AGV Intelligent Scheduling Method and System for Stereoscopic Warehouse

Abstract

Multiple embodiments of this specification relate to the field of automation control technology, and specifically relate to an AGV intelligent scheduling method and system for a stereoscopic warehouse. The stereoscopic warehouse includes multiple bearing plates supported by brackets, and the multiple bearing plates form multiple storage layers. A plurality of lifting devices are provided at one end of the bearing plate. The method includes: obtaining item access data within the next first period according to a preset first period; planning storage areas on each storage layer according to the item access data; generating access tasks according to the item access data and pallet usage data, where the access tasks include pallet numbers, pallet positions, and destinations, and reading the access tasks one by one according to the generation time, and the access tasks include pallet numbers and access requirements; allocating AGVs to each access task according to the currently ongoing access tasks; monitoring the waiting times of all AGVs waiting for the lifting devices, and adjusting the number of lifting devices put into use in a second period according to the waiting times.

Description

Technical Field

[0001] Multiple embodiments of this specification relate to the field of automation control technology, and more particularly to an AGV intelligent scheduling method and system for a stereoscopic warehouse. Background Art

[0002] In the modern express logistics system, in order to improve efficiency, reduce error rates, and maximize space utilization, more and more logistics companies are starting to adopt stereoscopic warehouse systems. Such systems can not only effectively manage the storage and sorting of a large number of packages, but also greatly improve operational efficiency through the application of automated equipment. A stereoscopic warehouse (Automated Storage and Retrieval System, AS / RS) is a highly automated warehousing solution that enables efficient storage and rapid retrieval of items through high-rise shelves, aisle stackers, and various handling equipment.

[0003] The basic process of express delivery includes four major links: collection, transportation, sorting, and distribution. Traditionally, these processes have relied mostly on manual labor, but with the development of technology, especially the progress of information technology and automation technology, this process is undergoing profound changes. Especially after setting up a stereoscopic warehouse near the shipping location, the goods are first concentrated and stacked here for preliminary processing. Subsequently, based on different destinations, these goods will be automatically or semi-automatically re-sorted and stacked again in the stereoscopic warehouse according to the destination until they are loaded and shipped. An AGV can navigate autonomously without a fixed track and move to a specified location to perform tasks, such as transporting goods from one point to another, according to a preset program or real-time instructions. The use of automated equipment has greatly shortened the processing time. Although an AGV can automatically find a path and complete transportation, there is currently a lack of technology for overall scheduling of the stereoscopic warehouse, resulting in unreasonable resource allocation in the stereoscopic warehouse and affecting the improvement of the efficiency of the stereoscopic warehouse. Summary of the Invention

[0004] Multiple embodiments of this specification describe an AGV intelligent scheduling method and system for a stereoscopic warehouse.

[0005] In a first aspect, an embodiment of this specification provides an AGV intelligent scheduling method for a stereoscopic warehouse,

[0006] The stereoscopic warehouse includes multiple bearing plates supported by brackets, and the multiple bearing plates form multiple storage layers. A plurality of lifting devices are provided at one end of the bearing plate, and multiple AGVs operate in the warehouse.

[0007] The scheduling method includes the steps:

[0008] Obtain the item access data within the next first period according to a preset first period, where the item access data includes the quantity of items and the transfer requirements;

[0009] Plan storage areas on each storage layer according to the item access data. The storage areas include a bulk storage area and a piecemeal storage area. Plan an entrance and an entrance path for the bulk storage area, and plan an entrance, an entrance path, and an internal connection path for the piecemeal storage area;

[0010] Generate access tasks according to the item access data and the pallet usage data. The access tasks include pallet numbers, pallet positions, and destinations. Read the access tasks one by one according to the generation time. The access tasks include pallet numbers and access requirements;

[0011] Allocate AGVs for each access task according to the currently ongoing access tasks;

[0012] Monitor the waiting time of all AGVs waiting for the lifting device, and adjust the number of lifting devices put into use in the second period according to the waiting time.

[0013] In a second aspect, an embodiment of the present specification provides an AGV intelligent scheduling system for a stereoscopic warehouse,

[0014] The stereoscopic warehouse includes a plurality of bearing plates supported by brackets. The plurality of bearing plates form multiple storage layers. A plurality of lifting devices are provided at one end of the bearing plates. A plurality of AGVs operate in the warehouse,

[0015] The scheduling system includes:

[0016] A reading module that obtains the item access data within the next period according to a preset period. The item access data includes the quantity of items and the transfer requirements;

[0017] A planning module that plans storage areas on each storage layer according to the item access data. The storage areas include a bulk storage area and a piecemeal storage area. Plan an entrance and an entrance path for the bulk storage area, and plan an entrance, an entrance path, and an internal connection path for the piecemeal storage area;

[0018] A generating module that generates access tasks according to the item access data and the pallet usage data, and reads the access tasks one by one according to the generation time. The access tasks include pallet numbers and access requirements;

[0019] An allocation module that allocates AGVs for each access task according to the currently ongoing access tasks;

[0020] A monitoring module that monitors the waiting time of all AGVs waiting for the lifting device, and adjusts the number of lifting devices put into use in the second period according to the waiting time.

[0021] In a third aspect, an embodiment of the present specification provides an electronic device, including a processor and a memory;

[0022] The processor is connected to the memory;

[0023] The memory is used to store executable program code;

[0024] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method described in any of the above aspects.

[0025] In a fourth aspect, an embodiment of the present specification provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method described in any of the above aspects is implemented.

[0026] In a fifth aspect, an embodiment of the present specification provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method described in any of the above aspects is implemented.

[0027] The beneficial effects brought by the technical solutions provided by some embodiments of the present specification at least include:

[0028] In multiple embodiments of the present specification, the provided AGV intelligent scheduling method can improve the utilization rate of the stereoscopic warehouse by means of the integral storage area, and balance the utilization rate and access efficiency by taking into account the access efficiency of items through the scattered storage area. By means of the dynamic input lifting device, when the access task volume fluctuates, an appropriate input quantity of the lifting device can be generated, taking into account reducing equipment loss and access efficiency. With the layer coefficient set for each storage layer, the response degree of different storage layers to the total ratio is differentiated, and the storage layers with lower height can be more effectively utilized, which is beneficial to improving the access efficiency of AGV.

[0029] Other features and advantages of multiple embodiments of the present specification will be further revealed in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present specification, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic diagram of a stereoscopic warehouse provided by an embodiment of the present specification.

[0032] Figure 2 It is a schematic diagram of an excellent stereoscopic warehouse provided by an embodiment of the present specification.

[0033] Figure 3 This is a schematic side view of the stereoscopic warehouse provided by the embodiments of this specification.

[0034] Figure 4 This is a schematic application architecture diagram of the AGV intelligent scheduling method provided by the embodiments of this specification.

[0035] Figure 5 This is a schematic interaction interface diagram of the AGV intelligent scheduling method provided by the embodiments of this specification.

[0036] Figure 6 This is a schematic flow diagram of the AGV intelligent scheduling method provided by the embodiments of this specification.

[0037] Figure 7 This is a schematic diagram of the bulk storage area and the piecemeal storage area provided by the embodiments of this specification.

[0038] Figure 8 This is a schematic flow diagram of the method for planning the storage area provided by the embodiments of this specification.

[0039] Figure 9 This is a schematic flow diagram of the method for generating the bulk storage area and the piecemeal storage area provided by the embodiments of this specification.

[0040] Figure 10 This is a schematic diagram of the AGV intelligent scheduling system provided by the embodiments of this specification.

[0041] Figure 11 This is a schematic diagram of the electronic device provided by the embodiments of this specification. Detailed implementation manners

[0042] The technical solutions of the embodiments of this specification will be explained and illustrated below with reference to the accompanying drawings of the embodiments of this specification. However, the following embodiments are only the preferred embodiments of this specification and not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of this specification. <>

[0043] The terms "first", "second", "third", etc. in the specification, claims and the above-mentioned drawings of this specification are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0044] In the following description, terms indicating orientation or positional relationships such as "inner", "outer", "upper", "lower", "left", "right", etc. are only for the convenience of describing embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of this specification.

[0045] The data involved in this application are all information and data authorized by users or fully authorized by all parties, and the collection of relevant data complies with the relevant laws, regulations and standards of relevant countries and regions.

[0046] Before introducing the technical solutions described in this specification, the application scenarios and related technologies of the technical solutions are introduced.

[0047] AGV is the abbreviation of Automated Guided Vehicle, which is usually called an automated guided vehicle or an automatic guided vehicle in Chinese. Such vehicles are mainly used in various industrial environments to perform material transportation tasks and can achieve automated operations without manual intervention. The AGV system usually includes the following key parts: vehicle-mounted control system, navigation system, communication system, safety system, and drive system. The vehicle-mounted control system is responsible for processing information such as navigation, path planning, and operation control. The navigation system determines the vehicle's position and guides it to the destination. There are various navigation methods, such as magnetic stripe navigation, laser navigation, visual navigation, etc. The communication system exchanges information with the central control system or other AGVs 21. The safety system ensures the avoidance of collisions and other safety hazards during operation. The drive system completes the movement actions according to the control system instructions. AGVs 21 are widely used in many fields such as warehousing logistics, manufacturing workshops, and airport baggage handling to improve production efficiency and automation levels. With the development of technology, the functions of AGVs 21 are becoming more and more powerful, and their flexibility and intelligence are also continuously improving.

[0048] A stereoscopic warehouse, also known as an automated stereoscopic warehouse or a high-rise shelf warehouse, is a modern warehouse that uses a roadway stacker or an automated storage and retrieval system equipped with high-rise shelves for storing and retrieving goods. This form of warehouse greatly improves the storage capacity per unit area by making full use of the vertical space and is an important part of modern logistics and warehousing technologies.

[0049] A stereoscopic warehouse generally includes the following main parts: A high-rise shelf is a structure for storing pallets or containers, with a height that can reach dozens of meters and is designed to be fixed or movable according to requirements. A roadway stacker operates in the roadway between the shelves to complete the automatic storage and retrieval of goods. It can accurately locate to a specified position according to instructions for placing or extracting goods. The conveying system is responsible for transporting goods from one area of the warehouse to another, including equipment such as conveyor belts and automated guided vehicles (AGV 21). The automated control system manages the entire operation process of the warehouse, including the inbound, outbound, and inventory management of goods, ensuring that all operations are carried out efficiently and accurately. The computer management system (WMS) manages the goods information in the warehouse, such as the location, quantity, inbound and outbound time of goods, etc., and supports inventory management and decision-making. The stereoscopic warehouse features high-density storage and a high degree of automation in operations.

[0050] A pallet is an industrial product used for mechanized loading, unloading, handling, and storage, and is widely used in the fields of logistics, warehousing, and production. It is usually made of wood, plastic, metal, or other materials, designed to carry goods, and can be moved by forklifts, hand pallet trucks, or automated equipment.

[0051] Please refer to the attached Figure 1 to the attached Figure 3 , which is a schematic diagram of the stereoscopic warehouse applied in this specification. The stereoscopic warehouse includes a stereoscopic storage area composed of a bracket 11 and a bearing plate 12, and the stereoscopic storage area includes several storage layers. A plurality of lifting devices 30 are arranged on one side of the stereoscopic storage area. The lifting device 30 includes a lifting tool 32 that can only lift one AGV 21 at a time, and a lifting platform 31 that can accommodate multiple AGVs 21 for lifting at a time. Each lifting device 30 can lift the AGV 21 to any storage layer. The lifting device 30 itself is installed below the ground 41. The number of lifting platforms 31 or lifting tools 21 can be increased according to needs. The coordinated control of the lifting platform 31 and the lifting tool 21 can be carried out using the publicly known technology in the field, and those skilled in the art can implement it without creative efforts.

[0052] The method provided in this application is applied to the Figure 4 system architecture as shown in Figure 4 , which is a schematic diagram of an architecture of the system architecture in an embodiment of this application. As shown in Figure 4 , the system architecture includes a server and terminal devices. The lifting device 30 and the AGV 21 are both connected to the server, and as shown in Figure 5As shown in the figure, an interaction interface 50 is set on the terminal device. The interaction interface 50 is used to upload item access data and pallet usage data, view scheduling results, and has operation buttons for manually adjusting scheduling results. The item access data and pallet usage data can also be provided to the server in the way of being automatically acquired and synchronized by the system. The interaction interface 50 can run on the terminal device in the form of a browser or in the form of an independent application (APP), etc. The specific display form of the interaction interface 50 is not limited herein. The server involved in this application can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms. The terminal device can be a smart phone, a tablet computer, a laptop computer, a palm computer, a personal computer, a smart speaker, a smart TV, a smart watch, a vehicle-mounted device, a wearable device, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and this application does not limit this here. The number of servers and terminal devices is also not limited.

[0053] This specification first provides an AGV intelligent scheduling method for a three-dimensional warehouse. Please refer to the appendix Figure 6 , including the steps:

[0054] The three-dimensional warehouse includes a plurality of bearing plates 12 supported by brackets 11. The plurality of bearing plates 12 form multiple storage layers. A plurality of lifting devices 30 are arranged at one end of the bearing plate 12. A plurality of AGVs 21 run in the warehouse.

[0055] The scheduling method includes the steps:

[0056] Step S101): Obtain the item access data within the next first cycle according to a preset first cycle. The item access data includes the quantity of items and the transfer requirements.

[0057] Step S102): Plan storage areas on each storage layer according to the item access data. The storage areas include a bulk storage area and a piecemeal storage area. Plan an entrance and an entrance path for the bulk storage area, and plan an internal connection path 71 for the piecemeal storage area.

[0058] Please refer to the appendix Figure 7, which is a schematic diagram of the integrated storage area and the scattered storage area planned for this embodiment. The pallets in the integrated storage area 60 are densely arranged. Only those pallets that can be reached by the entrance 61 and the internal empty space can be accessed. Some pallets cannot be directly removed. The integrated storage area 60 can accommodate more pallets. The integrated storage area 60 has an entrance and an entrance path, and the entrance path is connected to at least one lifting device 30. The scattered storage area 70 has an internal connecting path 71 that can directly access the pallets at each position. A portion of the internal connecting path 71 of the scattered storage area 70 overlaps with the entrance path 62 of the integrated storage area 60.

[0059] Please see the attached Figure 8 The method for planning storage areas in each storage layer according to the item access data includes:

[0060] Step S201) Estimate the number of pallets required based on the amount of items in the item access data. This embodiment is used for the transit warehouse at the place of shipment. The express is first loaded into cloth bags of basically uniform size, uniformly transported to the three-dimensional warehouse, and stored for the first time. Then, the stored express loaded in the cloth bags are gradually taken out, transported to the sorting area, and sorted according to the destination. The express after sorting by destination is placed in an area. Then it will be loaded into cloth bags again. The express loaded in cloth bags after sorting by destination will be transported to the three-dimensional warehouse for storage again. When the transport vehicle arrives, the corresponding cloth bags are transported to the shipping area according to the destination of the transport vehicle. Since the cloth bags have a relatively uniform size, the number of cloth bags that can be placed on a pallet is basically fixed. Therefore, the number of pallets required can be directly estimated based on the amount of items. That is, the item access data are all in cloth bags, or the item access data are for items of basically uniform volume.

[0061] Step S202) Determine the access method and access sequence based on the circulation demand. The access method includes bulk storage and scattered storage. The access sequence records the sequence of storage and retrieval actions and the destination of the retrieval actions. Express deliveries that have just been put into bags and have not yet been sorted to their destinations need to be stored in bulk. Express deliveries that have been sorted and put into bags need to be stored in scattered. Bulk storage means that there is no difference in items, such as express deliveries to be sorted. Scattered storage means that items have their own attributes, and different access operations need to be performed according to the attributes. For example, express deliveries that have been sorted have the attributes of the destination, and different access operations need to be performed according to different destinations.

[0062] Step S203) The required storage space area is obtained based on the estimated number of pallets, and the storage space occupancy period is obtained based on the access sequence. The required storage space area can be obtained by multiplying the number of pallets by the area of each pallet.

[0063] Step S204) Generate a bulk storage area 60 and a scattered storage area 70 on each storage layer according to the area and occupation period of the storage space corresponding to bulk storage and scattered storage respectively.

[0064] Among them, please refer to the appendix Figure 9 , the method for generating a bulk storage area 60 and a scattered storage area 70 on each storage layer according to the area and occupation period of the storage space corresponding to bulk storage and scattered storage respectively includes:

[0065] Step S301) Set an initial bulk storage area 60 and its entrance path 62 for each storage layer. The area outside the bulk storage area 60 and the entrance path 62 of each storage area is the scattered storage area 70. The initial bulk storage area 60 is set on the side of each storage layer far from the lifting device 30.

[0066] Step S302) Divide the first cycle into several sub-cycles.

[0067] Step S303) According to the occupation period, obtain the ratio of the area of the storage space occupied by bulk storage and scattered storage in each sub-cycle, denoted as the total ratio.

[0068] Step S304) Set a layer coefficient for each storage layer, and use the product of the layer coefficient and the total ratio as the area ratio of the bulk storage area 60 and the scattered storage area 70 of the corresponding storage layer. As a preferred solution, the layer coefficient decreases with the number of storage layers. That is, the first storage layer has the largest layer coefficient, and the highest storage layer has the smallest layer coefficient. That is, the layer coefficient of the first storage layer is larger, so the first layer responds most significantly to the change of the total ratio. When the total ratio increases, the bulk storage area 60 of the first storage layer will increase significantly. When the total ratio decreases, the bulk storage area 60 of the first storage layer will decrease significantly. And the layer coefficient of the highest storage layer is smaller. Even if the total ratio increases, the increase in the bulk storage area 60 of the highest storage layer is not obvious. Such a method can make more full use of the lower storage layers, and at the same time can also utilize all storage layers. When the bulk storage area 60 is concentrated in one or two storage layers, the access efficiency may be reduced due to the queuing of the AGV 21 at the lifting equipment. The lifting of the lower layer is relatively faster, so the bulk storage area 60 should be set as low as possible. But the higher storage layers should also be appropriately utilized. Avoid excessive aggregation of AGV 21 in the lower storage layers, resulting in traffic congestion during the operation of AGV 21 and an increase in waiting time, leading to a reduction in efficiency.

[0069] Step S305) Adjust the size of the bulk storage area 60 based on the initial bulk storage area 60 according to the area ratio to obtain the final bulk storage area 60 and scattered storage area 70.

[0070] Among them, the method for generating the bulk storage area 60 includes:

[0071] An initial storage area 60 is provided. The initial storage area 60 is located on a side of the storage area away from the lifting device 30 and has an initial area, range, entrance, and entrance path 62. The entrance is located on the boundary of the storage area 60 closest to the lifting device 30. The entrance path 62 connects the entrance and at least one lifting device 30.

[0072] Calculating the required area of the entire storage area 60 based on the area ratio, and expanding the boundary of the entrance of the entire storage area 60 until the required area is reached;

[0073] An entry path 62 connecting the entry and any one of the lifting devices 30 is regenerated.

[0074] The method for generating the scattered storage area 70 includes:

[0075] Obtaining the storage layer area outside the entire storage area 60 and the entry path 62;

[0076] generating a plurality of single-row storage areas, wherein the single-row storage areas are consistent with the size of the pallets;

[0077] A parallel internal communication path 71 is provided for each single-row storage area, and the width of the internal communication path 71 is consistent with the size of the tray;

[0078] Adjust the single-row storage area so that all internal communication paths 71 can be connected, and at least one of the internal communication paths 71 can be connected to any lifting device 30 or can be connected to the entrance path 62 of the entire storage area 60;

[0079] With the goal of maximizing the total area of the single-row storage area, an optimization algorithm is used to obtain the final scattered storage area 70.

[0080] Step S103) Generate access tasks based on the item access data and pallet usage data. The access tasks include the pallet number, pallet location, and destination. Read the access tasks one by one according to the generation time. The access tasks include the pallet number and access requirements.

[0081] When multiple bags containing express deliveries are unloaded from a vehicle and placed on a pallet, the pallet number needs to be scanned to associate the pallet with all the express deliveries on it. Due to the storage and retrieval tasks of the express deliveries on it, the pallet is also marked with a destination.

[0082] Step S104) Allocate an AGV 21 to each access task according to the currently ongoing access task. The method of allocating an AGV 21 to each access task according to the currently ongoing access task includes:

[0083] Grouping all the access tasks in progress according to their destinations;

[0084] According to the number of the access tasks in each group, assign a corresponding number of AGVs 21 to each group;

[0085] The AGV 21 assigned to each access task is one of the AGVs 21 assigned to its group.

[0086] Step S105) Monitor the waiting time of all AGVs 21 waiting for the lifting device 30, and adjust the number of lifting devices 30 put into use in the second period according to the waiting time.

[0087] The method of adjusting the number of lifting devices 30 put into use in the second period according to the waiting time includes:

[0088] When the waiting time is greater than a preset upper threshold, increase the number of lifting devices 30 put into use in the next second period until all the lifting devices 30 are put into use;

[0089] When the waiting time is less than a preset lower threshold, reduce the number of lifting devices 30 put into use in the next second period until only one lifting device 30 is put into use.

[0090] Exemplarily, a truck is loaded with a large number of freshly collected express packages, and these express packages are respectively packed into cloth bags, and the cloth bags also have numbers. When unloading the truck, 10 cloth bags are placed on a pallet. After it is full, scan the number of the pallet, so the pallet with this number has an access task that needs to be placed in the bulk storage area 60. This vehicle corresponds to an item access data, with the quantity of items being 1300 cloth bags, and the transfer requirement is to store them in the bulk storage area 60 and then gradually transport them to the picking area, and then place them in the bulk storage area 70 for temporary storage, and transport them to the loading area according to the situation of the transport vehicle. Therefore, 4 types of access tasks will be generated. The first type is to transport the pallet to the bulk storage area 60 for storage, the second type is to gradually take out the pallet from the bulk storage area 60 and transport it to the sorting area, the third type is to transport the pallet from the sorting area to the bulk storage area 70 for storage, and the fourth type is to transport the pallet from the bulk storage area 70 to the area to be loaded. In the first type, 130 pallets will be needed. Each AGV 21 transports one pallet at a time, that is, a total of 130 AGV 21 trips are required to complete, that is, there will be 130 access tasks of the first type. The area of the required storage space is the occupied area of 130 pallets.

[0091] At this time, in this embodiment, the bulk storage area 60 is divided on each storage layer of the stereoscopic warehouse so that the bulk storage area 60 can store 130 pallets. The AVG transports 130 pallets to the divided bulk storage area 60 one by one. The operation of the AGV 21 itself is realized by the technology already disclosed in the art.

[0092] After all are completed, the 130 pallets generate new item access and storage data. The quantity of items is 130 pallets, and the transfer requirement is to be transported to the sorting area.

[0093] At this time, according to the feedback from the sorting area in this embodiment, each time feedback is received, 10 access tasks for the second type of pallets are generated. The 10 access tasks respectively correspond to 10 pallet numbers, pallet positions, and destinations. At this time, the destination is the sorting area. Control the AGV 21 to gradually take out the 130 pallets from the bulk storage area 60 and transport them to the sorting area.

[0094] The sorted express deliveries will also be packed in cloth bags, and at this time, multiple access tasks of the third type will be generated. Finally, when the transport vehicle arrives, a fourth type of access task will be generated, that is, transporting the pallets from the scattered storage area 70 to the area to be loaded. After loading, they will be transported by the transport vehicle to the sorting center near the destination. When transported to the area to be loaded, for the automated storage and retrieval system, the access and storage tasks for this item have been completed.

[0095] During the process, use the method provided in this embodiment to plan the bulk storage area 60 and the scattered storage area 70. And allocate the number of AGV 21. The operation of the AGV 21 adopts the technologies already disclosed in this field. Generating access tasks according to the item access and storage data is also realized by using the technologies already disclosed in this field. Since each pallet has its own position where it needs to be placed, the generation of access tasks does not require creative labor.

[0096] On the other hand, this specification provides a method for palletizing pallets. When the goods placed on the pallet are flat and have supporting ability, the pallet is marked as stackable, and the recommended number of stacking layers is also marked. The palletizing method includes the steps:

[0097] When multiple pallets are marked as stackable, the first AGV 21 lifts one of the pallets and transports it to wait on the first lifting device;

[0098] The second AGV 21 lifts another pallet and transports it to the second lifting device adjacent to the first lifting device;

[0099] Adjust the heights of the first lifting device and the second lifting device so that the height of the supporting surface of the second AGV 21 is basically the same as the top height of the pallet lifted by the first AGV 21;

[0100] The second AGV 21 travels to the top of the pallet lifted by the first AGV 21 so that the positions of the second AGV 21 and the first AGV 21 coincide;

[0101] After the second AGV 21 puts down the pallet and returns to the second lifting device, the first AGV 21 stacks the pallets into two layers.

[0102] On the other hand, this specification provides an AGV 21 intelligent scheduling system for a stereoscopic warehouse. Please refer to the appendix Figure 10 , the stereoscopic warehouse includes a plurality of bearing plates 12 supported by brackets 11, and the plurality of bearing plates 12 form multiple storage layers. A plurality of lifting devices 30 are provided at one end of the bearing plate 12, and a plurality of AGVs 21 operate in the warehouse.

[0103] The scheduling system includes:

[0104] A reading module 100, which acquires item access and storage data within the next cycle according to a preset period. The item access and storage data includes the quantity of items and the transfer requirements.

[0105] A planning module 200, which plans storage areas on each storage layer according to the item access and storage data. The storage areas include a bulk storage area 60 and a piecemeal storage area 70. An entrance and an entrance path 62 are planned for the bulk storage area 60, and an internal connection path 71 is planned for the piecemeal storage area 70.

[0106] A generation module 300, which generates access and storage tasks according to the item access and storage data and pallet usage data, and reads the access and storage tasks one by one according to the generation time. The access and storage tasks include pallet numbers and access and storage requirements.

[0107] An allocation module 400, which allocates an AGV 21 for each access and storage task according to the access and storage tasks currently in progress.

[0108] A monitoring module 500, which monitors the waiting time of all AGVs 21 waiting for the lifting device 30, and adjusts the number of lifting devices 30 put into use in a second cycle according to the waiting time.

[0109] Please refer to Figure 11 The structural schematic diagram of an electronic device provided by the embodiment of this specification shown.

[0110] As Figure 11As shown, the electronic device 1100 may include: at least one processor 1101, at least one network interface 1104, a user interface 1103, a memory 1105, and at least one communication bus 1102. Among them, the communication bus 1102 can be used to realize the connection and communication of the above-mentioned components. Among them, the user interface 1103 may include buttons, and the optional user interface may further include a standard wired interface and a wireless interface. Among them, the network interface 1104 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc. Among them, the processor 1101 may include one or more processing cores. The processor 1101 connects various parts within the entire electronic device 1100 through various interfaces and lines, and executes various functions of the routing device 1100 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1105, and by calling the data stored in the memory 1105. Optionally, the processor 1101 may be implemented in at least one of the hardware forms of DSP, FPGA, and PLA. The processor 1101 may integrate one or several combinations of a CPU, a GPU, and a modem, etc. Among them, the CPU mainly processes the operating system, the user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication.

[0111] It can be understood that the above-mentioned modem may not be integrated into the processor 1101 and may be implemented separately by a single chip.

[0112] Among them, the memory 1105 may include RAM and may also include ROM. Optionally, the memory 1105 includes a non-transitory computer-readable medium. The memory 1105 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1105 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. The memory 1105 is optionally further a storage device located at least away from the aforementioned processor 1101. The memory 1105, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and application programs. The processor 1101 may be used to call the application programs stored in the memory 1105 and execute the methods in the above-mentioned multiple embodiments.

[0113] The embodiments of this specification also provide a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When they run on a computer or a processor, the computer or the processor is caused to execute multiple steps in the above embodiments. If each component module of the above electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the computer-readable storage medium.

[0114] The embodiments of this specification also provide a computer program product, including a computer program which, when executed by a processor, implements multiple steps in the above embodiments.

[0115] Without conflict, the technical features in this embodiment and the implementation solutions can be combined arbitrarily.

[0116] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes multiple computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this specification are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating multiple available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a Digital Versatile Disc (DVD)), or a semiconductor medium (for example, a Solid State Disk (SSD)), etc.

[0117] When implemented through hardware or firmware, the foregoing method flow is programmed into a hardware circuit to obtain the corresponding hardware circuit structure and implement the corresponding functions. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit, and its logical function is determined by a user programming the device. A designer can program by themselves to "integrate" a digital system on a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used when developing and writing programs. The original code before compilation also has to be written in a specific programming language, which is called a hardware description language (HDL), and there are not only one kind of HDL, but many kinds. Those skilled in the art should also be clear that only by slightly logically programming the method flow with the above-mentioned several hardware description languages and programming it into an integrated circuit can the hardware circuit implementing the logical method flow be easily obtained.

[0118] The embodiments described above are only described in terms of the preferred embodiments of this specification, and do not limit the scope of this specification. Without departing from the design spirit of this specification, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of this specification shall fall within the protection scope determined by the claims of this specification.

Claims

1. An AGV intelligent scheduling method for a stereoscopic warehouse, characterized in that the stereoscopic warehouse includes a plurality of bearing plates supported by brackets, and the plurality of bearing plates form multiple storage layers. A plurality of lifting devices are provided at one end of the bearing plates, and a plurality of AGVs run in the warehouse. The scheduling method includes the steps of: According to a preset first cycle, obtain the item access data within the next first cycle, and the item access data includes the quantity of items and the transfer requirements. Plan storage areas on each storage layer according to the item access data. The storage areas include a bulk storage area and a piecemeal storage area. Plan an entrance and an entrance path for the bulk storage area, and plan an internal connection path for the piecemeal storage area. Generate access tasks according to the item access data and the pallet usage data. The access tasks include pallet numbers, pallet positions, and destinations. Read the access tasks one by one according to the generation time. The access tasks include pallet numbers and access requirements. Allocate AGVs for each access task according to the currently ongoing access task. Monitor the waiting time of all AGVs waiting for the lifting devices, and adjust the number of lifting devices put into use in a second cycle according to the waiting time. The method for planning storage areas on each storage layer according to the item access data includes: Estimate the required number of pallets according to the quantity of items in the item access data. Determine the access mode and access sequence according to the transfer requirements. The access mode includes bulk storage and piecemeal storage. The access sequence records the sequences of storage actions, retrieval actions, and the destinations of retrieval actions. Obtain the area of the storage space required according to the estimated number of pallets, and obtain the occupation period of the storage space according to the access sequence. Generate a bulk storage area and a piecemeal storage area on each storage layer respectively according to the area and occupation period of the storage space corresponding to bulk storage and piecemeal storage. The method for generating a bulk storage area and a piecemeal storage area on each storage layer respectively according to the area and occupation period of the storage space corresponding to bulk storage and piecemeal storage includes: Set an initial bulk storage area and its entrance path for each storage layer. The area outside the bulk storage area and the entrance path of each storage area is the piecemeal storage area. Divide the first cycle into several sub - cycles. According to the occupation period, obtain the ratio of the area of the storage space occupied by bulk storage and piecemeal storage in each sub - cycle, denoted as the total ratio. ​ ​ ​ ​ ​ Calculating the expected area of the entire storage area based on the area ratio, and expanding the boundary of the entrance of the entire storage area until the expected area is reached; regenerate an entrance path connecting the entrance and any lifting device; Methods for generating scattered storage areas include: Obtain the storage layer area outside the entire storage area and the entry path; generating a plurality of single-row storage areas, wherein the single-row storage areas are consistent with the size of the pallets; Providing a parallel internal communication path for each single-row storage area, wherein the width of the internal communication path matches the size of the tray; Adjusting the single-row storage area so that all internal communication paths are connected, and at least one of the internal communication paths is connectable to any lifting device or to the entrance path of the entire storage area; With the goal of maximizing the total area of the single-row storage area, an optimization algorithm is used to obtain the final scattered storage area.

3. The AGV intelligent scheduling method for a three-dimensional warehouse according to claim 1 or 2, characterized in that: The method of allocating an AGV to each access task according to the currently ongoing access task includes: Grouping all the access tasks in progress according to their destinations; Allocate a corresponding number of AGVs to each group according to the number of access tasks of each group; The AGV to which each access task is assigned is one of the AGVs assigned to its group.

4. The AGV intelligent scheduling method for a three-dimensional warehouse according to claim 1 or 2, characterized in that: The method for adjusting the number of lifting devices put into use in a second cycle according to the waiting time includes: When the waiting time is greater than a preset upper threshold, the number of lifting devices put into use is increased in the next second cycle until all lifting devices are put into use; When the waiting time is less than a preset lower threshold, the number of lifting devices put into use is reduced in the next second cycle until only one lifting device is put into use.

5. The AGV intelligent scheduling system for high-bay warehouses is characterized by: The three-dimensional warehouse includes a plurality of load-bearing plates supported by brackets, the plurality of load-bearing plates forming a multi-layer storage layer, a plurality of lifting devices are provided at one end of the load-bearing plates, and a plurality of AGVs are running in the warehouse. The scheduling system includes: The reading module obtains the item access data in the next first period according to the preset first period, wherein the item access data includes the item quantity and the circulation demand; a planning module, which plans storage areas on each storage layer based on the item access data, wherein the storage areas include bulk storage areas and scattered storage areas, plans entrances and entrance paths for the bulk storage areas, and plans internal connection paths for the scattered storage areas; A generation module generates access tasks based on item access data and pallet usage data, and reads the access tasks one by one according to the generation time. The access tasks include pallet numbers and access requirements. An allocation module allocates an AGV to each access task according to the access task currently in progress; A monitoring module monitors the waiting time of all AGVs waiting for the lifting device, and adjusts the number of lifting devices put into use in a second cycle according to the waiting time; The method for planning storage areas in each storage layer according to the item access data includes: Estimate the required number of pallets according to the quantity of items for which data is accessed for the items; Determine the access method and access sequence according to the transfer requirements, where the access method includes bulk storage and piecemeal storage, and the access sequence records the sequence of storage actions, retrieval actions, and the destinations of the retrieval actions; Obtain the area of the required storage space according to the estimated number of pallets, and obtain the occupancy period of the storage space according to the access sequence; Generate a bulk storage area and a piecemeal storage area on each storage layer respectively according to the area and occupancy period of the storage space corresponding to bulk storage and piecemeal storage; The method for generating a bulk storage area and a piecemeal storage area on each storage layer respectively according to the area and occupancy period of the storage space corresponding to bulk storage and piecemeal storage includes: Set an initial bulk storage area and its entry path for each storage layer, and the area outside the bulk storage area and the entry path of each storage area is the piecemeal storage area; Divide the first period into several sub-periods; According to the occupancy period, obtain the ratio of the area of the storage space occupied by bulk storage and piecemeal storage within each sub-period, denoted as the total ratio; Set a layer coefficient for each storage layer, and use the product of the layer coefficient and the total ratio as the area ratio of the bulk storage area to the piecemeal storage area of the corresponding storage layer; Adjust the size of the bulk storage area based on the initial bulk storage area according to the area ratio to obtain the final bulk storage area and piecemeal storage area.

6. An electronic device, characterized in that, Includes a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory to execute the method according to any one of claims 1-4; 7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1-4; 8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1-4.

Images