Scheduling method, system, device and equipment of transfer robot and medium
By scheduling the number of transport robots in multi-floor factory buildings, the problem of uneven number of vehicles is solved, the overall handling efficiency is improved, and the number of vehicles on each floor is balanced.
Patent Information
- Application Number
- CN202510479421.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2025-08-01
AI Technical Summary
In multi-floor factory buildings, improper control of the number of transport robots leads to inefficient handling efficiency, especially the unbalanced number of cars between each floor, which affects the overall handling efficiency.
By obtaining the number of transport robots on each floor within the predetermined detection cycle, adjusting the number of vehicle models, generating scheduling tasks, scheduling robots are dispatched from the floor with insufficient vehicle models, or transferring floors with excessive vehicle models from the transportation robots to achieve a balance of the number of vehicle models on each floor.
The balance of the number of vehicles on each floor is achieved, and the overall handling efficiency of the tasks to be transported in multi-floor work scenarios is improved, and the inefficiency of handling due to unbalanced number of vehicles is avoided.
Smart Images
Figure CN120406476A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of warehousing logistics, and particularly to a scheduling method, system, device, equipment, and medium for a handling robot. Background Art
[0002] To build an automated logistics with high efficiency and high liquidity, handling robots are often used to achieve automatic handling of goods. For example, in existing factories, various types of handling robots such as AGV (Automated Guided Vehicle) and AMR (Autonomous Mobile Robot) are often used to handle goods.
[0003] In a multi-story factory building, due to the limited total number of handling robots, how to effectively control the number of handling robots on each floor to improve handling efficiency has become a technical problem to be urgently solved. Summary of the Invention
[0004] The purpose of the embodiments of this application is to provide a scheduling method, system, device, equipment, and medium for a handling robot to effectively control the number of handling robots on each floor and thus improve handling efficiency. The specific technical solutions are as follows:
[0005] In a first aspect, the embodiments of this application provide a scheduling method for a handling robot, and the method includes:
[0006] For the first floor in a multi-story working scenario, in response to reaching a predetermined detection period, obtain the number of handling robots of each vehicle type located on the first floor;
[0007] If the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of handling robots of this vehicle type for the current first floor, then determine a second floor from other floors; wherein, the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of handling robots of this vehicle type for the current second floor;
[0008] Generate a scheduling task to transfer the handling robots of this vehicle type from the second floor to the first floor, and execute the generated scheduling task.
[0009] Optionally, the method further includes:
[0010] If the number of handling robots of this vehicle model on the first floor is higher than the maximum number limit of handling robots of this vehicle model on the current first floor, then determine a third floor from other floors; wherein, the number of handling robots of this vehicle model on the third floor is lower than the maximum number limit of handling robots of this vehicle model on the current third floor;
[0011] Generate a second scheduling task to transfer the handling robots of this vehicle model from the first floor to the third floor, and execute the generated scheduling task.
[0012] Optionally, the handling robots of this vehicle model are used to perform cross-floor handling tasks; the minimum number limit of handling robots of this vehicle model on any current floor represents: the preset minimum water level of handling robots of this vehicle model on this floor;
[0013] The determination of the second floor from other floors includes:
[0014] For each other floor, calculate the first difference between the preset maximum water level of handling robots of this vehicle model on this floor and the number of handling robots of this vehicle model on this floor;
[0015] Determine the floor with the smallest calculated first difference as the second floor.
[0016] Optionally, the handling robots of this vehicle model are used to perform cross-floor handling tasks; the maximum number limit of handling robots of this vehicle model on any current floor represents: the preset maximum water level of handling robots of this vehicle model on this floor;
[0017] The determination of the third floor from other floors includes:
[0018] For each other floor, calculate the second difference between the number of handling robots of this vehicle model on this floor and the preset minimum water level of handling robots of this vehicle model on this floor;
[0019] Determine the floor with the smallest calculated second difference as the third floor.
[0020] Optionally, the handling robots of this vehicle model are used to perform non-cross-floor handling tasks; the minimum number limit of handling robots of this vehicle model on any current floor represents: the ratio of the handling task volume corresponding to this vehicle model on the current floor to the preset upper limit of vehicle demand rate;
[0021] The determination of the second floor from other floors includes:
[0022] For each other floor, obtain the handling task volume corresponding to this vehicle model on the current floor;
[0023] Calculate the ratio of the quantity of the handling tasks corresponding to the vehicle model on the current floor to the number of handling robots of the vehicle model on the current floor, to obtain the vehicle demand rate for the vehicle model on the current floor;
[0024] Determine the floor with the smallest calculated vehicle demand rate as the second floor.
[0025] Optionally, the handling robots of the vehicle model are used to execute non-cross-floor handling tasks; the maximum number limit of the handling robots of the vehicle model on any current floor indicates: the ratio of the quantity of the handling tasks corresponding to the vehicle model on the current floor to the preset lower limit of the vehicle demand rate;
[0026] The determining the third floor from other floors includes:
[0027] For each of the other floors, obtain the quantity of the handling tasks corresponding to the vehicle model on the current floor;
[0028] Calculate the ratio of the quantity of the handling tasks corresponding to the vehicle model on the current floor to the number of handling robots of the vehicle model on the current floor, to obtain the vehicle demand rate for the vehicle model on the current floor;
[0029] Determine the floor with the largest calculated vehicle demand rate as the third floor.
[0030] Optionally, the executing the generated scheduling task includes:
[0031] Detect whether there are multiple scheduling tasks involving the same floor in the currently generated scheduling tasks;
[0032] If so, select one of the multiple scheduling tasks to execute.
[0033] Optionally, the handling robot transferred by any scheduling task is in an idle state, and is the closest to the cross-floor passage entrance compared with other handling robots of the same vehicle model on the transferred floor.
[0034] In a second aspect, an embodiment of the present application provides a scheduling system for handling robots, the system includes: handling robots and a control device;
[0035] The control device is used for the scheduling method of the handling robots described in any one of the above;
[0036] The handling robots are used for receiving the scheduling tasks generated by the control device and moving to the incoming floors involved in the received scheduling tasks.
[0037] In a third aspect, an embodiment of the present application provides a scheduling device for handling robots, the device includes:
[0038] An acquisition module, configured to, for the first floor in a multi-floor working scenario, acquire the number of handling robots of each vehicle type located on the first floor in response to reaching a predetermined detection period.
[0039] A first determination module, configured to, if the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of handling robots of this vehicle type for the current first floor, determine a second floor from other floors; wherein, the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of handling robots of this vehicle type for the current second floor.
[0040] A first generation module, configured to generate a scheduling task for transferring handling robots of this vehicle type from the second floor to the first floor, and execute the generated scheduling task.
[0041] Optionally, the device further includes:
[0042] A second determination module, configured to, if the number of handling robots of this vehicle type on the first floor is higher than the maximum number limit of handling robots of this vehicle type for the current first floor, determine a third floor from other floors; wherein, the number of handling robots of this vehicle type on the third floor is lower than the maximum number limit of handling robots of this vehicle type for the current third floor.
[0043] A second generation module, configured to generate a second scheduling task for transferring handling robots of this vehicle type from the first floor to the third floor, and execute the generated scheduling task.
[0044] Optionally, the handling robots of this vehicle type are used to perform cross-floor handling tasks; the minimum number limit of handling robots of this vehicle type for any current floor indicates: the preset minimum water level of handling robots of this vehicle type for this floor.
[0045] [[ID=2,1]]The first determination module includes:
[0046] A first calculation sub-module, configured to, for each other floor, calculate a first difference between the preset maximum water level of handling robots of this vehicle type for this floor and the number of handling robots of this vehicle type on this floor.
[0047] A first determination sub-module, configured to determine the floor with the smallest calculated first difference as the second floor.
[0048] Optionally, the handling robots of this vehicle type are used to perform cross-floor handling tasks; the maximum number limit of handling robots of this vehicle type for any current floor indicates: the preset maximum water level of handling robots of this vehicle type for this floor.
[0049] The second determination module includes:
[0050] A second calculation sub-module, configured to calculate, for each of the other floors, a second difference between the number of handling robots of the vehicle type on that floor and a preset minimum water level of the handling robots of the vehicle type on that floor;
[0051] A second determination sub-module, configured to determine the floor with the smallest calculated second difference as the third floor.
[0052] Optionally, the handling robots of the vehicle type are used to perform non-cross-floor handling tasks; the minimum number limit of the handling robots of the vehicle type on any current floor represents the ratio of the amount of handling tasks corresponding to the vehicle type on the current floor to the preset upper limit of the vehicle requirement rate;
[0053] The first determination module includes:
[0054] A first acquisition sub-module, configured to acquire, for each of the other floors, the amount of handling tasks corresponding to the vehicle type on the current floor;
[0055] A third calculation sub-module, configured to calculate the ratio of the amount of handling tasks corresponding to the vehicle type on the current floor to the number of handling robots of the vehicle type on the current floor, to obtain the vehicle requirement rate for the vehicle type on the current floor;
[0056] A third determination sub-module, configured to determine the floor with the smallest calculated vehicle requirement rate as the second floor.
[0057] Optionally, the handling robots of the vehicle type are used to perform non-cross-floor handling tasks; the maximum number limit of the handling robots of the vehicle type on any current floor represents the ratio of the amount of handling tasks corresponding to the vehicle type on the current floor to the preset lower limit of the vehicle requirement rate;
[0058] The second determination module includes:
[0059] A second acquisition sub-module, configured to acquire, for each of the other floors, the amount of handling tasks corresponding to the vehicle type on the current floor;
[0060] A fourth calculation sub-module, configured to calculate the ratio of the amount of handling tasks corresponding to the vehicle type on the current floor to the number of handling robots of the vehicle type on the current floor, to obtain the vehicle requirement rate for the vehicle type on the current floor;
[0061] A fourth determination sub-module, configured to determine the floor with the largest calculated vehicle requirement rate as the third floor.
[0062] Optionally, the first generation module is specifically configured to:
[0063] Detect whether there are multiple scheduling tasks involving the same floor in the currently generated scheduling tasks;
[0064] If it exists, select one of the multiple scheduling tasks for execution.
[0065] Optionally, the handling robot transferred away by any scheduling task is in an idle state, and compared with other handling robots of the same vehicle type on the transferred floor, this handling robot is the closest to the cross-floor passage opening.
[0066] Fourthly, an embodiment of the present application provides an electronic device, including:
[0067] A memory for storing a computer program;
[0068] A processor for implementing the scheduling method of the handling robot described in any one of the above when executing the program stored on the memory.
[0069] Fifthly, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the scheduling method of the handling robot described in any one of the above is implemented.
[0070] Sixthly, an embodiment of the present application provides a computer program product, which includes executable instructions, and when the executable instructions are executed on a computer, the computer is caused to execute the scheduling method of the handling robot described in any one of the above.
[0071] Advantageous effects of the embodiments of the present application:
[0072] For the solution provided by the embodiment of the present application, if the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of handling robots of this vehicle type for the current first floor, it means that the number of vehicles of this vehicle type on this floor is small and a handling robot of this vehicle type needs to be transferred into this floor. Since the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of handling robots of this vehicle type for the current second floor, that is, the number of vehicles of this vehicle type on the second floor can meet the lowest level set for this vehicle type on this floor. Then, transferring the handling robot of this vehicle type from the second floor to the first floor can increase the number of vehicles of this vehicle type on the first floor, so that the number of vehicles of this vehicle type on the first floor can gradually reach the minimum number limit of handling robots of this vehicle type. Furthermore, the number of vehicles of this vehicle type on each floor can be gradually balanced, thereby improving the overall handling efficiency of the handling tasks corresponding to this vehicle type in the multi-floor working scenario.
[0073] Of course, it is not necessary for any product or method implementing the present application to achieve all the above advantages at the same time. Description of the Drawings
[0074] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.
[0075] Figure 1 It is a flowchart of a scheduling method for a handling robot provided by an embodiment of the present application;
[0076] Figure 2 It is another flowchart of the scheduling method for the handling robot provided by the embodiment of the present application;
[0077] Figure 3 It is a flowchart of a specific example for implementing the scheduling method of the handling robot provided by the embodiment of the present application;
[0078] Figure 4 It is a flowchart of another specific example for implementing the scheduling method of the handling robot provided by the embodiment of the present application;
[0079] Figure 5 It is a schematic structural diagram of a scheduling system for a handling robot provided by the embodiment of the present application;
[0080] Figure 6 It is a schematic structural diagram of a scheduling device for a handling robot provided by the embodiment of the present application;
[0081] Figure 7 It is a block diagram of an electronic device for implementing the scheduling method of the handling robot provided by the embodiment of the present application. Detailed implementation manners
[0082] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.
[0083] A scheduling method for a handling robot provided by an embodiment of the present application can be applied to various electronic devices, such as RCS (Robot Control System), personal computers, servers, and other devices with data processing capabilities. In addition, it can be understood that the scheduling method for the handling robot provided by the embodiment of the present application can be implemented by software, hardware, or a combination of software and hardware.
[0084] Such as Figure 1As shown, a scheduling method for a handling robot provided by an embodiment of the present application includes steps S101 - S103:
[0085] S101, for the first floor in a multi - floor working scenario, in response to reaching a predetermined detection period, obtain the number of handling robots of each vehicle type located on the first floor;
[0086] In this embodiment, the first floor can be any floor in the multi - floor working scenario. When reaching the predetermined detection period, the number of handling robots of each vehicle type on this floor (hereinafter simply referred to as the number of vehicles) can be obtained. Exemplarily, in practical applications, the number of handling robots of each vehicle type on each floor can be determined according to the position information periodically reported by each handling robot.
[0087] Exemplarily, the predetermined detection period can be 1 minute, 2 minutes, etc. Since different handling tasks require different vehicle types of handling robots, there are usually multiple vehicle types of handling robots in a multi - floor scenario. For example, the handling robots of each vehicle type in a multi - floor working scenario can include: latent vehicles for performing ground handling tasks, forklifts for performing AS / RS handling tasks, etc.
[0088] It can be understood that in a multi - floor working scenario such as a multi - floor factory building, AGV, AMR and other handling robots are usually used to handle goods. And in a multi - floor working scenario, there are two types of handling tasks, one is a non - cross - floor handling task, and the other is a cross - floor handling task.
[0089] In the scenario of performing cross - floor handling tasks, since the number of vehicles of each vehicle type on each floor is dynamically changing, for the same vehicle type, the problem of uneven number of vehicles on each floor will occur during the execution process, resulting in low overall handling efficiency on each floor. For example, if the number of vehicles on a certain floor is too large, the planned route of the handling robot during the handling task will be affected by the positions of other handling robots, that is, it needs to avoid obstacles. Then, usually it needs to detour, resulting in low handling efficiency. If the number of vehicles on a certain floor is too small, the handling task cannot be executed in time, resulting in low handling efficiency.
[0090] In the scenario of performing handling tasks that do not span floors, for the same vehicle type, there will be problems of imbalance between the handling task volume and the number of vehicles in different time periods on each floor, resulting in low overall handling efficiency on each floor. For example, if both Floor A and Floor B are allocated 5 handling robots, and the handling task volume on Floor A is 10 in a certain time period while the handling task volume on Floor B is 0 in the same time period, then only 5 handling tasks on Floor A can be executed first, and the remaining 5 handling tasks cannot be executed in a timely manner. At the same time, the handling robots on Floor B are idle during this time period, resulting in waste of resources, and thus the overall handling efficiency on each floor is low.
[0091] Therefore, in order to improve the overall handling efficiency of handling tasks in the multi-floor working scenario, in this embodiment, the number of handling robots of each vehicle type on each floor is monitored, that is, when the predetermined detection period is reached, the number of handling robots of each vehicle type on each floor is obtained, so that subsequent scheduling can be performed according to the number of handling robots of each vehicle type on each floor, thereby balancing the number of handling robots of each vehicle type on each floor and improving the overall handling efficiency.
[0092] S102, if the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of handling robots of this vehicle type for the current first floor, then determine a second floor from other floors; wherein, the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of handling robots of this vehicle type for the current second floor;
[0093] In this embodiment, the minimum number limit of handling robots of a vehicle type for any current floor can be a preset fixed value or determined according to the handling task volume of this vehicle type for the current floor.
[0094] Exemplarily, if the minimum number limit is a preset fixed value, then in practical applications, this fixed value can be set by relevant technical personnel according to the actual number of vehicles of each vehicle type in this multi-floor working scenario and experience. That is, for the same vehicle type, the minimum number limit of handling robots of this vehicle type for each floor can be different.
[0095] Exemplarily, if the minimum number limit is determined according to the handling task volume, then for the same vehicle type, if the handling task volume of this vehicle type for any current floor is larger, then the minimum number limit of handling robots of this vehicle type for the current floor is larger. For example, if the handling task volume of Vehicle A for Floor A is 10 and the handling task volume of Vehicle A for Floor B is 5, then the minimum number limit of handling robots of Vehicle A for Floor A is greater than the minimum number limit of handling robots of Vehicle A for Floor B.
[0096] It is understandable that if the number of handling robots of a vehicle model on any floor is lower than the minimum number limit of handling robots of that vehicle model for that floor, it means that there is a shortage of handling robots of that vehicle model on that floor. Then, it is necessary to transfer handling robots of that vehicle model to that floor.
[0097] When the number of handling robots of that vehicle model on the first floor is lower than the minimum number limit of handling robots of that vehicle model for the current first floor, the second floor is determined from other floors. Since the number of handling robots of that vehicle model on the second floor is higher than the minimum number limit of handling robots of that vehicle model for the current second floor, that is, the number of vehicles of that vehicle model on the second floor can meet the minimum level set for that vehicle model on that floor, then, handling robots of that vehicle model can be transferred from the second floor to the first floor.
[0098] Optionally, in one implementation, the handling robots of that vehicle model are used to perform cross-floor handling tasks; the minimum number limit of handling robots of that vehicle model for any current floor represents: the preset minimum water level of handling robots of that vehicle model for that floor;
[0099] In this implementation, for each vehicle model used to perform cross-floor handling tasks, the minimum number limit of handling robots of that vehicle model for any current floor represents the preset minimum water level of handling robots of that vehicle model for that floor. The preset minimum water level of handling robots of that vehicle model for each floor is the minimum number of vehicles of that vehicle model allowed to exist on that floor.
[0100] Correspondingly, in this implementation, determining the second floor from other floors may include steps A1 - A2:
[0101] A1, for each other floor, calculate the first difference between the preset maximum water level of handling robots of that vehicle model for that floor and the number of handling robots of that vehicle model on that floor;
[0102] A2, determine the floor with the smallest calculated first difference as the second floor.
[0103] In this implementation, for each vehicle model used to perform cross-floor handling tasks, the preset maximum water level of handling robots of that vehicle model for each floor is the maximum number of vehicles of that vehicle model allowed to exist on that floor. Exemplarily, in practical applications, relevant technicians can set a maximum water level and a minimum water level for each vehicle model used to perform cross-floor handling tasks on each floor as the preset maximum water level and preset minimum water level of handling robots of that vehicle model on that floor.
[0104] Exemplarily, the maximum water level for each vehicle type on each floor can be set according to the actual number of vehicles of that vehicle type in the multi-floor working scenario and the movable range of each floor. For example, if the movable range of Floor A is greater than that of Floor B, then for the same vehicle type, the maximum water level of Floor A can be set higher than that of Floor B. It can be understood that for a floor with a smaller movable range, if there are a large number of handling robots, route conflicts are likely to occur when the handling robots execute tasks, or the position of an idle handling robot affects the travel route of the handling robot executing the handling task, resulting in low handling efficiency. By controlling the number of vehicles of each vehicle type on each floor to be less than the maximum water level set for that vehicle type, it is possible to avoid situations beyond the bearing capacity of the floor, reduce the probability of route conflicts among the operation routes of each handling robot, and improve the handling efficiency.
[0105] Exemplarily, the minimum water level for each vehicle type on each floor can be set according to the actual number of vehicles of that vehicle type in the multi-floor working scenario and the minimum number of vehicles required when the corresponding historical handling tasks of that vehicle type on each floor are executed. For example, if the minimum number of vehicles required when the historical handling tasks of Vehicle Type A are executed on Floor A is greater than the minimum number of vehicles required when the historical handling tasks of Vehicle Type A are executed on Floor B, then for Vehicle Type A, the minimum water level of Floor A can be set higher than that of Floor B. By controlling the number of vehicles of that vehicle type on each floor to be greater than the minimum water level, the probability that the number of vehicles on each floor is less than the number of vehicles required for executing the handling tasks to be carried on that floor can be reduced, thereby improving the handling efficiency.
[0106] It can be understood that for each of the other floors, if the first difference is positive, the smaller the first difference, the closer the number of handling robots of that vehicle type on that floor is to the maximum number of vehicles set for that vehicle type on that floor. If the first difference is negative, it means that the number of handling robots of that vehicle type on that floor exceeds the maximum number of vehicles set for that vehicle type on that floor. Therefore, the smaller the first difference, the more sufficient the number of handling robots of that vehicle type on that floor. Then, the floor with the smallest calculated first difference is determined as the second floor, so that vehicles can be transferred from the floor with the most sufficient number of vehicles of that vehicle type subsequently, to balance the number of vehicles of that vehicle type on each floor to the greatest extent, thereby improving the overall handling efficiency of the handling tasks to be carried corresponding to that vehicle type in the multi-floor working scenario.
[0107] Optionally, in another implementation, the handling robots of that vehicle type are used to execute non-cross-floor handling tasks; the minimum number limit of the handling robots of that vehicle type on any current floor represents the ratio of the handling task volume corresponding to that vehicle type on the current floor to the upper limit of the vehicle requirement rate preset;
[0108] In this implementation manner, for each vehicle type used to perform non-cross-floor handling tasks, an upper limit of vehicle demand rate can be set for each floor for this vehicle type. The vehicle demand rate of each vehicle type is the ratio of the handling task volume corresponding to this vehicle type to the number of vehicles of this vehicle type. Exemplarily, the preset upper limit of vehicle demand rate can be set to 3 or 4, etc. In practical applications, the upper limit of vehicle demand rate can be set by relevant technical personnel according to experience, and the embodiments of this application do not limit this.
[0109] Exemplarily, if the handling task volume corresponding to this vehicle type on the current floor is 20 and the preset upper limit of vehicle demand rate is 4, then the minimum number limit of the handling robots of this vehicle type on the current floor is 5. At this time, if the number of vehicles of this vehicle type on this floor is less than 5, then the number of vehicles of the handling robots of this vehicle type on the current floor is seriously insufficient. Then, in order to improve the handling efficiency of the handling tasks corresponding to this vehicle type, handling robots of this vehicle type can be transferred into this floor.
[0110] Correspondingly, in this implementation manner, determining a second floor from other floors may include steps B1 - B3:
[0111] B1. For each of the other floors, obtain the handling task volume corresponding to this vehicle type on the current floor;
[0112] B2. Calculate the ratio of the handling task volume corresponding to this vehicle type on the current floor to the number of handling robots of this vehicle type on the current floor to obtain the vehicle demand rate of the current floor for this vehicle type;
[0113] B3. Determine the floor with the smallest calculated vehicle demand rate as the second floor.
[0114] In this implementation manner, the handling task volume corresponding to this vehicle type on each of the other floors can be obtained first, and then the ratio of the handling task volume corresponding to this vehicle type on each of the other floors to the number of vehicles of this vehicle type on this floor can be calculated to obtain the vehicle demand rate of the current floor for this vehicle type. Exemplarily, if the handling task volume corresponding to the current A vehicle type on the A floor is 20 and the number of vehicles of the current A vehicle type on the A floor is 5, then the vehicle demand rate of the current A floor for the A vehicle type is 4.
[0115] It can be understood that for the same vehicle type, the greater the vehicle demand rate of a floor, the more vehicles of this vehicle type are required on this floor, and the smaller the vehicle demand rate of a floor, the fewer vehicles of this vehicle type are required on this floor. Therefore, by determining the floor with the smallest vehicle demand rate corresponding to this vehicle type among other floors as the second floor, it is possible to transfer vehicles from the floor with the most sufficient number of vehicles of this vehicle type subsequently, so as to balance the number of vehicles of this vehicle type on each floor to the greatest extent, thereby improving the overall handling efficiency of the handling tasks corresponding to this vehicle type in a multi-floor working scenario.
[0116] S103. Generate a scheduling task for the transfer of the handling robot of this vehicle model from the second floor to the first floor, and execute the generated scheduling task.
[0117] In this embodiment, after determining the second floor through step S102, a scheduling task for the transfer of the handling robot of this vehicle model from the second floor to the first floor is generated, and the generated scheduling task is executed to schedule the handling robot of this vehicle model on the second floor to move from the second floor to the first floor.
[0118] Optionally, in one implementation, executing the generated scheduling task may include steps C1 - C2:
[0119] C1. Detect whether there are multiple scheduling tasks involving the same floor in the currently generated scheduling tasks;
[0120] C2. If so, select one from the multiple scheduling tasks for execution.
[0121] It can be understood that since multiple scheduling tasks may be generated within one detection cycle, and when multiple scheduling tasks involve the same floor, it will cause elevator congestion. For example, if the currently generated scheduling tasks include scheduling task A which represents the transfer of the handling robot of vehicle model A from the 2nd floor to the 4th floor, and scheduling task B which represents the transfer of the handling robot of vehicle model B from the 2nd floor to the 1st floor, then executing these two scheduling tasks simultaneously within one detection cycle will cause elevator congestion.
[0122] To solve the problem of elevator congestion caused by frequent vehicle transfer within one detection cycle, in this implementation, for each floor, it is controlled that only one scheduling task is executed on this floor within the same detection cycle. That is, when there are multiple scheduling tasks involving the same floor, select one from the multiple scheduling tasks for execution and discard the other scheduling tasks.
[0123] Exemplarily, the method of selecting one from multiple scheduling tasks can be to sort the scheduling tasks according to the vehicle shortage degree of the incoming floor of the handling robot involved in each scheduling task, and select the scheduling task with the highest vehicle shortage degree for execution. Or, sort the scheduling tasks according to the distance between the incoming floor and the outgoing floor of the handling robot involved in each scheduling task, and select the scheduling task with the shortest distance for execution. These are all reasonable.
[0124] In addition, by controlling that only one scheduling task is executed on one floor within the same detection cycle, it is possible to avoid the oscillating back - and - forth vehicle transfer for the same vehicle model.
[0125] Optionally, in one implementation, the handling robot transferred by any scheduling task is in an idle state, and compared with other handling robots of the same vehicle model on the floor being transferred from, this handling robot is the closest to the cross - floor passage entrance.
[0126] In this implementation manner, the handling robot transferred out of the scheduling task is in an idle state. If, after any scheduling task is generated, none of the handling robots of this vehicle type in the transferred-out floor involved in this scheduling task are in an idle state, then wait until an idle handling robot appears among the handling robots of this vehicle type in the transferred-out floor, and then execute this scheduling task. Among them, after any vehicle type of handling robot finishes executing the assigned task to be handled, it is in an idle state.
[0127] Moreover, in this implementation manner, the number of handling robots transferred out for each scheduling task is one, and this one handling robot is the handling robot closest to the cross-floor passage opening among all the handling robots of the vehicle type involved in this scheduling task selected from the transferred-out floor. Exemplarily, the cross-floor passage opening can be an elevator entrance, a stair entrance, and so on.
[0128] It can be understood that when executing the scheduling task of any vehicle type, by selecting the handling robot that is in an idle state and closest to the cross-floor passage opening from the handling robots of this vehicle type for scheduling, the handling robot of this vehicle type can be scheduled to the floor to be transferred into most quickly without affecting the tasks to be handled currently being executed on the transferred-out floor, thereby further improving the handling efficiency in the multi-floor working scenario.
[0129] For the solution provided in the embodiment of the present application, if the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of the handling robots of this vehicle type for the current first floor, it means that the number of vehicles of this vehicle type on this floor is small, and handling robots of this vehicle type need to be transferred into this floor. Since the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of the handling robots of this vehicle type for the current second floor, that is, the number of vehicles of this vehicle type on the second floor can meet the lowest level set for this vehicle type on this floor. Then, transferring the handling robots of this vehicle type from the second floor to the first floor can increase the number of vehicles of this vehicle type on the first floor, so that gradually the number of vehicles of this vehicle type on the first floor can reach the minimum number limit of the handling robots of this vehicle type. Furthermore, the number of vehicles of this vehicle type on each floor can be gradually balanced, thereby improving the overall handling efficiency of the tasks to be handled corresponding to this vehicle type in the multi-floor working scenario.
[0130] In addition, the scheduling of the handling robots for each vehicle type is independent of each other. By generating scheduling tasks for the handling robots of each vehicle type respectively, the problem that the handling robots scheduled do not match the handling robots required for the tasks to be handled can be avoided.
[0131] Optionally, in another embodiment of the present application, on the basis of the Figure 1 embodiment shown, asFigure 2 As shown in the figure, the above method may further include steps S104 - S105:
[0132] S104. If the number of handling robots of this vehicle model on the first floor is higher than the maximum number limit of handling robots of this vehicle model for the current first floor, then determine a third floor from other floors; wherein, the number of handling robots of this vehicle model on the third floor is lower than the maximum number limit of handling robots of this vehicle model for the current third floor;
[0133] S105. Generate a second scheduling task to transfer the handling robots of this vehicle model from the first floor to the third floor, and execute the generated scheduling task.
[0134] In this embodiment, the maximum number limit of handling robots of a vehicle model for any current floor may be a preset fixed value, or may be determined according to the quantity of handling tasks of this vehicle model for the current floor.
[0135] Exemplarily, if the maximum number limit is a preset fixed value, then in practical applications, this fixed value can be set by relevant technical personnel according to the actual number of vehicles of each vehicle model in this multi - floor working scenario and experience. That is, for the same vehicle model, the maximum number limit of handling robots of this vehicle model for each floor may be different.
[0136] Exemplarily, if the maximum number limit is determined according to the quantity of handling tasks, then for the same vehicle model, if the quantity of handling tasks of this vehicle model for any current floor is more, then the maximum number limit of handling robots of this vehicle model for the current floor is larger.
[0137] It can be understood that if the number of handling robots of a vehicle model on any floor is higher than the maximum number limit of handling robots of this vehicle model for that floor, it means that the number of vehicles of this vehicle model on that floor is relatively large, and it is necessary to transfer the handling robots of this vehicle model from that floor.
[0138] When the number of handling robots of this vehicle model on the first floor is higher than the maximum number limit of handling robots of this vehicle model for the current first floor, then determine a third floor from other floors. Since the number of handling robots of this vehicle model on the third floor is lower than the maximum number limit of handling robots of this vehicle model for the current third floor, that is, the number of vehicles of this vehicle model on the third floor does not exceed the highest level set for this vehicle model on that floor, then, the handling robots of this vehicle model can be transferred from that floor to the third floor.
[0139] Optionally, in one implementation, the handling robot of this vehicle type is used to perform cross-floor handling tasks; the maximum number limit of the handling robots of this vehicle type on any current floor indicates the preset maximum water level of the handling robots of this vehicle type on this floor;
[0140] In this implementation, for each vehicle type used to perform cross-floor handling tasks, the maximum number limit of the handling robots of this vehicle type on any current floor indicates the preset maximum water level of the handling robots of this vehicle type on this floor. The preset maximum water level of the handling robots of this vehicle type on each floor is the maximum number of vehicles of this vehicle type allowed to exist on this floor.
[0141] Accordingly, in this implementation, determining the third floor from other floors includes steps D1 - D2:
[0142] D1, for each of the other floors, calculate the second difference between the number of handling robots of this vehicle type on this floor and the preset minimum water level of the handling robots of this vehicle type on this floor;
[0143] D2, determine the floor with the smallest calculated second difference as the third floor.
[0144] In this implementation, for each vehicle type used to perform cross-floor handling tasks, the preset minimum water level of the handling robots of this vehicle type on each floor is the minimum number of vehicles of this vehicle type allowed to exist on this floor.
[0145] It can be understood that for each of the other floors, if the second difference is positive, the smaller the second difference, the closer the number of handling robots of this vehicle type on this floor is to the minimum number of vehicles of this vehicle type set for this floor. If the second difference is negative, it means that the number of handling robots of this vehicle type on this floor is less than the minimum number of vehicles of this vehicle type set for this floor. Therefore, the smaller the second difference, the more lacking the handling robots of this vehicle type on this floor. Then, determining the floor with the smallest calculated second difference as the third floor enables the subsequent scheduling of the handling robots of this vehicle type on this floor to the floor where the handling robots of this vehicle type are most lacking, so as to balance the number of vehicles of this vehicle type on each floor to the greatest extent, thereby improving the overall handling efficiency of the handling tasks corresponding to this vehicle type in the multi-floor working scenario.
[0146] Optionally, in another implementation, the handling robot of this vehicle type is used to perform non-cross-floor handling tasks; the maximum number limit of the handling robots of this vehicle type on any current floor indicates the ratio of the handling task volume corresponding to this vehicle type on the current floor to the preset lower limit of the vehicle requirement rate;
[0147] In this implementation, for each vehicle type used for non-inter-floor transport tasks, a lower vehicle demand rate limit can be set for that vehicle type on any current floor. For example, the preset lower vehicle demand rate limit can be set to 1 / 2, 1 / 4, etc. In actual applications, the lower vehicle demand rate limit can be set by relevant technical personnel based on experience, and this embodiment of the application does not limit this.
[0148] For example, if the number of pending transport tasks for a particular vehicle type on a floor is 5 and the preset lower limit for vehicle demand is 1 / 2, the maximum number of transport robots for that vehicle type on that floor is limited to 10. At this point, if the number of vehicles of that vehicle type on that floor is greater than 10, then many of the transport robots of that vehicle type are currently idle. Therefore, to avoid wasting resources and reduce the impact of other transport robots' positions on route planning when the transport robots of that vehicle type on that floor are performing tasks, the transport robots of that vehicle type can be removed from that floor.
[0149] Accordingly, in this implementation, determining the third floor from other floors includes steps E1-E3:
[0150] E1, for each other floor, obtain the current number of pending tasks corresponding to the vehicle type on that floor;
[0151] E2: Calculate the ratio of the number of to-be-carried tasks corresponding to the vehicle model on the current floor to the number of transport robots for the vehicle model on the current floor, and obtain the vehicle demand rate for the vehicle model on the current floor.
[0152] E3, the floor with the largest calculated vehicle demand rate is determined as the third floor.
[0153] In this implementation, steps E1-E2 may refer to the relevant descriptions of steps B1-B2 above, which will not be repeated here.
[0154] It's understandable that for the same vehicle model, floors with higher vehicle demand rates require more vehicles of that model, while floors with lower vehicle demand rates require fewer vehicles of that model. Therefore, by identifying the floor with the highest vehicle demand rate for that vehicle model as the third floor, the transport robots of that model on that floor can subsequently be dispatched to floors with the lowest demand for that model. This maximizes the balance of the number of vehicles of that model across floors, thereby improving the overall efficiency of the transport tasks for that model in multi-floor work scenarios.
[0155] In order to better understand the scheduling method of the transport robot provided by this application, Figure 3 – [[ID=il]]Figure 4 The specific examples provided in the embodiments of this application are introduced.
[0156] Taking AMR as an example, there are two scenarios for AMR to perform handling tasks. One is the scenario where AMR follows the elevator (i.e., performs cross-floor handling tasks), and the other is the scenario where AMR does not follow the elevator (i.e., performs non-cross-floor handling tasks). In the scenario of following the elevator, the number of vehicles on each floor changes dynamically, and the problem of uneven vehicle numbers on each floor will occur during the execution process; in the scenario of not following the elevator, there are problems of uneven handling task volumes and vehicle numbers in different time periods. In addition, there may be multiple vehicle types in the actual working scenario. For example, the AGV is used to perform ground handling tasks, and the forklift is used to perform AS / RS handling, etc. Different vehicle types are required according to different handling tasks, so the vehicle types that need to be scheduled are also different.
[0157] For the scenario of following the elevator, a water level configuration is provided for each floor. That is, for each vehicle type on each floor, a maximum water level and a minimum water level can be set. By setting a timed task to monitor whether the number of AMRs of each vehicle type on each floor is between the maximum water level and the minimum water level, it is determined whether to generate an AMR scheduling task.
[0158] The specific vehicle scheduling process for the scenario of following the elevator is as Figure 3 shown, including the following steps:
[0159] S301, the timed task starts;
[0160] In this example, the timed task can be set to start periodically. For example, the period is 1 minute. At this time, the timed task is started once every 1 minute.
[0161] S302, is the water level configured? If not, execute step S310; if so, execute step S303;
[0162] S303, query the number of vehicles of each vehicle type on each floor in turn;
[0163] Judge whether the water level is configured for each vehicle type on each floor. If not, the current timed task ends. If so, query the number of vehicles of each vehicle type on each floor in turn.
[0164] S304, is the number of vehicles on floor A > the maximum water level? If so, execute step S305; if not, execute step S307;
[0165] S305, query the difference between the number of vehicles of this vehicle type on other floors and the minimum water level, and find floor B with the smallest difference;
[0166] S306, generate a vehicle scheduling task from floor A to floor B for this vehicle type;
[0167] When the number of AMRs of a certain vehicle type on a certain floor exceeds the maximum water level, a shunting task (corresponding to the scheduling task in the above text) is generated, and the AMRs of this vehicle type on this floor are scheduled to the floor where the number of vehicles of this vehicle type is closest to the minimum water level. That is, for the same vehicle type, it is judged whether the number of vehicles on Floor A > the maximum water level. If so, then query the difference between the number of vehicles of this vehicle type on other floors and the minimum water level, and find Floor B with the smallest difference. Then, generate a shunting task for this vehicle type from Floor A to Floor B.
[0168] S307, whether the number of vehicles on Floor A < the minimum water level; if so, execute step S308, if not, then execute step S310;
[0169] S308, query the difference between the maximum water level and the number of vehicles of this vehicle type on other floors, and find Floor B with the smallest difference;
[0170] S309, generate a shunting task for this vehicle type from Floor B to Floor A;
[0171] S310, the current timing task ends; when the start time of the next timing task is reached, return to step S301.
[0172] When the number of AMRs of a certain vehicle type on a certain floor is less than the minimum water level, a shunting task is generated to shunt from the floor where the number of vehicles is closest to the maximum water level. That is, for the same vehicle type, it is judged whether the number of vehicles on Floor A < the minimum water level. If so, then query the difference between the maximum water level and the number of vehicles of this vehicle type on other floors, and find Floor B with the smallest difference. Then, generate a shunting task for this vehicle type from Floor B to Floor A. In addition, to avoid elevator congestion caused by frequent shunting, each floor controls that only one shunting task can be in progress on one floor at the same time.
[0173] For the non-elevator-following scenario, it is judged whether shunting is needed based on the current quantity of tasks to be carried on each floor for each vehicle type. The specific shunting process for the non-elevator-following scenario is as Figure 4 shown, including the following steps:
[0174] S401, the timing task starts;
[0175] In this example, the timing task can be set to start periodically, for example, with a period of 1 minute. At this time, the timing task is started once every 1 minute.
[0176] S402, sequentially query the number of tasks on each floor and classify them by vehicle type;
[0177] That is, query the quantity of tasks to be carried for each vehicle type on each floor.
[0178] S403, sequentially query the number of vehicles on each floor and classify them by vehicle type;
[0179] S404. Whether the vehicle demand rate on Floor A > the standard line; if yes, execute Step S405; if no, execute Step S407;
[0180] S405. Compare the vehicle demand rates of this vehicle model on other floors and find Floor B with the lowest vehicle demand rate;
[0181] S406. Generate a vehicle transfer task from Floor B to Floor A for this vehicle model;
[0182] S407. End this timing task; when the start time of the next timing task is reached, return to Step S401.
[0183] In this example, for any vehicle model, the ratio of the number of tasks Tn corresponding to this vehicle model on Floor A to the number of vehicles Cn of this vehicle model on Floor A is the vehicle demand rate Qn of this vehicle model on Floor A, that is The higher the vehicle demand rate, the more lacking in AMRs of this vehicle model on that floor. In this example, a standard line (corresponding to the upper limit of the vehicle demand rate in the above text) can be preset, for example, set to 4. Then when the vehicle demand rate Qn on Floor A > 4, it is necessary to transfer vehicles for support from the floor with the lowest vehicle demand rate. In addition, each floor controls that only one vehicle transfer task can exist on one floor at the same time to avoid oscillating back-and-forth vehicle transfers.
[0184] It can be seen that through this solution, vehicle model-based scheduling can be achieved, avoiding the problem of mismatch between the scheduled AMRs and the AMRs required for tasks; through water level control, the problem of uneven AMRs on each floor caused by the execution of tasks with the elevator is solved, avoiding the situation where each floor exceeds the floor's bearing capacity or is lower than the minimum number of vehicles required for task execution; by transferring vehicles according to the vehicle demand rate, the problem of uneven required AMR numbers caused by changes in the number of tasks at different times on different floors is solved.
[0185] Corresponding to the above method embodiments, the embodiments of the present application also provide a scheduling system for a handling robot, as Figure 5 shown, including a control device 510 and a handling robot 520;
[0186] The control device 510 is configured to execute the above scheduling method for the handling robot;
[0187] The handling robot 520 is configured to receive the scheduling task generated by the control device and move to the transfer-in floor involved in the received scheduling task.
[0188] In this embodiment, when the control device executes the generated scheduling task, it can select the handling robot that needs to be scheduled and send the generated scheduling task to this handling robot. After receiving the scheduling task, the handling robot moves to the transfer-in floor indicated by the received scheduling task. Among them, the method for the control device to select the handling robot that needs to be scheduled is introduced in the above method embodiments and will not be elaborated here.
[0189] In addition, the specific functions of the control device included in the scheduling system provided in the embodiments of the present application are introduced in the above method embodiments, and will not be elaborated here.
[0190] Corresponding to the above method embodiments, the embodiments of the present application further provide a scheduling device for a handling robot, as Figure 6 shown, the device includes:
[0191] An obtaining module 610, configured to obtain the number of handling robots of each vehicle type located on the first floor in a multi-floor working scenario in response to reaching a predetermined detection period;
[0192] A first determining module 620, configured to determine a second floor from other floors if the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of handling robots of this vehicle type for the current first floor; wherein, the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of handling robots of this vehicle type for the current second floor;
[0193] A first generating module 630, configured to generate a scheduling task for transferring the handling robots of this vehicle type from the second floor to the first floor, and execute the generated scheduling task.
[0194] Optionally, the device further includes:
[0195] A second determining module, configured to determine a third floor from other floors if the number of handling robots of this vehicle type on the first floor is higher than the maximum number limit of handling robots of this vehicle type for the current first floor; wherein, the number of handling robots of this vehicle type on the third floor is lower than the maximum number limit of handling robots of this vehicle type for the current third floor;
[0196] A second generating module, configured to generate a second scheduling task for transferring the handling robots of this vehicle type from the first floor to the third floor, and execute the generated scheduling task.
[0197] Optionally, the handling robots of this vehicle type are used to perform cross-floor handling tasks; the minimum number limit of handling robots of this vehicle type for any current floor represents: the preset minimum water level of handling robots of this vehicle type for this floor;
[0198] The first determining module 620 includes:
[0199] A first calculating sub-module, configured to calculate, for each other floor, a first difference between the preset maximum water level of handling robots of this vehicle type for this floor and the number of handling robots of this vehicle type on this floor;
[0200] The first determination sub-module is configured to determine the second floor as the floor with the smallest calculated first difference.
[0201] Optionally, the handling robot of this vehicle type is used to perform cross-floor handling tasks; the maximum quantity limit of the handling robot of this vehicle type for any current floor indicates: the preset maximum water level of the handling robot of this vehicle type for this floor;
[0202] The second determination module includes:
[0203] The second calculation sub-module is configured to calculate, for each other floor, a second difference between the quantity of the handling robots of this vehicle type on this floor and the preset minimum water level of the handling robots of this vehicle type for this floor;
[0204] The second determination sub-module is configured to determine the third floor as the floor with the smallest calculated second difference.
[0205] Optionally, the handling robot of this vehicle type is used to perform non-cross-floor handling tasks; the minimum quantity limit of the handling robot of this vehicle type for any current floor indicates: the ratio of the quantity of the handling tasks corresponding to this vehicle type on this current floor to the preset upper limit of the vehicle demand rate;
[0206] The first determination module 620 includes:
[0207] The first acquisition sub-module is configured to acquire, for each other floor, the quantity of the handling tasks corresponding to this vehicle type on this current floor;
[0208] The third calculation sub-module is configured to calculate the ratio of the quantity of the handling tasks corresponding to this vehicle type on this current floor to the quantity of the handling robots of this vehicle type on this current floor, to obtain the vehicle demand rate of this floor;
[0209] The third determination sub-module is configured to determine the second floor as the floor with the smallest calculated vehicle demand rate.
[0210] Optionally, the handling robot of this vehicle type is used to perform non-cross-floor handling tasks; the maximum quantity limit of the handling robot of this vehicle type for any current floor indicates: the ratio of the quantity of the handling tasks corresponding to this vehicle type on this current floor to the preset lower limit of the vehicle demand rate; <\(
[0211] The second determination module includes:
[0212] The second acquisition sub-module is configured to acquire, for each other floor, the quantity of the handling tasks corresponding to this vehicle type on this current floor;
[0213] A fourth calculation sub-module, configured to calculate a ratio of the quantity of the handling tasks corresponding to the vehicle type on the current floor to the number of handling robots of the vehicle type on the current floor, so as to obtain a vehicle demand rate for the vehicle type on the current floor;
[0214] A fourth determination sub-module, configured to determine the floor with the highest calculated vehicle demand rate as the third floor.
[0215] Optionally, the first generation module 630 is specifically configured to:
[0216] Detect whether there are multiple scheduling tasks involving the same floor in the currently generated scheduling tasks;
[0217] If so, select one of the multiple scheduling tasks for execution.
[0218] Optionally, the handling robot transferred away by any scheduling task is in an idle state, and is the closest to the cross-floor passage among other handling robots of the same vehicle type on the transferred floor.
[0219] In the technical solution of the present application, operations such as obtaining, storing, using, processing, transmitting, providing, and disclosing information such as the handling tasks, the number and status of handling robots on each floor in the involved work scenario are all carried out under the condition of obtaining user authorization.
[0220] The embodiment of the present application further provides an electronic device, as Figure 7 shown, including:
[0221] A memory 701, configured to store a computer program;
[0222] A processor 702, configured to implement the steps of any of the above-mentioned scheduling methods for handling robots when executing the program stored on the memory 701;
[0223] And the above-mentioned electronic device may further include a communication bus and / or a communication interface, and the processor 702, the communication interface, and the memory 701 complete mutual communication through the communication bus.
[0224] The communication bus mentioned in the above-mentioned electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus.
[0225] The communication interface is used for communication between the above-mentioned electronic device and other devices.
[0226] The memory may include a Random Access Memory (RAM), or may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.
[0227] The aforementioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
[0228] In another embodiment provided by the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above-mentioned scheduling methods for handling robots are implemented.
[0229] In another embodiment provided by the present application, there is also provided a computer program product containing instructions, which when running on a computer, causes the computer to execute any of the scheduling methods for handling robots in the above embodiments.
[0230] 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 one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application 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 from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (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 data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a solid-state disk (SSD), etc.
[0231] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device that includes the element.
[0232] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the system, device, electronic device, computer-readable storage medium, and computer program product, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.
[0233] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.
Claims
1. A scheduling method for a handling robot, characterized in that, The method includes: For the first floor in a multi - floor working scenario, in response to reaching a predetermined detection period, obtaining the number of handling robots of each vehicle type located on the first floor; If the number of handling robots of this vehicle type on the first floor is lower than the minimum number limit of handling robots of this vehicle type for the current first floor, then determining a second floor from other floors; wherein, the number of handling robots of this vehicle type on the second floor is higher than the minimum number limit of handling robots of this vehicle type for the current second floor; Generating a scheduling task to transfer the handling robots of this vehicle type from the second floor to the first floor, and executing the generated scheduling task.
2. The method according to claim 1, wherein The method further includes: If the number of handling robots of this vehicle type on the first floor is higher than the maximum number limit of handling robots of this vehicle type for the current first floor, then determining a third floor from other floors; wherein, the number of handling robots of this vehicle type on the third floor is lower than the maximum number limit of handling robots of this vehicle type for the current third floor; Generating a second scheduling task to transfer the handling robots of this vehicle type from the first floor to the third floor, and executing the generated scheduling task.
3. The method according to claim 1 or 2, characterized in that, The handling robots of this vehicle type are used to perform cross - floor handling tasks; the minimum number limit of handling robots of this vehicle type for any current floor represents: the preset minimum water level of handling robots of this vehicle type for this floor; The determining the second floor from other floors includes: For each other floor, calculating a first difference between the preset maximum water level of handling robots of this vehicle type for this floor and the number of handling robots of this vehicle type on this floor; Determining the floor with the smallest calculated first difference as the second floor.
4. The method according to claim 2, wherein The handling robots of this vehicle type are used to perform cross - floor handling tasks; the maximum number limit of handling robots of this vehicle type for any current floor represents: the preset maximum water level of handling robots of this vehicle type for this floor; The determining the third floor from other floors includes: For each other floor, calculating a second difference between the number of handling robots of this vehicle type on this floor and the preset minimum water level of handling robots of this vehicle type for this floor; Determining the floor with the smallest calculated second difference as the third floor.
5. The method according to claim 1 or 2, characterized in that, The handling robots of this vehicle type are used to perform non - cross - floor handling tasks; the minimum number limit of handling robots of this vehicle type for any current floor represents: the ratio of the handling task volume corresponding to this vehicle type in the current floor to the preset upper limit of vehicle demand rate; The determining the second floor from other floors includes: For each other floor, obtaining the handling task volume corresponding to this vehicle type in the current floor; Calculating the ratio of the handling task volume corresponding to this vehicle type in the current floor to the number of handling robots of this vehicle type in the current floor to obtain the vehicle demand rate of this vehicle type for the current floor; Determining the floor with the smallest calculated vehicle demand rate as the second floor.
6. The method according to claim 2, characterized in that, The handling robot of this model is used to perform non-cross-floor handling tasks; the maximum number limit of the handling robot of this model for any current floor represents the ratio of the handling task volume corresponding to this model on the current floor to the preset lower limit of the vehicle requirement rate; Said determining the third floor from other floors includes: For each of the other floors, obtain the handling task volume corresponding to this model on the current floor; Calculate the ratio of the handling task volume corresponding to this model on the current floor to the number of handling robots of this model on the current floor to obtain the vehicle requirement rate of the current floor for this model; Determine the floor with the highest calculated vehicle requirement rate as the third floor.
7. The method according to claim 1 or 2, characterized in that, Said executing the generated scheduling task includes: Detect whether there are multiple scheduling tasks involving the same floor in the currently generated scheduling tasks; If so, select one from the multiple scheduling tasks for execution.
8. The method according to claim 1 or 2, characterized in that, The handling robot transferred by any scheduling task is in an idle state, and is the closest to the cross-floor passage among other handling robots of the same model on the transferred floor.
9. A scheduling system for a handling robot, characterized in that, The system includes: a handling robot and a control device; The control device is used to execute the method according to any one of claims 1-8; The handling robot is used to receive the scheduling task generated by the control device and move to the incoming floor involved in the received scheduling task.
10. A scheduling device for a handling robot, characterized in that, The device includes: An acquisition module, configured to, for the first floor in a multi-floor working scenario, in response to reaching a predetermined detection period, acquire the number of handling robots of each model located on the first floor; A first determination module, configured to, if the number of handling robots of this model on the first floor is lower than the minimum number limit of the handling robots of this model for the current first floor, determine a second floor from other floors; wherein, the number of handling robots of this model on the second floor is higher than the minimum number limit of the handling robots of this model for the current second floor; A first generation module, configured to generate a scheduling task for transferring the handling robot of this model from the second floor to the first floor and execute the generated scheduling task.
11. An electronic device, characterized in that, Includes: A memory for storing a computer program; A processor, configured to, when executing the program stored on the memory, implement the method according to any one of claims 1-8.
12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1-8.