Unmanned warehouse 5G sorting robot scheduling system and method

Abstract

The invention relates to the technical field of sorting robot scheduling, and provides an unmanned warehouse 5G sorting robot scheduling system, which receives a sorting demand through a cloud platform and automatically generates a sorting task, so that a sorting robot can respond quickly. And each sorting robot participates in task bidding as a bidder, and is dynamically adjusted according to the own state, so that the task allocation efficiency is improved. The sorting robots in the local area network share information in real time, the cooperation ability is enhanced, meanwhile, collision caused by existence of the sorting robots in a view blind area is prevented through a path conflict pre-judgment mechanism, and potential collision is predicted and avoided. The command robot is responsible for coordinating tasks in the local area network, smooth passing of the sorting robot is guaranteed, the overall efficiency is improved, and the warehouse management and material carrying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of picking robot scheduling, and in particular to a 5G picking robot scheduling system for an unmanned warehouse. Background Art

[0002] In the field of distribution network material logistics, with the rapid development of the power industry and the advancement of intelligentization, efficient management and distribution of materials have become an important part of ensuring the normal operation of the distribution network. Traditional material warehousing and outbound operations mainly rely on manual loading and unloading. With the changes in industry demand, manual loading and unloading gradually presents some problems: Inefficiency: The efficiency of manual handling and stacking is relatively low. The speed and accuracy of manual operations are limited by the physical strength of the staff, resulting in low efficiency in distribution network material management and failure to meet the requirements of modern smart distribution networks for real-time material allocation.

[0003] High labor intensity: The transportation of distribution network materials often involves heavy materials. Manual transportation is not only labor-intensive, but also easily leads to worker fatigue, increasing the risk of occupational injuries.

[0004] With the improvement of intelligence level, the emergence of autonomous picking robots has brought revolutionary changes to the material logistics field of distribution network. Autonomous robots can independently complete operations such as picking, handling and stacking of materials, which improves work efficiency and greatly reduces labor intensity. At the same time, these robots are not restricted by environmental conditions, meeting the diverse needs of modern distribution networks for material management.

[0005] However, in actual applications, autonomous picking robots still have some defects in scheduling methods. Especially in the storage space of distribution network materials, multiple robots may encounter conflicts, such as two robots are expected to arrive at the same location at the same time, or new goods picking needs suddenly appear. Improper handling of these conflicts will seriously affect the scheduling efficiency and operation continuity of the robots, and thus affect the overall efficiency of material management.

[0006] Based on this, the present invention proposes an unmanned warehouse 5G picking robot scheduling system to reduce labor costs, improve the robot's scheduling efficiency and operation continuity, and improve the transportation efficiency of distribution network materials. Summary of the invention

[0007] The purpose of the present invention is to address the deficiencies of the prior art and to provide a 5G picking robot scheduling system for an unmanned warehouse, so as to reduce labor costs, improve the scheduling efficiency and operation continuity of the robot, and improve the transportation efficiency of materials in the distribution network.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions: An unmanned warehouse 5G picking robot dispatching system, comprising: a cloud platform, a central control terminal and a robot terminal, wherein the robot terminal comprises a plurality of picking robots; The cloud platform is responsible for global task scheduling, complex data processing, deep learning model training, data storage and backup, and realizes real-time communication with the central control end and the robot end through 5G communication technology; The central control end is deployed locally in the warehouse and is responsible for local task processing, data preprocessing, dynamic path planning and obstacle avoidance. It receives and executes task instructions from the cloud platform through the 5G network. The robot side is used to collect warehouse maps, identify and locate target objects, perform sorting tasks, and exchange real-time data with the central control side through the 5G network; the several picking robots can also communicate with each other.

[0009] Preferably, the cloud platform receives the sorting requirements of the power warehouse, generates specific picking tasks, which include the type, quantity, location and destination of the items, and publishes the tasks to the task scheduling module of the central control end through the 5G network.

[0010] Preferably, the several picking robots on the robot end are equipped with several built-in sensors, including laser radar, camera and torque sensor. These sensors collect real-time status information of the picking robot, other picking robots, shelves, obstacles and objects, and transmit the collected data to the central control end in real time.

[0011] Preferably, when the picking robot performs a picking task, it searches for other nearby picking robots in real time; if there are other picking robots working on the same shelf when the picking robot performs a picking task, these picking robots form a temporary local area network for the same shelf operation through self-organizing networking technology, and in the local area network, elect a command robot for the same shelf operation to coordinate the task allocation, work progress and conflict resolution among the robots; if there are other picking robots meeting at the same corner when the picking robot performs a picking task, these picking robots form a temporary local area network for the same corner operation through self-organizing networking technology, and in the local area network, elect a command robot for the same corner operation to coordinate the task allocation, work progress and conflict resolution among the robots.

[0012] Preferably, in the temporary local area network for operating on the same shelf, the first robot to complete the picking task is elected as the command robot for operating on the same shelf; in the temporary local area network for meeting at the same corner, the election priority of the command robot for meeting at the corner is: the command robot for operating on the same shelf takes precedence over ordinary picking robots on different shelves; the command robots for operating on the same shelf are determined based on the principle of giving way to the right, and the command robot for operating on the same shelf located on the right when meeting takes precedence over the command robot for operating on the same shelf located on the left when meeting; the command robots for ordinary picking are also determined based on the principle of giving way to the right.

[0013] Preferably, after completing the picking task, the same-shelf operation command robot can judge whether there will be a conflict with other picking robots on the subsequent path based on the operation progress and position of other picking robots in the same-shelf operation temporary local area network; if there is a conflict, the same-shelf operation command robot sends an adjustment instruction to the conflicting picking robot; when the corner encounter command robot passes the corner, it sends an adjustment instruction to other picking robots in the same corner encounter temporary local area network.

[0014] Another object of the present invention is to provide a method for scheduling an unmanned warehouse 5G picking robot, using the above-mentioned unmanned warehouse 5G picking robot scheduling system, comprising the following steps: Step 1: Generate picking tasks: Receive the sorting requirements of the power warehouse through the cloud platform, generate specific picking tasks, which include the type, quantity, location and destination of the items, and send the tasks to the central control end through the 5G network; Step 2: Assign picking tasks. The central control end evaluates the priority of the tasks based on the received task information and formulates a local task plan. The central control end assigns the task plan to the robot end according to the market mechanism algorithm. Step 3: Picking task execution: The robot receives the task assigned by the central control end and sorts according to the task assigned by the central control end; Step 3.1: Establish a temporary local area network for the same shelf operation; when the picking robot performs the picking task, it searches for other nearby picking robots in real time. If there are two or more picking robots, it determines whether these picking robots are operating on the same shelf. These picking robots operating on the same shelf form a temporary local area network for the same shelf operation; Step 3.2: Election of command robots for operations on the same shelf: After the temporary local area network for operations on the same shelf is formed, the first robot to complete the picking task is elected as the command robot for operations on the same shelf; Step 3.3: Establishing a temporary local area network for meeting at the same corner; when the picking robot performs the picking task, it searches for other nearby picking robots in real time. If there are two or more picking robots, it determines whether these picking robots meet at the same corner. These picking robots that meet at the same corner form a temporary local area network for meeting at the same corner; Step 3.4: Election of command robots for meeting at the same corner. After the temporary LAN for meeting at the same corner is formed, the election priority of command robots for meeting at the same corner is as follows: command robots for working on the same shelf take precedence over ordinary picking robots for working on different shelves; command robots for working on the same shelf are determined according to the principle of giving way to the right, and command robots for working on the same shelf on the right when meeting take precedence over command robots for working on the same shelf on the left when meeting; ordinary picking robots are also determined according to the principle of giving way to the right; Step 3.5: Path conflict judgment; Conflict judgment of picking robots operating on the same shelf. After completing the picking task, when the command robot operating on the same shelf is ready to leave the container and go to the unloading location or loading location or return to the starting point, it will judge whether there will be a conflict with other picking robots on the subsequent path based on the operation progress and position of other picking robots in the temporary local area network of the same shelf operation; if there is a conflict, the command robot operating on the same shelf sends an adjustment instruction to the conflicting picking robot to prevent the temporary command robot from colliding with the conflicting picking robot, and the command robot operating on the same shelf leaves; Conflict judgment of picking robots meeting at corners. When the command robot meeting at corners passes through a corner, it sends an adjustment instruction to other picking robots in the temporary local area network of the same corner encounter to prevent the picking robots at the corners from colliding, and the command robot meeting at corners leaves; Step 3.6: Command robot replacement; when the command robot for the same shelf operation leaves, the remaining picking robots re-elect the command robot for the same shelf operation, and the newly elected command robot for the same shelf operation controls the other picking robots until the last picking robot leaves; when the corner encounter command robot leaves, the remaining picking robots re-elect the corner encounter command robot, and the newly elected corner encounter command robot controls the other picking robots until the last picking robot leaves; Step 4: The picking task is completed. When the picking task is completed, the picking robot returns to the charging station to charge.

[0015] Preferably, in step 2, each picking robot acts as a "bidder" and bids for tasks according to its current status, and the central control end dynamically allocates tasks to the picking robot according to the bidding price; the picking robot uses built-in sensors to monitor the surrounding environment in real time, obtains information including the picking robot, other picking robots, shelves and obstacles, and sends real-time status updates to the central control end.

[0016] Preferably, in the step 3.5, when judging whether the command robot operating on the same shelf will conflict with other picking robots on the subsequent path, the command robot operating on the same shelf calculates the time T1 when it reaches the blind spot at the corner of the container, and receives the time T2 and corner movement direction information of other picking robots in the temporary local area network operating on the same shelf. If it is judged that T1=T2 is the same and the corner movement direction of the temporary command robot intersects with the corner movement direction of other picking robots, it is judged that there is a conflict. Once it is determined that there is a conflict, the command robot operating on the same shelf sends an adjustment instruction to the picking robot that causes the conflict.

[0017] Preferably, the adjustment instruction includes one of changing the moving speed, adjusting the moving direction, and waiting for a period of time before continuing to move.

[0018] The present invention discloses an unmanned warehouse 5G picking robot scheduling system having the following beneficial effects.

[0019] The present invention receives sorting requirements through a cloud platform and automatically generates picking tasks, and the picking robots can respond quickly. Each picking robot participates in the task bidding as a "bidder" and dynamically adjusts according to its own status to improve the efficiency of task allocation. The picking robots in the local area network share information in real time to enhance their collaboration capabilities. At the same time, through the path conflict prediction mechanism, the picking robots are prevented from colliding in the blind spots of the field of vision, and potential collisions are predicted and avoided. The command robot is responsible for coordinating tasks within the local area network, ensuring smooth passage of the picking robots, improving overall efficiency, and improving the efficiency of warehouse management and material handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic block diagram of the unmanned warehouse 5G picking robot scheduling system of the present invention.

[0021] Figure 2 This is a schematic diagram of the unmanned warehouse 5G picking robot scheduling method of the present invention.

[0022] Figure 3 This is a schematic diagram of conflict determination for picking robots operating on the same shelf according to the present invention.

[0023] Figure 4 This is a schematic diagram of the passage of picking robots meeting at the same corner of the present invention. DETAILED DESCRIPTION

[0024] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0025] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0026] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0027] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0028] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0029] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances. Example 1

[0030] Please refer to Figure 1 , a 5G picking robot dispatching system for an unmanned warehouse, comprising: a cloud platform, a central control terminal and a robot terminal, wherein the robot terminal comprises a plurality of picking robots; The cloud platform is responsible for global task scheduling, complex data processing, deep learning model training, data storage and backup, and realizes real-time communication with the central control end and the robot end through 5G communication technology; As a preferred embodiment, the cloud platform receives the sorting requirements of the power warehouse, generates specific picking tasks, which include the type, quantity, location and destination of the items, and publishes the tasks to the task scheduling module of the central control end through the 5G network. As an option, high-performance servers and storage devices can be selected to ensure that the cloud platform can handle large amounts of data and complex computing tasks. Cloud computing technologies, such as virtualization and containerization, can be used to improve the scalability of the cloud platform.

[0031] The central control end is deployed locally in the warehouse and is responsible for local task processing, data preprocessing, dynamic path planning and obstacle avoidance. It receives and executes task instructions from the cloud platform through the 5G network. During data transmission, the central control end processes some data in real time and performs preliminary analysis, target identification, path planning and other operations to reduce latency and reduce cloud computing pressure.

[0032] The robot side is used to collect warehouse maps, identify and locate targets, perform sorting tasks, and exchange real-time data with the central control side through the 5G network; several picking robots can also communicate with each other.

[0033] Preferably, several picking robots on the robot side in this embodiment are equipped with several built-in sensors, including lidar, camera and torque sensor. These sensors collect real-time status information of the picking robot, other picking robots, shelves, obstacles and objects, and transmit the collected data to the central control end in real time.

[0034] Through the data collected by several built-in sensors on the picking robots, the system can track the status and task progress of each picking robot in real time. Once an abnormal situation is detected, including but not limited to robot jamming, item dropping, robotic arm failure, etc., the system will automatically issue an alarm and handle it according to the set priority and emergency plan. The emergency plan includes but is not limited to suspending tasks in related areas, dispatching other robots for support, and manual intervention adjustments. As an option, when material handling needs change or task priorities are adjusted, the system can dynamically adjust the scheduling strategy to optimize the efficiency of the entire sorting process by reallocating the sorting robot tasks and replanning the paths. The means used can be to dynamically increase or decrease the number of participating robots, optimize the operation rhythm and load balance, and achieve flexible production; Preferably, in the present embodiment, when the picking robot performs a picking task, it searches for other nearby picking robots in real time; if there are other picking robots working on the same shelf when the picking robot performs a picking task, these picking robots form a temporary local area network for the same shelf operation through self-organizing networking technology, and in the local area network, elect a command robot for the same shelf operation to coordinate the task allocation, work progress and conflict resolution among the robots; if there are other picking robots meeting at the same corner when the picking robot performs a picking task, these picking robots form a temporary local area network for the same corner operation through self-organizing networking technology, and in the local area network, elect a command robot for the same corner operation to coordinate the task allocation, work progress and conflict resolution among the robots.

[0035] Specifically, when the picking robot starts to perform the picking task, the sensor and communication module are used in this example to obtain information about other picking robots. Position judgment: The first picking robot judges whether there are other picking robots nearby based on the real-time environment map and the information obtained by wireless communication. If there are other picking robots, it further judges whether these robots are working on the same shelf and whether they will meet at the same corner.

[0036] Status monitoring: The robot uses the wireless communication module to obtain the operating status of other picking robots in real time, including but not limited to whether they are picking or ready to move, so as to better predict the behavior of other picking robots and avoid potential conflicts.

[0037] Preferably, in the temporary local area network for working on the same shelf in this embodiment, the first robot to complete the picking task is elected as the command robot for working on the same shelf; in the temporary local area network for meeting at the same corner, the election priority of the command robot for meeting at the corner is: the command robot for working on the same shelf takes precedence over the ordinary picking robots on different shelves; the command robots for working on the same shelf are determined based on the principle of giving way to the right, and the command robot for working on the same shelf located on the right when meeting takes precedence over the command robot for working on the same shelf located on the left when meeting; the command robots for working on the same shelf are also determined based on the principle of giving way to the right.

[0038] Preferably, in this embodiment, after completing the picking task, the command robot for operating on the same shelf can judge whether there will be a conflict with other picking robots on the subsequent path based on the operation progress and position of other picking robots in the temporary local area network for operating on the same shelf; if there is a conflict, the command robot for operating on the same shelf sends an adjustment instruction to the conflicting picking robot; when the corner encounter command robot passes the corner, it sends an adjustment instruction to other picking robots in the same corner encounter temporary local area network.

[0039] In this embodiment, each picking robot is equipped with a wireless communication module, which supports the ad hoc network protocol. The picking robots will perform a handshake and authentication process, and only legal robots can join the network. After successful authentication, the robots will negotiate and establish a topological structure of an ad hoc network, including but not limited to a star, mesh or tree structure, to adapt to different operating environments and needs. In an ad hoc network, in order to more effectively coordinate the operations of each robot, mainly to avoid path conflicts, it is necessary to elect a temporary command robot. The command robot for the same shelf operation and the command robot for the corner encounter are both types of temporary command robots; for the election of the command robot for the same shelf operation, the first robot to complete the picking task will be elected as the command robot for the same shelf operation. The identification process of the first robot to complete the picking task is carried out through the central control end, and the judgment is based on the estimated time to complete the picking task. The estimated time to complete the picking task includes the moving time and loading and unloading time of the picking robot. The picking robot that completes the picking task in time is elected as the command robot for the same shelf operation. Once the command robot for the same shelf operation is elected, other picking robots will send a confirmation message to it and begin to accept its command. The command robot for the same shelf operation will take over the command of the entire ad hoc network and begin to receive and assign new task instructions. When electing a command robot for meeting at a corner, the election priority of the command robot for meeting at a corner is as follows: the command robot for the same shelf operation takes precedence over ordinary picking robots on different shelves; the command robots for the same shelf operation are determined according to the principle of giving way to the right, and the command robot for the same shelf operation on the right side when meeting takes precedence over the command robot for the same shelf operation on the left side when meeting; the command robots for ordinary picking are also determined according to the principle of giving way to the right. It should be understood that the principle of giving way to the right means that when two picking robots enter the intersection formed by a corner at the same time, the picking robot on the left side when meeting gives way to the picking robot on the right side when meeting. Example 2

[0040] Based on Example 1, Figure 2 As shown, in this embodiment, a method for scheduling an unmanned warehouse 5G picking robot, using the unmanned warehouse 5G picking robot scheduling system in Example 1, includes the following steps:.

[0041] Step 1: Generate picking tasks: Receive the sorting requirements of the power warehouse through the cloud platform, generate specific picking tasks, which include the type, quantity, location and destination of the items, and send the tasks to the central control end through the 5G network; Step 2: Assign picking tasks. The central control end evaluates the priority of the tasks based on the received task information and formulates a local task plan. The central control end assigns the task plan to the robot end according to the market mechanism algorithm. Preferably, in step 2 of this embodiment, each picking robot acts as a "bidder" and bids for tasks based on its current status, including but not limited to location, power level, and task load. The central control end assigns picking tasks to the picking robots from high to low based on the bidding results; the picking robot uses built-in sensors to monitor the surrounding environment in real time, obtains information including the picking robot, other picking robots, shelves and obstacles, and sends real-time status updates to the central control end.

[0042] Step 3: Picking task execution: The robot receives the task assigned by the central control end and sorts according to the task assigned by the central control end; Step 3.1: Establish a temporary local area network for the same shelf operation; when the picking robot performs the picking task, it searches for other nearby picking robots in real time. If there are two or more picking robots, it determines whether these picking robots are operating on the same shelf. These picking robots operating on the same shelf form a temporary local area network for the same shelf operation; Step 3.2: Election of command robots for operations on the same shelf: After the temporary local area network for operations on the same shelf is formed, the first robot to complete the picking task is elected as the command robot for operations on the same shelf; Step 3.3: Establish a temporary local area network for picking robots that meet at the same corner. When the picking robot performs the picking task, it searches for other nearby picking robots in real time. If there are two or more picking robots, it determines whether these picking robots meet at the same corner. These picking robots that meet at the same corner form a temporary local area network for picking robots that meet at the same corner. In order to more accurately determine the path conflict and avoid collisions between these picking robots that are not working on the same shelf due to blind spots at the corners of the container, it is necessary to calculate the picking robots that meet at the same corner through the central control terminal. Preferably, in this embodiment, each picking robot is equipped with a wireless communication module that supports the ad hoc network protocol. The picking robots will perform a handshake and authentication process, and only legal robots can join the network. After successful authentication, the robots will negotiate and establish a topological structure of an ad hoc network, including but not limited to a star, mesh or tree structure, to adapt to different operating environments and requirements.

[0043] Step 3.4: Election of command robots for meeting at the same corner. After the temporary LAN for meeting at the same corner is formed, the election priority of command robots for meeting at the same corner is as follows: command robots for working on the same shelf take precedence over ordinary picking robots for working on different shelves; command robots for working on the same shelf are determined according to the principle of giving way to the right, and command robots for working on the same shelf on the right when meeting take precedence over command robots for working on the same shelf on the left when meeting; ordinary picking robots are also determined according to the principle of giving way to the right; Step 3.5: Path conflict judgment; Conflict judgment of picking robots operating on the same shelf. After completing the picking task, when the command robot operating on the same shelf is ready to leave the container and go to the unloading location or loading location or return to the starting point, it will judge whether there will be a conflict with other picking robots on the subsequent path based on the operation progress and position of other picking robots in the temporary local area network of the same shelf operation; if there is a conflict, the command robot operating on the same shelf sends an adjustment instruction to the conflicting picking robot to prevent the temporary command robot from colliding with the conflicting picking robot, and the command robot operating on the same shelf leaves; Conflict judgment of picking robots meeting at corners. When the command robot meeting at corners passes through a corner, it sends an adjustment instruction to other picking robots in the temporary local area network of the same corner encounter to prevent the picking robots at the corners from colliding, and the command robot meeting at corners leaves; Preferably, in step 3.5 of the present embodiment, when judging whether the command robot operating on the same shelf will conflict with other picking robots on the subsequent path, the command robot operating on the same shelf calculates the time T1 when it reaches the blind spot at the corner of the container, and receives the time T2 and corner movement direction information of other picking robots in the temporary local area network operating on the same shelf. If it is judged that T1=T2 is the same and the corner movement direction of the temporary command robot intersects with the corner movement direction of other picking robots, it is judged that there is a conflict. Once it is determined that there is a conflict, the command robot operating on the same shelf sends an adjustment instruction to the picking robot that causes the conflict.

[0044] In the specific implementation process, after completing the picking task, when the same shelf operation command robot is about to leave the container to go to the unloading location, loading location or return to the starting point, the path conflict prediction mechanism will be activated. This mechanism is based on the operation progress and location information of other picking robots in the local area network to evaluate whether there is a potential conflict on the subsequent path and collect information: the same shelf operation command robot collects the operation progress of other robots in the local area network through the self-organizing network, including but not limited to the current task status, the remaining task amount and the location information, including but not limited to the current coordinates, moving speed, and moving direction.

[0045] Path planning: Based on the collected information, the shelf operation command robot will plan an optimal path from the current position to the target position (unloading location, loading location or starting point).

[0046] Conflict prediction: When planning a path, the robot commanding the same shelf operation will consider the movement trajectory and speed of other robots, and predict whether there will be encounters with other robots and possible conflicts on the subsequent path.

[0047] In order to more accurately determine the path conflict and avoid collisions between the picking robots working on the same shelf due to blind spots at the corners of the container, the command robot working on the same shelf needs to calculate the time T1 when it reaches the corner of the container, and receive the time T2 and corner direction information of the 1st, 2nd, and 3rd picking robots in the local area network. The specific implementation is as follows: Time calculation: The shelf operation command robot calculates the time T1 required to reach the corner based on its own moving speed and the distance to the corner.

[0048] Information request: The command robot for the same shelf operation sends information requests to other robots in the local area network through the ad hoc network, requiring them to provide the time T2 and corner direction information when they reach the same corner.

[0049] Information reception: After receiving the request, other robots will calculate the time T2 to reach the corner based on their own movement plan and status, and attach the corner direction information, and send it to the command robot operating on the same shelf through the self-organizing network.

[0050] After obtaining all necessary information, the robot commanding the shelf operation will make a conflict judgment and send adjustment instructions based on the judgment results.

[0051] The specific implementation is as follows: Conflict judgment: The command robot for the same shelf operation will compare the time T1 when it reaches the corner with the time T2 when other robots reach the corner, as well as the direction of their respective corners. If it is determined that T1=T2 is the same and the corner movement direction of the temporary command robot intersects with the corner movement direction of other picking robots, it is determined that there is a conflict, such as Figure 3 As shown, it is determined that the 1st and 2nd picking robots conflict with the operation command robot, and the 3rd picking robot does not conflict with the operation command robot. At this time, the operation command robot on the same shelf sends adjustment instructions to the 1st and 2nd picking robots. The picking robots that receive the adjustment instructions will perform corresponding operations according to the instructions, and send execution feedback to the operation command robot on the same shelf through the self-organizing network. Since there is no blind spot between the 3rd picking robot and the operation command robot, the conflict between the 3rd picking robot and the operation command robot can be avoided by directly using the obstacle avoidance function of the 3rd picking robot itself.

[0052] In the specific implementation process, when the picking robots that meet at the same corner are about to pass the corner, the command robot that meets at the corner will send adjustment instructions to other picking robots in the temporary local area network that meet at the same corner when passing the corner, so as to prevent the picking robots from colliding at the corner and let the command robot that meets at the corner leave first, thus avoiding the collision of picking robots due to the blind spot of vision and giving priority to the subsequent robots in the queue to pass through, thus ensuring the traffic efficiency. Figure 4 As shown, the order of passage is: the shelf 2 same shelf operation command robot is first, the shelf 1 same shelf operation command robot is second, the shelf 2 ordinary picking robot is third, and the shelf 1 ordinary picking robot is fourth.

[0053] Step 3.6: Command robot replacement; when the command robot for the same shelf operation leaves, the remaining picking robots re-elect the command robot for the same shelf operation, and the newly elected command robot for the same shelf operation controls the other picking robots until the last picking robot leaves; when the corner encounter command robot leaves, the remaining picking robots re-elect the corner encounter command robot, and the newly elected corner encounter command robot controls the other picking robots until the last picking robot leaves; Step 4: The picking task is completed. When the picking task is completed, the picking robot returns to the charging station to charge.

[0054] Preferably, the adjustment instructions in this embodiment include changing the moving speed, adjusting the moving direction, and waiting for a period of time before continuing to move; as an option, adjusting the moving direction refers to changing the walking path of the picking robot. When choosing to change the walking path of the picking robot, the change is only made when the time it takes for the new path to reach the destination is shorter than the time of the existing path.

[0055] The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The substitution may be a substitution of a part of the structure, device, method step, or a complete technical solution. The equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A 5G picking robot dispatching system for unmanned warehouses, characterized in that: include: A cloud platform, a central control terminal and a robot terminal, wherein the robot terminal includes several picking robots; The cloud platform is responsible for global task scheduling, complex data processing, deep learning model training, data storage and backup, and realizes real-time communication with the central control end and the robot end through 5G communication technology; The central control end is deployed locally in the warehouse and is responsible for local task processing, data preprocessing, dynamic path planning and obstacle avoidance. It receives and executes task instructions from the cloud platform through the 5G network. The robot side is used to collect warehouse maps, identify and locate target objects, perform sorting tasks, and exchange real-time data with the central control side through the 5G network; the several picking robots can also communicate with each other.

2. The unmanned warehouse 5G picking robot scheduling system according to claim 1, characterized in that: The cloud platform receives the sorting requirements of the power warehouse, generates specific picking tasks, which include the type, quantity, location and destination of the items, and publishes the tasks to the task scheduling module of the central control end through the 5G network.

3. The unmanned warehouse 5G picking robot scheduling system according to claim 1, characterized in that: The several picking robots on the robot side are equipped with several built-in sensors, including laser radar, camera and torque sensor. These sensors collect real-time status information of the picking robot, other picking robots, shelves, obstacles and objects, and transmit the collected data to the central control end in real time.

4. The unmanned warehouse 5G picking robot scheduling system according to claim 1 or 3, characterized in that: When the picking robot performs a picking task, it searches for other nearby picking robots in real time; if there are other picking robots working on the same shelf when the picking robot performs a picking task, these picking robots form a temporary local area network for the same shelf operation through self-organizing network technology, and in the local area network, elect a command robot for the same shelf operation to coordinate the task allocation, work progress and conflict resolution among the robots; if there are other picking robots that meet at the same corner when the picking robot performs a picking task, these picking robots form a temporary local area network for the same corner operation through self-organizing network technology, and in the local area network, elect a command robot for the same corner operation to coordinate the task allocation, work progress and conflict resolution among the robots.

5. The unmanned warehouse 5G picking robot scheduling system as claimed in claim 4, characterized in that: In the temporary local area network for operating on the same shelf, the first robot to complete the picking task is elected as the command robot for operating on the same shelf; in the temporary local area network for meeting at the same corner, the election priority of the command robot for meeting at the corner is: the command robot for operating on the same shelf takes precedence over the ordinary picking robots on different shelves; the command robots for operating on the same shelf are determined based on the principle of giving way to the right, and the command robot for operating on the same shelf located on the right when meeting takes precedence over the command robot for operating on the same shelf located on the left when meeting; the ordinary picking robots are also determined based on the principle of giving way to the right.

6. The unmanned warehouse 5G picking robot scheduling system according to claim 5, characterized in that: After completing the picking task, the same-shelf operation command robot can judge whether there will be a conflict with other picking robots on the subsequent path based on the operation progress and position of other picking robots in the same-shelf operation temporary local area network; if there is a conflict, the same-shelf operation command robot sends an adjustment instruction to the conflicting picking robot; when the corner encounter command robot passes the corner, it sends an adjustment instruction to other picking robots in the same corner encounter temporary local area network.

7. A method for dispatching a 5G picking robot in an unmanned warehouse, using the 5G picking robot dispatching system in claims 1-6, characterized in that: The following steps are involved: Step 1: Generate picking tasks: Receive the sorting requirements of the power warehouse through the cloud platform, generate specific picking tasks, which include the type, quantity, location and destination of the items, and send the tasks to the central control end through the 5G network; Step 2: Assign picking tasks. The central control end evaluates the priority of the tasks based on the received task information and formulates a local task plan. The central control end assigns the task plan to the robot end according to the market mechanism algorithm. Step 3: Picking task execution: The robot receives the task assigned by the central control end and sorts according to the task assigned by the central control end; Step 3.1: Establish a temporary local area network for the same shelf operation; when the picking robot performs the picking task, it searches for other nearby picking robots in real time. If there are two or more picking robots, it determines whether these picking robots are operating on the same shelf. These picking robots operating on the same shelf form a temporary local area network for the same shelf operation; Step 3.2: Election of command robots for operations on the same shelf: After the temporary local area network for operations on the same shelf is formed, the first robot to complete the picking task is elected as the command robot for operations on the same shelf; Step 3.3: Establishing a temporary local area network for meeting at the same corner; when the picking robot performs the picking task, it searches for other nearby picking robots in real time. If there are two or more picking robots, it determines whether these picking robots meet at the same corner. These picking robots that meet at the same corner form a temporary local area network for meeting at the same corner; Step 3.4: Election of command robots for meeting at the same corner. After the temporary LAN for meeting at the same corner is formed, the election priority of command robots for meeting at the same corner is as follows: command robots for working on the same shelf take precedence over ordinary picking robots for working on different shelves; command robots for working on the same shelf are determined according to the principle of giving way to the right, and command robots for working on the same shelf on the right when meeting take precedence over command robots for working on the same shelf on the left when meeting; ordinary picking robots are also determined according to the principle of giving way to the right; Step 3.5: Path conflict judgment; Conflict judgment of picking robots operating on the same shelf. After completing the picking task, when the command robot operating on the same shelf is ready to leave the container and go to the unloading location or loading location or return to the starting point, it will judge whether there will be a conflict with other picking robots on the subsequent path based on the operation progress and position of other picking robots in the temporary local area network of the same shelf operation; if there is a conflict, the command robot operating on the same shelf sends an adjustment instruction to the conflicting picking robot to prevent the temporary command robot from colliding with the conflicting picking robot, and the command robot operating on the same shelf leaves; Conflict judgment of picking robots meeting at corners. When the command robot meeting at corners passes through a corner, it sends an adjustment instruction to other picking robots in the temporary local area network of the same corner encounter to prevent the picking robots at the corners from colliding, and the command robot meeting at corners leaves; Step 3.6: Command robot replacement; when the command robot for the same shelf operation leaves, the remaining picking robots re-elect the command robot for the same shelf operation, and the newly elected command robot for the same shelf operation controls the other picking robots until the last picking robot leaves; When the corner encounter command robot leaves, the remaining picking robots re-elect the corner encounter command robot, and the newly elected corner encounter command robot controls the other picking robots until the last picking robot leaves; Step 4: The picking task is completed. When the picking task is completed, the picking robot returns to the charging station to charge.

8. The unmanned warehouse 5G picking robot scheduling method according to claim 7, characterized in that: In step 2, each picking robot acts as a "bidder" and bids for tasks according to its current status. The central control end dynamically allocates tasks to the picking robot based on the bidding price. The picking robot uses built-in sensors to monitor the surrounding environment in real time, obtains information including the picking robot, other picking robots, shelves and obstacles, and sends real-time status updates to the central control end.

9. The unmanned warehouse 5G picking robot scheduling method according to claim 7, characterized in that: In the step 3.5, when judging whether the command robot operating on the same shelf will conflict with other picking robots on the subsequent path, the command robot operating on the same shelf calculates the time T1 when it reaches the blind spot at the corner of the container, and receives the time T2 and corner movement direction information of other picking robots in the temporary local area network operating on the same shelf. If it is judged that T1=T2 is the same and the corner movement direction of the temporary command robot intersects with the corner movement direction of other picking robots, it is judged that there is a conflict. Once it is determined that there is a conflict, the command robot operating on the same shelf sends an adjustment instruction to the picking robot that causes the conflict.

10. The unmanned warehouse 5G picking robot scheduling method according to claim 7, characterized in that: The adjustment instruction includes one of changing the moving speed, adjusting the moving direction, and waiting for a period of time before continuing to move.

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