CN120246501B - Method for storing and retrieving goods by mobile robots based on electric mobile shelves - Google Patents
Method for storing and retrieving goods by mobile robots based on electric mobile shelvesInfo
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- CN120246501B CN120246501B CN202510744625.7A CN202510744625A CN120246501B CN 120246501 B CN120246501 B CN 120246501B CN 202510744625 A CN202510744625 A CN 202510744625A CN 120246501 B CN120246501 B CN 120246501B
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- shelf
- mobile robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明提出的基于电动移动货架的移动机器人存取货物的方法，包括：根据当前存取任务和各台移动机器人的状态信息，生成作业指令至目标移动机器人；在监测到目标移动机器人行进至电动移动货架组的驶入驶出标识位置处时，向电动移动货架控制模块下发驶入指示信号；在接收到驶入指示信号后，根据当前存取任务确定电动移动货架组的目标移动策略；根据目标移动策略，发送第一控制信号至电动移动货架控制器组；根据第一控制信号控制各排电动移动货架按照目标移动策略移动；驱动目标移动机器人经作业通道行驶至当前存取任务对应的作业位置，使目标移动机器人在作业位置处执行存取操作。
The method for storing and retrieving goods by a mobile robot based on an electric mobile shelf proposed in the present invention includes: generating an operation instruction to a target mobile robot according to a current storage and retrieval task and status information of each mobile robot; when monitoring that the target mobile robot moves to the entry and exit identification position of the electric mobile shelf group, sending an entry indication signal to the electric mobile shelf control module; after receiving the entry indication signal, determining the target movement strategy of the electric mobile shelf group according to the current storage and retrieval task; sending a first control signal to the electric mobile shelf controller group according to the target movement strategy; controlling each row of electric mobile shelves to move according to the target movement strategy according to the first control signal; driving the target mobile robot to travel through the operation channel to the operation position corresponding to the current storage and retrieval task, so that the target mobile robot performs the storage and retrieval operation at the operation position.
Description
Technical Field
The invention relates to the technical field of intelligent storage and related technical fields, in particular to a method for storing and taking goods by a mobile robot based on an electric mobile goods shelf.
Background
Robots having access to work capability, such as AGVs (Automated Guided Vehicle, automated guided vehicles) and AMR (Autonomous Mobile Robot, autonomous target mobile robots), are used in a wide variety of manufacturing, commercial, and logistics industries. In an actual scene, the movable robot is usually combined with a beam type goods shelf to achieve the purpose of storing and taking goods in the beam type goods shelf through the movable robot.
Generally, the goods shelves are fixed on the ground, and a passage enough for the mobile robot to pass through is reserved between the goods shelves, so that goods can be conveniently stored and taken in each goods shelf. Therefore, the channel occupies a large amount of space, the service cost is increased, and the more the channel occupies space in the limited operation space range, the less space is reserved for the goods shelf, so that the storage amount in unit area is reduced, and the space resource waste is caused.
In this regard, it is pointed out in the related art that the racks can be adjacently arranged in rows without leaving a channel, and the piggyback type target mobile robot is adopted to drive into the bottom of the racks, the whole row of racks is conveyed to the sorting table for sorting cargoes, and after sorting is completed, the whole row of racks is conveyed back to the original position by the piggyback type target mobile robot so as to promote the storage amount of unit area in the limited space. However, in this scheme, even if a single cargo is simply accessed, the entire rack needs to be moved in and out, so that the number of the piggyback type target mobile robots to be input needs to be increased, and the working strength of the single piggyback type target mobile robot is also huge, so that the possibility of damage is high. Overall, this solution leads back to a dramatic increase in the cost of the entire engineering project.
Therefore, how to combine the overall cost of goods access and the storage capacity in a limited space becomes a technical problem to be solved in the present day.
Disclosure of Invention
Embodiments described herein provide a method for accessing goods by a mobile robot based on an electric mobile shelf, solving the problems of the prior art.
According to the disclosure, a method for a mobile robot to access goods based on an electric mobile shelf is provided, and the method is applied to a goods access system, the goods access system comprises an electric mobile shelf control module, an electric mobile shelf controller group, an electric mobile shelf group, a mobile robot scheduling module and a plurality of mobile robots, wherein the electric mobile shelf controller group comprises a plurality of groups of electric mobile shelf controllers, the electric mobile shelf group comprises a plurality of rows of electric mobile shelves, the electric mobile shelf control module is respectively in communication connection with the mobile robot scheduling module and the plurality of groups of electric mobile shelf controllers, the mobile robot scheduling module is respectively in communication connection with the plurality of mobile robots, and one group of electric mobile shelf controllers is correspondingly connected with one row of mobile shelves, and the method comprises the following steps:
the mobile robot scheduling module generates a job instruction to a target mobile robot according to a current access task and state information of each mobile robot so that the target mobile robot can travel to an electric mobile goods shelf area based on the job instruction, wherein the state information at least comprises working state information and position state information, and the job instruction at least comprises a job type, a starting position and an end position;
The mobile robot scheduling module transmits an entering indication signal to the electric mobile goods shelf control module when monitoring that the target mobile robot moves to the entering and exiting identification position of the electric mobile goods shelf group;
The electric movable goods shelf control module determines a target movement strategy of the electric movable goods shelf group according to the current access task after receiving the entering indication signal;
the electric movable goods shelf control module determines a first control signal according to the target movement strategy and sends the first control signal to the electric movable goods shelf controller group;
The electric movable shelf controller group controls each row of electric movable shelves to move according to the target movement strategy according to the first control signal so as to generate a working channel for the target movable robot to reach the target electric movable shelf in the electric movable shelf area, wherein the target movable shelf is determined based on a starting point position or an end point position in the working instruction;
The mobile robot scheduling module drives a target mobile robot to travel to a working position corresponding to the current access task through the working channel, so that the target mobile robot executes access operation at the working position.
In one embodiment of the application, the method further comprises:
The mobile robot scheduling module transmits an outgoing indication signal to the electric mobile shelf control module when monitoring that the target mobile robot completes the current access task and moves to an outgoing identification position of the electric mobile shelf group in the process of leaving the electric mobile shelf area;
the electric movable goods shelf control module receives the outgoing indication signal and monitors that the mobile robot scheduling module does not receive a subsequent access task, and the electric movable goods shelf control module sends a second control signal to the electric movable goods shelf controller group;
and the electric movable goods shelf controller group controls each row of electric movable goods shelves to move to the initial position information according to the second control signal.
In one embodiment of the application, the method further comprises:
After receiving the driving-out indication signal, the electric movable goods shelf control module acquires a follow-up access task positioned after the current access task;
When the subsequent access task is different from the target electric mobile shelf corresponding to the current access task, the electric mobile shelf control module determines a target mobile strategy of the subsequent access task based on the first position information of the electric mobile shelf group after the current access task is executed, the initial position information of the electric mobile shelf group and the subsequent access task.
In one embodiment of the present application, the electric mobile shelf control module determines a target movement policy of the subsequent access task based on the first location information of the electric mobile shelf group after the current access task is performed, the initial location information of the electric mobile shelf group, and the subsequent storage task, including:
The electric movable shelf control module determines a plurality of available movable strategies of the electric movable shelf group for executing the subsequent access task and a first movable distance of the electric movable shelf group in the plurality of available movable strategies based on the first position information of the electric movable shelf group after executing the current access task and the current access task;
The electric movable shelf control module determines a plurality of available movable strategies of the electric movable shelf group for executing the subsequent access task and a second movable distance of the electric movable shelf group in the plurality of available movable strategies based on the initial position information of the electric movable shelf group and the subsequent access task;
and selecting a movement strategy with the shortest movement distance in the first movement distance and the second movement distance as a target movement strategy of the subsequent access task.
In one embodiment of the application, the method further comprises:
After receiving the driving-out indication signal, the electric movable goods shelf control module acquires a follow-up access task positioned after the current access task;
and when the follow-up access task is the same as the target electric movable goods shelf corresponding to the current access task, the electric movable goods shelf control module controls the positions of the electric movable goods shelves to be unchanged.
In one embodiment of the present application, the determining the target movement strategy of the electric moving rack set according to the current access task includes:
determining a plurality of available movement strategies of the electric movable shelf group according to the current access task;
And selecting a movement strategy with the shortest movement distance of the electric movable shelf group from the plurality of available movement strategies as the target movement strategy according to the movement distance of the electric movable shelf group in the plurality of available movement strategies.
In one embodiment of the present application, the in-out identifier is a physical identifier or a logical identifier;
The mobile robot scheduling module issues an entry indication signal to the electric mobile shelf control module when the target mobile robot is monitored to travel to the entry and exit identification position of the electric mobile shelf group, and the mobile robot scheduling module comprises:
When the target mobile robot moves to the driving-in and driving-out identification position of the electric mobile shelf group, an identification detection signal is sent to the mobile robot scheduling module;
And the mobile robot scheduling module transmits an entering indication signal to the electric mobile goods shelf control module after receiving the identification detection signal.
In one embodiment of the present application, the in-out identifier is an electronic map identifier;
The mobile robot scheduling module issues an entry indication signal to the electric mobile shelf control module when the target mobile robot is monitored to travel to the entry and exit identification position of the electric mobile shelf group, and the mobile robot scheduling module comprises:
The target mobile robot sends real-time position information of the target mobile robot to the mobile robot scheduling module in the process of entering the electric mobile shelf group;
and the mobile robot scheduling module transmits an entering indication signal to the electric mobile goods shelf control module when the real-time position information of the target mobile robot is the same as the position information corresponding to the electronic map mark.
In one embodiment of the present application, when the current access task is a storage task, the end position in the job instruction is determined based on the row, column, and layer of the electric movable pallet, and when the current access task is a retrieval task, the start position in the job instruction is determined based on the row, column, and layer of the electric movable pallet.
In one embodiment of the application, the electric movable shelf control module can control the single-row electric movable shelf to move or control the whole movement of a plurality of rows of electric movable shelves;
the electric movable goods shelf controller drives the electric movable goods shelf to move on a goods shelf track, or drives the electric movable goods shelf to move in a magnetic navigation mode.
According to the method for storing and taking goods by the mobile robot based on the electric mobile goods shelf, which is provided by the embodiment of the disclosure, double lifting of storage and taking operation efficiency and space utilization rate is realized through an intelligent goods storing and taking system. Specifically, by configuring an entrance and exit sign in the area of the electric movable goods shelf, the entrance and exit sign position realizes real-time information exchange through the electric movable goods shelf control module and the mobile robot scheduling module, realizes independent or integral movement of different rows of electric movable goods shelves on site, and can automatically restore the original position after the operation is completed. Therefore, the system can adapt to various complicated actual warehousing and storage operation scenes, reduces the space cost, time cost, electric power cost and instrument consumption cost of warehousing and storage operation, improves the storage quantity in a limited space, simultaneously gives consideration to the efficiency and cost of goods storage and storage, forms a benign warehousing and storage operation circulation mechanism, and provides effective support for integral warehousing and storage operation.
The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following specific embodiments of the present application are given for clarity and understanding.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following brief description of the drawings of the embodiments will be given, it being understood that the drawings described below relate only to some embodiments of the present disclosure, not to limitations of the present disclosure, in which:
fig. 1 is a flow chart of a method for a mobile robot to access goods based on an electric mobile shelf according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a cargo access system according to an embodiment of the present disclosure;
Fig. 3 is a schematic structural view of an arrangement of electric movable shelves according to an embodiment of the present disclosure
FIG. 4 is a schematic diagram of a mobile robot accessing an electrically mobile shelf area provided by an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of another mobile robot accessing an electrically mobile shelf area provided by an embodiment of the present disclosure;
FIG. 6 is a schematic illustration of yet another mobile robot accessing an electrically-powered mobile shelf area provided by an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
In the drawings, the last two digits are identical to the elements. It is noted that the elements in the drawings are schematic and are not drawn to scale.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by those skilled in the art based on the described embodiments of the present disclosure without the need for creative efforts, are also within the scope of the protection of the present disclosure.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the presently disclosed subject matter belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together either directly or joined through one or more intermediate parts.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of the phrase "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The term "and/or" is merely an association relation describing the association object, and means that three kinds of relations may exist, for example, a and/or B may mean that a exists, and a and B exist at the same time, and B exists. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Furthermore, in all embodiments of the present disclosure, terms such as "first" and "second" are used merely to distinguish one component (or portion of a component) from another component (or another portion of a component).
In the description of the present application, unless otherwise indicated, the meaning of "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two).
In order to make the person skilled in the art better understand the solution of the present application, the technical solution of the embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings.
Based on the problems existing in the prior art, the embodiment of the disclosure provides a method for accessing goods by using a mobile robot based on an electric mobile shelf, the method for accessing goods by using a mobile robot based on an electric mobile shelf is applied to a goods accessing system, the goods accessing system comprises an electric mobile shelf control module, an electric mobile shelf controller group, an electric mobile shelf group, a mobile robot scheduling module and a plurality of mobile robots, wherein the electric mobile shelf controller group comprises a plurality of groups of electric mobile shelf controllers, the electric mobile shelf group comprises a plurality of rows of electric mobile shelves, the electric mobile shelf control module is respectively in communication connection with the mobile robot scheduling module and the plurality of groups of electric mobile shelf controllers, the mobile robot scheduling module is respectively in communication connection with the plurality of mobile robots, a group of electric mobile shelf controllers is correspondingly connected with a row of mobile shelves, fig. 1 is a schematic flow diagram of a method for accessing goods by using a mobile robot based on an electric mobile shelf, fig. 2 is a schematic diagram of a goods accessing system provided by an embodiment of the disclosure, and fig. 3 is a schematic diagram of an electric mobile shelf arrangement structure provided by an embodiment of the disclosure, and in combination with fig. 1,2 and 3 is a schematic diagram of the method for accessing goods by using a mobile shelf based on a mobile robot which the embodiment of the disclosure comprises the following steps:
s110, the mobile robot scheduling module generates a job instruction to the target mobile robot according to the current access task and the state information of each mobile robot so that the target mobile robot can travel to the electric mobile goods shelf area based on the job instruction.
The state information at least comprises working state information and position state information, and the job instruction at least comprises a job type, a starting position and an end position.
Specifically, the target object may select an inventory item or a goods taking item on the mobile robot scheduling module, and input row, column and layer information of a target electric mobile shelf where the goods are stored or the goods are located, and the mobile robot generates a current access task in response to an operation submitted by the target object, and generates a job instruction according to the current access task.
The mobile robot scheduling module obtains state information of each mobile robot, for example, operation state information and position state information of each mobile robot, selects, as a target mobile robot, a mobile robot having the operation state information of an idle state and the position state information closest to the position information of the target electric mobile shelf, based on the state information of each mobile robot, and issues a business instruction to the target mobile robot so that the target mobile robot travels to the electric mobile shelf area based on the business instruction.
In a specific embodiment, when the current access task is a storage task, the end position in the job instruction is determined based on the row, column, and layer of the electric movable pallet, and when the current access task is a retrieval task, the start position in the job instruction is determined based on the row, column, and layer of the electric movable pallet.
For example, if the target object selects to store goods on the mobile robot scheduling module, the position information of the goods to be stored on the electric mobile goods shelf is B4-5-3, that is, B4 row, 5 column, 3 layer, the end position in the operation instruction may be defined as 453, if the target object selects to fetch goods on the mobile robot scheduling module, the position information of the goods to be fetched on the electric mobile goods shelf is A1-1-2, that is, A1 row, 1 column, 2 layer, and the start position in the operation instruction may be defined as 112.
In addition, the operation channel of the target electric movable goods shelf is determined based on the row information of the starting point position or the end point position in the operation command, and the operation position of the current storage task, namely the position information of the goods required to be taken on the electric movable goods shelf or the position information of the goods required to be stored on the electric movable goods shelf.
And S120, when the mobile robot scheduling module monitors that the target mobile robot moves to the position of the driving-in and driving-out identification of the electric mobile shelf group, the mobile robot scheduling module transmits a driving-in indication signal to the electric mobile shelf control module.
After the mobile robot scheduling module sends a work instruction to the target mobile robot, the target mobile robot advances to the electric mobile goods shelf area, and in the process that the target mobile robot advances to the electric mobile goods shelf area, whether the target mobile robot reaches the electric mobile goods shelf area needs to be detected, so that further action is taken after the target mobile robot reaches the electric mobile goods shelf area.
In a specific implementation manner, an entrance/exit identifier may be set at the entrance/exit position of the electric mobile shelf area, and when the target mobile robot moves to the entrance/exit identifier position, the mobile robot scheduling module may issue an entrance indication signal to the electric mobile shelf control module, so as to instruct the electric mobile shelf control module that the target mobile robot enters the electric mobile shelf area through the entrance indication signal.
As a specific implementation mode, the driving-in and driving-out identification is a physical identification or a logical identification, when the target mobile robot moves to the driving-in and driving-out identification position of the electric mobile shelf group, the target mobile robot sends an identification detection signal to the mobile robot scheduling module, and the mobile robot scheduling module sends a driving-in indication signal to the electric mobile shelf control module after receiving the identification detection signal.
The physical identifier may be a two-dimensional code, a bar code, or the like, and may also be a radio frequency identification (RFID, radio Frequency IDentification) tag.
According to the technical scheme, the physical identification hardware such as the two-dimensional code, the bar code or the RFID tag is low in cost and easy to deploy, has the advantage of high anti-interference performance, can increase the stability of the whole system, and is suitable for complex industrial environments.
As another specific implementation mode, the driving-in and driving-out identification is an electronic map identification, the target mobile robot sends real-time position information of the target mobile robot to the mobile robot scheduling module in the driving-in process of the target mobile robot to the electric mobile shelf group, and the mobile robot scheduling module sends out a driving-in indication signal to the electric mobile shelf control module when the real-time position information of the target mobile robot is identical to the position information corresponding to the electronic map identification.
Optionally, the real-time position of the target mobile robot can be determined by adopting any mode capable of performing real-time indoor positioning, such as Wi-Fi positioning, bluetooth positioning, UWB (ultra wide band) positioning and the like, inertial navigation positioning, camera vision positioning, infrared positioning, laser positioning and the like.
In the implementation mode, dependence on physical identification is reduced, and therefore the situation that the area in-out state is ambiguous due to the fact that the physical identification is damaged is avoided, and the accuracy of selection of the mobile goods shelf mobile strategy is further affected.
And S130, after receiving the entering indication signal, the electric movable shelf control module determines a target movement strategy of the electric movable shelf group according to the current access task.
The method comprises the steps of determining a plurality of available movement strategies of the electric movable shelf group according to a current access task, and selecting a movement strategy with the shortest movement distance of the electric movable shelf group from the plurality of available movement strategies as a target movement strategy according to the movement distance of the electric movable shelf group in the plurality of available movement strategies.
The target access strategy is an electric moving goods shelf moving method which is needed by the target moving robot to go to an operation channel reserved by the electric moving goods shelf for goods access.
As shown in fig. 3, if the goods on the 3 rd row of movable shelves are to be taken out, there are available 4 movable strategies, the first movable strategy is to move the 1 st row, the 2 nd row and the 3 rd row of movable shelves to the left in the figure by a unit distance, leaving the working channel on the right side of the 3 rd row, the second movable strategy is to move the 1 st row and the 2 nd row of movable shelves to the left in the figure by a unit distance, leaving the working channel on the left side of the 3 rd row, the third movable strategy is to move the 3 rd row, the 4 th row, the 5 th row and the 6 th row of movable shelves to the right in the figure by a unit distance, leaving the working channel on the left side of the 3 rd row, and the fourth movable strategy is to move the 4 th row, the 5 th row and the 6 th row of movable shelves to the right in the figure by a unit distance, leaving the working channel on the right side of the 3 rd row. The direction of movement of the motorized mobile pallet shown in fig. 4 is only one possibility of the various available movement strategies described above.
The movement distance of the electric shelf group in the available movement strategy refers to the sum of the movement distances of each of a plurality of electric movable shelves required to move in the available movement strategy.
In combination with the above example, the shelf movement distances corresponding to the four modes are three unit distances, two unit distances, four unit distances and three unit distances, respectively.
The moving distance of the electric moving shelf group in the moving strategy reflects the difficulty of the preparation work required by the target moving robot to execute the goods storing and taking operation, and the longer the moving distance of the electric moving shelf group is, the larger the power consumption of the available moving strategy is, and the longer the time is consumed.
In one possible design, a movement strategy with the shortest movement distance of the electric moving rack set is selected as a target movement strategy from a plurality of available movement strategies. The shorter the movement distance of the electric movable shelf group in the available movement strategy, the less power is consumed for driving the electric movable shelf to move, and the shorter the consumed time is, namely the lower the movement cost is, therefore, the target movement strategy of the electric movable shelf group under the current access task can be determined to move the electric movable shelf of the 1 st row and the 2 nd row to the left side in the figure by one unit distance, and a working channel is reserved at the left side of the 3 rd row.
Of course, each example of the context is only one alternative implementation of the present application, and in an actual scenario, the number of the electric mobile shelves includes, but is not limited to, the number shown in fig. 3, and the moving distance of each electric mobile shelf may also be set based on the information of the actual shelf width, the volume of the mobile robot, and the operation requirement space of the mobile robot.
According to the scheme, the energy efficiency and the operation efficiency of the electric movable goods shelf control module are obviously improved by optimizing a selection mechanism of a movement strategy of the electric movable goods shelf group. Specifically, the moving distance of the electric moving shelf group is used as a core evaluation index, the execution cost (power consumption and time cost) of different moving strategies is directly quantized, and the multiple optimization effect is realized by selecting the strategy with the shortest moving distance as a target moving strategy. Firstly, minimizing the physical displacement of the electric movable shelf reduces the driving energy consumption of a motor and directly reduces the operation cost, secondly, the shortened moving time improves the response speed of the mobile robot for accessing operation, so that the overall storage throughput is improved, furthermore, the distance-based optimization algorithm has low calculation complexity, can process a multi-task scene in real time in parallel, simultaneously reduces the abrasion of mechanical parts, and prolongs the service life of the movable parts of the electric movable shelf.
And S140, the electric movable goods shelf control module determines a first control signal according to the target movement strategy and sends the first control signal to the electric movable goods shelf controller group.
After determining the target movement strategy of the electric moving rack set in step S130, the electric moving rack control module outputs a first control signal to the electric moving rack controller set according to the target movement strategy to control the electric moving rack to move through the electric moving rack controller set.
As a specific implementation manner, continuing to combine fig. 3 and fig. 4, if the goods of the 3 rd row of mobile shelves are to be taken out, and the target movement strategy of the electric mobile shelf group determined by the electric mobile shelf control module is to move the 1 st row and the 2 nd row of electric mobile shelves to the left side in the figure by one unit distance, at this time, the first control signal output by the electric mobile shelf control module to the electric mobile shelf controller group is [ 11000000, one unit distance, the left side ] that is, the first row of electric mobile shelf controllers and the second row of electric mobile shelf controllers are enabled, and the first row of electric mobile shelf controllers control the first row of electric mobile shelves to move to the left side in the figure by one unit distance, and the second row of electric mobile shelf controllers control the second row of electric mobile shelves to move to the left side in the figure by one unit distance.
And S150, the electric movable shelf controller group controls each row of electric movable shelves to move according to a target movement strategy according to the first control signal so as to generate a working channel for the target movable robot to reach the target electric movable shelf in the electric movable shelf area.
After the electric movable shelf control module generates the first control signal to the electric movable shelf controller according to the target movement strategy in step S140, the electric movable shelf controller group controls each row of electric movable shelves to move according to the target movement strategy according to the first control signal.
As a specific implementation manner, in combination with fig. 3, the multiple rows of electric mobile shelves are arranged in parallel and used for storing goods, the electric mobile shelf control module can output a first control signal to one group of electric mobile shelf controllers, so that the electric mobile shelf controllers control the single row of electric mobile shelves to move, and the electric mobile shelf control module can respectively output the first control signal to the multiple groups of electric mobile shelf controllers, so that the electric mobile shelf controllers control the multiple rows of electric mobile shelves to move integrally.
The movable goods shelf controller drives the electric movable goods shelf to move on the goods shelf track, or drives the electric movable goods shelf to move in a magnetic navigation mode.
S160, the mobile robot scheduling module drives the target mobile robot to travel to the operation position corresponding to the current access task through the operation channel, so that the target mobile robot executes access operation at the operation position.
According to the method for storing and taking goods by the mobile robot based on the electric mobile goods shelf, which is provided by the embodiment of the disclosure, double lifting of storage and taking operation efficiency and space utilization rate is realized through an intelligent goods storing and taking system. Specifically, by configuring an entrance and exit sign in the area of the electric movable goods shelf, the entrance and exit sign position realizes real-time information exchange through the electric movable goods shelf control module and the mobile robot scheduling module, realizes independent or integral movement of different rows of electric movable goods shelves on site, and can automatically restore the original position after the operation is completed. Therefore, the system can adapt to various complicated actual warehousing and storage operation scenes, reduces the space cost, time cost, electric power cost and instrument consumption cost of warehousing and storage operation, improves the storage quantity in a limited space, simultaneously gives consideration to the efficiency and cost of goods storage and storage, forms a benign warehousing and storage operation circulation mechanism, and provides effective support for integral warehousing and storage operation.
Based on the foregoing embodiments, the method for accessing goods by using the mobile robot based on the electric mobile shelf according to the embodiment of the present disclosure further includes:
the mobile robot scheduling module transmits a driving-out indication signal to the electric mobile goods shelf control module when monitoring that the target mobile robot completes the current access task and moves to the driving-in and driving-out identification position of the electric mobile goods shelf group in the process of driving out of the electric mobile goods shelf area;
The electric movable goods shelf control module receives the outgoing indication signal, monitors that the mobile robot scheduling module does not receive a follow-up access task, sends a second control signal to the electric movable goods shelf controller group, and controls each row of electric movable goods shelves to move to the initial position information according to the second control signal.
In one possible design, when the mobile robot scheduling module monitors that the target mobile robot moves to the position of the driving-in and driving-out identification of the electric mobile shelf group in the process of completing the current access task and driving away from the electric mobile shelf area, the electric mobile shelf control module issues a driving-out indication signal, at this time, the electric mobile shelf control module receives the driving-out indication signal, and monitors that the mobile robot scheduling module does not receive the subsequent access task, the electric mobile shelf controller group controls each row of electric mobile shelves to move to the initial position information according to the second control signal. That is, the electric movable shelf is restored to the initial position after the current access task is completed.
On the basis of the embodiment, after the electric movable goods shelf control module receives the outgoing indication signal, if the mobile robot scheduling module is monitored to receive a follow-up access task, the electric movable goods shelf control module acquires the follow-up access task located after the current access task, and when the follow-up access task is different from a target electric movable goods shelf corresponding to the current access task, the electric movable goods shelf control module determines a target movement strategy of the follow-up access task based on first position information of an electric movable goods shelf group after executing the current access task, initial position information of the electric movable goods shelf group and the follow-up access task.
In a specific implementation mode, the electric movable goods shelf control module determines multiple available movable strategies of the electric movable goods shelf group for executing the subsequent access task and a first movable distance of the electric movable goods shelf group in the multiple available movable strategies based on first position information of the electric movable goods shelf group after executing the current access task and the subsequent access task, determines multiple available movable strategies of the electric movable goods shelf group for executing the subsequent access task and a second movable distance of the electric movable goods shelf group in the multiple available movable strategies based on initial position information of the electric movable goods shelf group and the subsequent access task, and selects a movable strategy with the shortest movable distance in the first movable distance and the second movable distance as a target movable strategy of the subsequent access task.
Specifically, referring to fig. 4 and 5, if the current storage task is to take out the goods on the 3 rd row of movable shelves, and if the electric movable shelf group is located at the first position information shown in fig. 4, there are 2 available movement strategies, the first movement strategy is to move the 3 rd row and the 4 th row of movable shelves to the left side in the figure by one unit distance, and leave a working channel on the left side of the 5 th row, the second movement strategy is to move the 3 rd row, the 4 th row and the 5 th row of movable shelves to the left side in the figure by one unit distance, and leave a working channel on the right side of the 5 th row, and the movement distances of the electric movable shelf groups corresponding to the two modes are two unit distances and three unit distances respectively.
Referring to fig. 3 and 5, if the current storage task is to take out the goods of the 3 rd row of mobile shelves, and if the subsequent storage task is to take out the goods of the 5 th row of mobile shelves at the initial position information shown in fig. 3, there is a movement strategy available in 4, the first movement strategy is to move the 1 st row, the 2 nd row, the 3 rd row and the 4 th row of mobile shelves to the left in the figure by one unit distance and leave a working channel at the left side of the 5 th row, the second movement strategy is to move the 1 st row, the 2 nd row, the 3 rd row, the 4 th row and the 5 th row of mobile shelves to the left in the figure by one unit distance and leave a working channel at the right side of the 5 th row by one unit distance, the third movement strategy is to move the 6 th row of mobile shelves to the right side in the figure by one unit distance and leave a working channel at the right side of the 5 th row by one unit distance and the fourth movement strategy is to move the 5 th row of mobile shelves to the right side in the figure by one unit distance and leave a corresponding unit distance at the left side of the 5 th row by one unit distance and two unit distances.
Then, one movement strategy of the subsequent storage task is to move the 3 rd and 4 th rows of electric moving shelves to the left side of the figure by one unit distance on the basis of the first position information of the electric moving shelf group of the current storage task, the corresponding electric moving shelf group movement distance is two unit distances, the other movement strategy of the subsequent storage task is to move the 6 th row of electric moving shelves to the right side of the figure by one unit distance on the basis of the initial position information of the electric moving shelf group, and the corresponding electric moving shelf group movement distance is one unit distance, but in the second movement strategy, the electric moving shelf group needs to be moved from the first position information to the initial position information first, and the corresponding electric moving shelf group movement distance is three unit distances, so the target movement strategy of the subsequent storage task is to move the 3 rd and 4 th rows of electric moving shelves to the left side of the figure by one unit distance respectively.
In one possible implementation manner, after receiving the driving-out indication signal, the electric movable goods shelf control module obtains a subsequent access task located after the current access task, and when the subsequent access task is the same as the target electric movable goods shelf corresponding to the current access task, the electric movable goods shelf is kept unchanged.
As shown in fig. 6, if the target mobile robot corresponding to the current access task is the mobile robot 1, if the subsequent access task is the same as the target electric mobile shelf corresponding to the current access task, after receiving the driving-out instruction signal, the electric mobile shelf control module determines that the target mobile robot of the subsequent access task is the mobile robot 2 according to the subsequent access task and state information of each mobile robot, at this time, the mobile robot scheduling module generates a job instruction to the mobile robot 2, and the electric mobile shelf control module controls the electric mobile shelf to remain unchanged, so that the mobile robot 2 runs to a job position corresponding to the subsequent access task through a job channel determined based on the current storage task, and the mobile robot 2 performs an access operation at the job position.
It should be noted that, in the above embodiment, the mobile robot scheduling module communicates with the electric mobile shelf control module based on OPC DA/UA, modbus, TCP or UDP.
The electric mobile shelf control module communicates with each electric shelf controller based on Profibus-DP, profinet, or EtherNet/IP.
On the basis of the above embodiments, the embodiment of the present disclosure further provides a computer device, as shown in fig. 7, including a memory 510 and a processor 520 that are communicatively connected to each other through a system bus. It should be noted that only computer devices having components 510-520 are shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and its hardware includes, but is not limited to, a microprocessor, an Application SPECIFIC INTEGRATED Circuit (ASIC), a Programmable gate array (Field-Programmable GATE ARRAY, FPGA), a digital Processor (DIGITAL SIGNAL Processor, DSP), an embedded device, and the like.
The computer device may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The computer device can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 510 includes at least one type of readable storage medium including non-volatile memory (non-volatile memory) or volatile memory, such as flash memory (flash memory), hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random access memory (random access memory, RAM), read-only memory (ROM), erasable programmable read-only memory (erasable programmable read-only memory, EPROM), electrically erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), programmable read-only memory (programmable read-only memory, PROM), magnetic memory, RAM, optical disk, etc., which may include static or dynamic. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, or a flash memory card (FLASH CARD) or the like, which are provided on the computer device. Of course, memory 510 may also include both internal storage units for computer devices and external storage devices. In this embodiment, the memory 510 is typically used to store an operating system installed on a computer device and various types of application software, such as program codes of the above-described methods. In addition, the memory 510 may also be used to temporarily store various types of data that have been output or are to be output.
Processor 520 is typically used to perform the overall operations of the computer device. In this embodiment, the memory 510 is configured to store program codes or instructions, the program codes include computer operation instructions, and the processor 520 is configured to execute the program codes or instructions stored in the memory 510 or process data, such as the program codes for executing the above-mentioned method.
Herein, the bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The bus system may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
Still another embodiment of the present application provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. The processor in the computer reads the computer readable program code stored in the computer readable medium, so that the processor can execute the functional actions specified in each step or combination of steps in the above-described method, and generates means for implementing the functional actions specified in each block of the block diagram or combination of blocks.
The computer readable medium includes, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor system, apparatus or device, or any suitable combination of the foregoing, the memory storing program code or instructions, the program code including computer operating instructions, and the processor executing the program code or instructions of the above-described methods stored by the memory.
The definition of memory and processor may refer to the description of the embodiments of the computer device described above, and will not be repeated here.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The functional units or modules in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
As used herein and in the appended claims, the singular forms of words include the plural and vice versa, unless the context clearly dictates otherwise. Thus, when referring to the singular, the plural of the corresponding term is generally included. Similarly, the terms "comprising" and "including" are to be construed as being inclusive rather than exclusive. Likewise, the terms "comprising" and "or" should be interpreted as inclusive, unless such an interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it follows a set of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or broad.
Further aspects and scope of applicability will become apparent from the description provided herein. It is to be understood that various aspects of the application may be implemented alone or in combination with one or more other aspects. It should also be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
While several embodiments of the present disclosure have been described in detail, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present disclosure without departing from the spirit and scope of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (9)
1. The utility model provides a method of mobile robot access goods based on electronic mobile goods shelves, is applied to goods access system, goods access system includes electronic mobile goods shelves control module, electronic mobile goods shelves controller group, electronic mobile goods shelves group, mobile robot dispatch module and many mobile robots, wherein, electronic mobile goods shelves controller group includes multiunit electronic mobile goods shelves controller, electronic mobile goods shelves group includes multirow electronic mobile goods shelves, electronic mobile goods shelves control module respectively with mobile robot dispatch module with multiunit electronic mobile goods shelves controller communication connection, mobile robot dispatch module respectively with many mobile robots communication connection, a set of electronic mobile goods shelves controller corresponds and connects one row of mobile goods shelves, its characterized in that includes:
the mobile robot scheduling module generates a job instruction to a target mobile robot according to a current access task and state information of each mobile robot so that the target mobile robot can travel to an electric mobile goods shelf area based on the job instruction, wherein the state information at least comprises working state information and position state information, and the job instruction at least comprises a job type, a starting position and an end position;
The mobile robot scheduling module transmits an entering indication signal to the electric mobile goods shelf control module when monitoring that the target mobile robot moves to the entering and exiting identification position of the electric mobile goods shelf group;
The electric movable goods shelf control module determines a target movement strategy of the electric movable goods shelf group according to the current access task after receiving the entering indication signal;
the electric movable goods shelf control module determines a first control signal according to the target movement strategy and sends the first control signal to the electric movable goods shelf controller group;
The electric movable goods shelf controller group controls each row of electric movable goods shelves to move according to the target movement strategy according to the first control signal so as to generate a working channel for the target movable robot to reach the target electric movable goods shelves in the electric movable goods shelf area, wherein the target electric movable goods shelves are determined based on a starting point position or an end point position in the working instruction;
The mobile robot scheduling module drives a target mobile robot to travel to a working position corresponding to the current access task through the working channel, so that the target mobile robot executes access operation at the working position;
the method further comprises the steps of:
after receiving the driving-out indication signal, the electric movable goods shelf control module acquires a follow-up access task positioned behind the current access task;
When the subsequent access task is different from the target electric mobile shelf corresponding to the current access task, the electric mobile shelf control module determines a target mobile strategy of the subsequent access task based on the first position information of the electric mobile shelf group after the current access task is executed, the initial position information of the electric mobile shelf group and the subsequent access task.
2. The method according to claim 1, wherein the method further comprises:
The mobile robot scheduling module transmits an outgoing indication signal to the electric mobile shelf control module when monitoring that the target mobile robot completes the current access task and moves to an outgoing identification position of the electric mobile shelf group in the process of leaving the electric mobile shelf area;
the electric movable goods shelf control module receives the outgoing indication signal and monitors that the mobile robot scheduling module does not receive a subsequent access task, and the electric movable goods shelf control module sends a second control signal to the electric movable goods shelf controller group;
and the electric movable goods shelf controller group controls each row of electric movable goods shelves to move to the initial position information according to the second control signal.
3. The method of claim 1, wherein the electric mobile shelf control module determining a target movement strategy for the subsequent access task based on the first location information of the electric mobile shelf group, the initial location information of the electric mobile shelf group, and the subsequent storage task after performing the current access task comprises:
The electric movable shelf control module determines a plurality of available movable strategies of the electric movable shelf group for executing the subsequent access task and a first movable distance of the electric movable shelf group in the plurality of available movable strategies based on the first position information of the electric movable shelf group after executing the current access task and the subsequent access task;
The electric movable shelf control module determines a plurality of available movable strategies of the electric movable shelf group for executing the subsequent access task and a second movable distance of the electric movable shelf group in the plurality of available movable strategies based on the initial position information of the electric movable shelf group and the subsequent access task;
and selecting a movement strategy with the shortest movement distance in the first movement distance and the second movement distance as a target movement strategy of the subsequent access task.
4. The method according to claim 2, wherein the method further comprises:
After receiving the driving-out indication signal, the electric movable goods shelf control module acquires a follow-up access task positioned after the current access task;
and when the follow-up access task is the same as the target electric movable goods shelf corresponding to the current access task, the electric movable goods shelf control module controls the positions of the electric movable goods shelves to be unchanged.
5. The method of claim 1, wherein said determining a target movement strategy for the group of electrically-driven mobile shelving based on the current access task comprises:
determining a plurality of available movement strategies of the electric movable shelf group according to the current access task;
And selecting a movement strategy with the shortest movement distance of the electric movable shelf group from the plurality of available movement strategies as the target movement strategy according to the movement distance of the electric movable shelf group in the plurality of available movement strategies.
6. The method of claim 1, wherein the ingress and egress identification is a physical identification or a logical identification;
The mobile robot scheduling module issues an entry indication signal to the electric mobile shelf control module when the target mobile robot is monitored to travel to the entry and exit identification position of the electric mobile shelf group, and the mobile robot scheduling module comprises:
When the target mobile robot moves to the driving-in and driving-out identification position of the electric mobile shelf group, an identification detection signal is sent to the mobile robot scheduling module;
And the mobile robot scheduling module transmits an entering indication signal to the electric mobile goods shelf control module after receiving the identification detection signal.
7. The method of claim 1, wherein the ingress and egress identifications are electronic map identifications;
The mobile robot scheduling module issues an entry indication signal to the electric mobile shelf control module when the target mobile robot is monitored to travel to the entry and exit identification position of the electric mobile shelf group, and the mobile robot scheduling module comprises:
The target mobile robot sends real-time position information of the target mobile robot to the mobile robot scheduling module in the process of entering the electric mobile shelf group;
and the mobile robot scheduling module transmits an entering indication signal to the electric mobile goods shelf control module when the real-time position information of the target mobile robot is the same as the position information corresponding to the electronic map mark.
8. The method of claim 1, wherein the end position in the job instruction is determined based on the rows, columns, and layers of the electrically-movable pallet when the current access task is a storage task, and wherein the start position in the job instruction is determined based on the rows, columns, and layers of the electrically-movable pallet when the current access task is a retrieval task.
9. The method of claim 1, wherein the motorized mobile pallet control module can control movement of a single row of motorized mobile pallets or control movement of several rows of motorized mobile pallets as a whole;
the electric movable goods shelf controller drives the electric movable goods shelf to move on a goods shelf track, or drives the electric movable goods shelf to move in a magnetic navigation mode.
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| CN115724106B (en) * | 2022-12-15 | 2025-09-09 | 未来机器人（深圳）有限公司 | Goods access method and system based on drive-in goods shelf, equipment and storage medium |
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