the goods in the logistics order to be distributed is obtained, and then the total distance of each working logistics robot in transporting the goods in the logistics order to be distributed is obtained.

[0059] Furthermore, the specific working process of the logistics robot endurance analysis module also includes: recording the drivable distance of each working logistics robot and the total distance of transporting the goods of the logistics order to be distributed as .

[0060] By analyzing the formula Get the endurance compliance coefficient of each working logistics robot ,in It indicates the preset compensation amount for the total distance of the goods in the logistics order to be allocated.

[0061] It should be noted that the present invention obtains the available power of the logistics robot based on the remaining power of the logistics robot and the power that needs to be retained, and further obtains the drivable distance of the logistics robot. Combined with the total distance of the logistics robot transporting the goods of the logistics order to be distributed, it analyzes whether the logistics robot's endurance can receive the logistics order to be distributed, and then ensures that the logistics robot's power supports it to reach the location of the goods and can be charged in time before the power is exhausted.

[0062] The logistics robot preliminary screening module is used to screen out the working logistics robots that can receive the logistics orders to be allocated according to the handling capacity compliance coefficient and the endurance compliance coefficient of each working logistics robot, and record them as designated logistics robots.

[0063] Furthermore, the specific working process of the logistics robot preliminary screening module is: compare the handling capacity compliance coefficient and the endurance compliance coefficient of each working logistics robot with their corresponding set thresholds respectively; if the handling capacity compliance coefficient and the endurance compliance coefficient of a working logistics robot are both greater than or equal to their corresponding set thresholds, then the working logistics robot can receive the logistics orders to be allocated, and screen the working logistics robots that can receive the logistics orders to be allocated and record them as designated logistics robots.

[0064] The logistics robot picking time consumption analysis module is used to obtain the driving route and road condition information of each designated logistics robot picking the logistics order goods to be allocated, and analyze the relative time consumption coefficient of each designated logistics robot picking the logistics order goods to be allocated.

[0065] Furthermore, the specific working process of the logistics robot picking time-consuming analysis module is as follows: F1: obtaining the driving route of each designated logistics robot picking the goods of the logistics order to be distributed.

[0066] As a preferred solution, the driving routes of each designated logistics robot for picking up the goods of the logistics order to be allocated are obtained. The specific method is: obtain the number of logistics orders received by each designated logistics robot in the logistics center; if the number of logistics orders received by a designated logistics robot is zero or all the goods of the received logistics orders have been picked, then the route from the current position of the designated logistics robot to the specific location of the logistics order goods to be allocated is recorded as the driving route of the designated logistics robot for picking up the logistics order goods to be allocated; if the number of logistics orders received by a designated logistics robot is not zero and the picking of all the goods of the received logistics orders has not been completed, then the route from the current position of the designated logistics robot to the specific locations of each unfinished logistics order goods and the specific locations of the logistics order goods to be allocated is recorded as the driving route of the designated logistics robot for picking up the logistics order goods to be allocated, thereby obtaining the driving routes of each designated logistics robot for picking up the logistics order goods to be allocated.

[0067] The distance of each designated logistics robot's driving route for picking up the goods in the logistics order to be assigned is obtained, and combined with the preset driving speed of the logistics center logistics robot, the driving time of each designated logistics robot for picking up the goods in the logistics order to be assigned is obtained, which is recorded as , Indicates The number of a designated logistics robot, .

[0068] As a preferred solution, the driving speeds of the logistics robots in the logistics center are the same and are set values. The purpose is to avoid collisions between the logistics robots during operation, and the setting of the driving speed of the logistics robots meets the safety and efficiency of transportation.

[0069] F2: Obtain the road condition information of the route for each designated logistics robot to pick up the goods in the logistics order to be assigned, obtain the number of turns and uphills on the route for each designated logistics robot to pick up the goods in the logistics order to be assigned, analyze the driving influence coefficient of each designated logistics robot to pick up the goods in the logistics order to be assigned, and record it as .

[0070] As an optimal solution, the driving influence coefficient of each designated logistics robot picking up the goods in the logistics order to be assigned is analyzed. The specific method is as follows: the number of turns and the number of uphill slopes of the driving route of each designated logistics robot picking up the goods in the logistics order to be assigned are recorded as , by analyzing the formula Get the driving influence coefficient of each designated logistics robot picking up the goods to be distributed in the logistics order ,in , They respectively represent the influencing factors corresponding to the preset unit number of turns and unit number of uphill climbs.

[0071] F3: Set the loading time of goods in each weight range and volume range, obtain the weight and volume of each unfinished logistics order of each designated logistics robot, and analyze the loading time of each designated logistics robot picking the logistics order goods to be allocated in combination with the weight and volume of the logistics order goods to be allocated, and record it as .

[0072] As a preferred solution, the loading time of each designated logistics robot picking up the logistics order goods to be allocated is analyzed. The specific method is: according to the weight and volume of each unfinished logistics order goods of each designated logistics robot, the cumulative loading time corresponding to the unfinished logistics order goods in each designated logistics robot is obtained, and according to the weight and volume of the logistics order goods to be allocated, the loading time of the logistics order goods to be allocated is obtained. The two are added together to obtain the loading time of each designated logistics robot picking up the logistics order goods to be allocated.

[0073] As a preferred solution, the loading time of goods refers to the time required to pick up the goods from the shelves in the storage area of ​​the logistics center and load them onto the logistics robot.

[0074] In a specific embodiment, the loading time of commodities in each weight range and each volume range is presented in the form of a table.

[0075] As a preferred solution, if the designated logistics robot has no unfinished logistics orders, the cumulative loading time corresponding to the unfinished logistics order goods in the designated logistics robot is zero.

[0076] F4: By analyzing the formula Get the total time taken by each designated logistics robot to pick the goods to be assigned to the logistics order ,in Indicates the compensation amount for the preset driving time.

[0077] F5: By analyzing the formula Get the relative time consumption coefficient of each designated logistics robot picking the goods to be distributed in the logistics order ,in Indicates the number of specified logistics robots.

[0078] It should be noted that when evaluating the picking time efficiency of the logistics robot, the present invention analyzes the total time consumed by the logistics robot to pick the goods of the logistics order to be distributed according to the distance and road condition information of the logistics robot's driving route and the information of the unfinished logistics orders, thereby improving the reliability of evaluating the picking time efficiency of the logistics robot and expanding the scope of application; The logistics robot workload analysis module is used to obtain the total number of logistics orders received, the total travel distance and the total loading capacity of each designated logistics robot within a working cycle, and analyze the workload coefficient of each designated logistics robot.

[0079] Furthermore, the specific working process of the logistics robot workload analysis module is as follows: setting the duration of the working cycle, obtaining the total number of logistics orders received and the total distance traveled by each designated logistics robot during the working cycle, and recording them as .

[0080] Obtain the total loading capacity of each designated logistics robot during the working cycle, and obtain the total loading weight and total loading volume of each designated logistics robot during the working cycle, which are recorded as .

[0081] By analyzing the formula Get the workload coefficient of each specified logistics robot ,in They represent the preset thresholds for the total number of received logistics orders, the total distance traveled, the total loading weight, and the total loading volume. They represent the weights of the total number of logistics orders received, the total distance traveled, and the total loading capacity. .

[0082] In a specific embodiment, the working period is one day.

[0083] It should be noted that the present invention takes into account the workload of the logistics robots and assigns the logistics orders to be distributed to the logistics robots with smaller workloads, thereby avoiding the situation where the logistics robots are overworked or idle.

[0084] The logistics order adaptation robot acquisition module is used to obtain the adaptation logistics robot for the logistics order to be allocated according to the workload coefficient of each designated logistics robot and the relative time consumption coefficient of picking the goods in the logistics order to be allocated, and send the logistics order information.

[0085] Furthermore, the specific working process of the logistics order adaptation robot acquisition module is: by analyzing the formula Get the recommended coefficients for each specified logistics robot ,in Represents a natural constant.

[0086] The recommendation coefficients of each designated logistics robot are compared with each other, and the designated logistics robot corresponding to the maximum recommendation coefficient is recorded as the adapted logistics robot for the logistics order to be assigned.

[0087] The database is used to store the rated loading capacity, full power, remaining power safety margin and energy consumption of various models of logistics robots in the logistics center.

[0088] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A robot control system based on coordinated job scheduling, characterized in that: include: Logistics order basic information acquisition module: used to obtain the basic information of the logistics center's to-be-allocated logistics orders, where the basic information includes the name, weight, volume, and specific location of the goods in the logistics center's cargo storage area; Logistics robot handling capacity analysis module: used to obtain the remaining loading capacity of each working logistics robot in the logistics center, and analyze the handling capacity compliance coefficient of each working logistics robot based on the weight and volume of the goods to be distributed in the logistics order; Logistics robot endurance analysis module: used to obtain the drivable distance of each working logistics robot, obtain the total distance of each working logistics robot transporting the goods of the logistics order to be distributed, and analyze the endurance compliance coefficient of each working logistics robot; The logistics robot preliminary screening module is used to screen out the working logistics robots that can receive the logistics orders to be assigned according to the handling capacity compliance coefficient and the endurance compliance coefficient of each working logistics robot, and record them as designated logistics robots; Logistics robot picking time consumption analysis module: used to obtain the driving route and road condition information of each designated logistics robot picking the goods to be distributed in the logistics order, and analyze the relative time consumption coefficient of each designated logistics robot picking the goods to be distributed in the logistics order; Logistics robot workload analysis module: used to obtain the total number of logistics orders received, the total distance traveled and the total loading capacity of each designated logistics robot within the working cycle, and analyze the workload coefficient of each designated logistics robot; Logistics order adaptation robot acquisition module: used to obtain the adaptation logistics robot of the logistics order to be allocated according to the workload coefficient of each designated logistics robot and the relative time consumption coefficient of picking the goods of the logistics order to be allocated, and send the logistics order information; Database: used to store the rated loading capacity, full power, remaining power safety margin and energy consumption of various types of logistics robots in the logistics center.

2. A robot control system based on coordinated job scheduling according to claim 1, characterized in that: The specific working process of the logistics robot handling capability analysis module includes: D1: Obtain the rated loading capacity of each working logistics robot in the logistics center, and obtain the rated loading weight and rated loading volume of each working logistics robot in the logistics center; D2: Obtain the number of logistics orders received by each working logistics robot in the logistics center. If the number of logistics orders received by a certain working logistics robot is zero, execute D3; if the number of logistics orders received by a certain working logistics robot is not zero, execute D4; D3: The rated loading capacity of the working logistics robot is taken as its remaining loading capacity; D4: Obtain the basic information of each logistics order received by the working logistics robot, obtain the weight and volume of each logistics order commodity received by the working logistics robot, add them up respectively to obtain the loaded weight and loaded volume of the working logistics robot, subtract the loaded weight from the rated loading weight of the working logistics robot, and subtract the loaded volume from the rated loading volume to obtain the remaining loading weight and remaining loading volume of the working logistics robot; D5: According to the analysis method of D3-D4, obtain the remaining loading capacity of each working logistics robot in the logistics center.

3. A robot control system based on coordinated job scheduling according to claim 2, characterized in that: The specific working process of the logistics robot handling capability analysis module also includes: The remaining load weight and remaining load volume of each working logistics robot in the logistics center are recorded as , Indicates The number of the working logistics robot, ; The weight and volume of the goods in the logistics order to be allocated are recorded as ; By analyzing the formula Get the handling capacity compliance coefficient of each working logistics robot ,in Represents the rounding symbol.

4. A robot control system based on coordinated job scheduling according to claim 1, characterized in that: The specific working process of the logistics robot endurance analysis module includes: Obtain the remaining power of each currently working logistics robot; Extract the full power and remaining power safety margin of each model of logistics robots in the logistics center stored in the database, select the full power and remaining power safety margin of each working logistics robot, and multiply them to obtain the retained power of each working logistics robot; The remaining power of each working logistics robot is subtracted from its reserved power to obtain the available power of each working logistics robot; The energy consumption of various types of logistics robots in the logistics center stored in the database is extracted, the energy consumption of each working logistics robot is screened, and the drivable distance of each working logistics robot is obtained according to the available power and energy consumption of each working logistics robot.

5. The robot control system based on coordinated job scheduling according to claim 1, characterized in that: The specific working process of the logistics robot endurance analysis module also includes: E1: Get the number of logistics orders received by each working logistics robot in the logistics center. If the number of logistics orders received by a certain working logistics robot is zero or all the goods in the received logistics orders have been picked, execute E2. If the number of logistics orders received by a certain working logistics robot is not zero and not all the goods in the received logistics orders have been picked, execute E3. E2: Obtain the current position of the working logistics robot, further obtain the route from the current position of the working logistics robot to the specific location of the logistics order goods to be allocated and the route from the specific location of the logistics order goods to be allocated to the goods packaging area of ​​the logistics center, and integrate them to obtain the route for the working logistics robot to transport the logistics order goods to be allocated; E3: The logistics orders that have not been picked up among the logistics orders received by the logistics robot are recorded as the unfinished logistics orders of the logistics robot, the number of unfinished logistics orders of the working logistics robot is counted, the current position of the working logistics robot and the specific location of each unfinished logistics order commodity are obtained, and the current position of the working logistics robot, the specific location of each unfinished logistics order commodity, the specific location of the logistics order commodity to be allocated, and the location of the logistics center cargo packaging area are marked in sequence on the logistics center map, and each route segment is obtained and integrated in sequence to obtain the route for the working logistics robot to transport the logistics order commodity to be allocated; E4: According to the analysis method of E2-E3, the route of each working logistics robot in transporting the goods in the logistics order to be distributed is obtained, and then the total distance of each working logistics robot in transporting the goods in the logistics order to be distributed is obtained.

6. A robot control system based on coordinated job scheduling according to claim 3, characterized in that: The specific working process of the logistics robot endurance analysis module also includes: The drivable distance of each working logistics robot and the total distance of transporting the goods to be distributed are recorded as ; By analyzing the formula Get the endurance compliance coefficient of each working logistics robot ,in It indicates the preset compensation amount for the total distance of the goods in the logistics order to be allocated.

7. A robot control system based on coordinated job scheduling according to claim 1, characterized in that: The specific working process of the preliminary screening module of the logistics robot is as follows: The handling capacity compliance coefficient and endurance compliance coefficient of each working logistics robot are compared with their corresponding set thresholds respectively. If the handling capacity compliance coefficient and endurance compliance coefficient of a working logistics robot are both greater than or equal to their corresponding set thresholds, then the working logistics robot can receive the logistics orders to be assigned. The working logistics robots that can receive the logistics orders to be assigned are screened and recorded as designated logistics robots.

8. The robot control system based on coordinated job scheduling according to claim 5, characterized in that: The specific working process of the logistics robot picking time-consuming analysis module is as follows: F1: Obtain the driving route of each designated logistics robot to pick up the goods of the logistics order to be distributed; The distance of each designated logistics robot's driving route for picking up the goods in the logistics order to be assigned is obtained, and combined with the preset driving speed of the logistics center logistics robot, the driving time of each designated logistics robot for picking up the goods in the logistics order to be assigned is obtained, which is recorded as , Indicates The number of a designated logistics robot, ; F2: Obtain the road condition information of the route for each designated logistics robot to pick up the goods in the logistics order to be assigned, obtain the number of turns and uphills on the route for each designated logistics robot to pick up the goods in the logistics order to be assigned, analyze the driving influence coefficient of each designated logistics robot to pick up the goods in the logistics order to be assigned, and record it as ; F3: Set the loading time of goods in each weight range and volume range, obtain the weight and volume of each unfinished logistics order of each designated logistics robot, and analyze the loading time of each designated logistics robot picking the logistics order goods to be allocated in combination with the weight and volume of the logistics order goods to be allocated, and record it as ; F4: By analyzing the formula Get the total time taken by each designated logistics robot to pick the goods to be assigned to the logistics order ,in Indicates the compensation amount for the preset driving time; F5: By analyzing the formula Get the relative time consumption coefficient of each designated logistics robot picking the goods to be distributed in the logistics order ,in Indicates the number of specified logistics robots.

9. A robot control system based on coordinated job scheduling according to claim 8, characterized in that: The specific working process of the logistics robot workload analysis module is as follows: Set the duration of the working cycle, obtain the total number of logistics orders received and the total distance traveled by each designated logistics robot during the working cycle, and record them as ; Obtain the total loading capacity of each designated logistics robot during the working cycle, and obtain the total loading weight and total loading volume of each designated logistics robot during the working cycle, which are recorded as ; By analyzing the formula Get the workload coefficient of each specified logistics robot ,in They represent the preset thresholds for the total number of received logistics orders, the total distance traveled, the total loading weight, and the total loading volume. They represent the weights of the total number of logistics orders received, the total distance traveled, and the total loading capacity. .

10. A robot control system based on coordinated job scheduling according to claim 9, characterized in that: The specific working process of the logistics order adaptation robot acquisition module is as follows: By analyzing the formula Get the recommended coefficients for each specified logistics robot ,in represents a natural constant; The recommendation coefficients of each designated logistics robot are compared with each other, and the designated logistics robot corresponding to the maximum recommendation coefficient is recorded as the adapted logistics robot for the logistics order to be assigned.

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