CN-121990287-A - Goods shelf system for roadway-crossing operation

CN121990287ACN 121990287 ACN121990287 ACN 121990287ACN-121990287-A

Abstract

The invention provides a shelf system for roadway-crossing operation, which relates to the technical field of warehouse logistics, and comprises a climbing robot, a truss robot and a scheduling module, wherein the truss robot is arranged at the top of a plurality of shelf bodies arranged side by side along a first direction, and the first direction, the length direction of the shelf bodies and the vertical direction are respectively perpendicular to each other; and the scheduling module is used for controlling the truss robots to capture the corresponding climbing robots according to the acquired tasks to be executed, and executing the cross-roadway operation between the shelf bodies corresponding to the tasks to be executed. According to the invention, the truss robot is matched with the climbing robot to realize the operation of crossing the roadway, so that the cargo regulation and control efficiency of the goods shelf system is effectively improved.

Inventors

LV YIZHU
LU ZHIQIANG
LI LI
Lv Nanxin

Assignees

浙江北泰智能科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260119

Claims (10)

1. A shelf system for roadway-crossing operation is characterized by comprising a climbing robot, a truss robot and a dispatching module, The truss robots are arranged at the tops of a plurality of shelf bodies arranged side by side along a first direction, and the first direction, the length direction and the vertical direction of the shelf bodies are respectively perpendicular to each other; The scheduling module is used for controlling the truss robots to capture the corresponding climbing robots according to the acquired tasks to be executed, and executing the roadway-crossing operation between the shelf bodies corresponding to the tasks to be executed.
2. The system of claim 1, wherein the controlling the truss robot to grasp the climbing robot according to the acquired task to be performed, and performing the task to be performed between the pallet bodies corresponding to the task to be performed, comprises: constructing a cost matrix according to all the climbing robots and the tasks to be executed; Obtaining the task execution scheme with the minimum cost through a Hungary algorithm according to the cost matrix, wherein the task execution scheme comprises a one-to-one correspondence relationship between the climbing robot and the task to be executed; And controlling the truss robot to execute the roadway-crossing operation in cooperation with the climbing robot according to the task execution scheme.
3. The shelf system of cross-roadway operations of claim 2, wherein the cost matrix construction method comprises: Obtaining the corresponding element comprehensive cost in the cost matrix through a preset cost relation according to each climbing robot and the task to be executed; and generating the cost matrix according to the comprehensive cost of all the elements.
4. The cross-roadway job shelving system of claim 3, wherein the cost relationship satisfies: C ij =w 1 ×D ij +w 2 ×SOC i +w 3 ×TQ j +w 4 ×TC ij ; C ij is the comprehensive cost of the element corresponding to the j-th task to be executed by the i-th climbing robot, D ij is the distance from the i-th climbing robot to the j-th task point of the task to be executed, SOC i is the electric quantity of the i-th climbing robot, TQ j is the waiting time of the j-th task to be executed, TC ij is the tunnel crossing time of the j-th task to be executed by the i-th climbing robot, and w 1 、w 2 、w 3 and w 4 are corresponding weight coefficients respectively.
5. The rack system of cross-lane work of claim 2, wherein the controlling the truss robot to perform the cross-lane work in conjunction with the climbing robot according to the task execution scheme comprises: determining a corresponding initial goods shelf body and a corresponding target goods shelf body according to the task to be executed; The climbing robots corresponding to the tasks to be executed are arranged on corresponding climbing tracks of the initial goods shelf body; Controlling the truss robot to execute the roadway-crossing operation in cooperation with the corresponding climbing robot according to the roadway-crossing moving path of the task to be executed, wherein the roadway-crossing moving path comprises an original roadway longitudinal path for the climbing robot to move from a goods taking position of the initial goods shelf body to a corresponding site, a roadway-crossing transverse path for the truss robot to grasp from the site of the initial goods shelf body to the site of the target goods shelf body, and a target roadway longitudinal path for the climbing robot to move from the site of the target goods shelf body to the corresponding target position.
6. The cross-roadway job shelving system of claim 5, further comprising: acquiring the actual arrival time of the climbing robot to the corresponding station and a corresponding reservation time window; If the actual arrival time is within the range of the reserved time window, determining the actual arrival time as the planned arrival time of the reserved time window; otherwise, executing a preset conflict elimination strategy.
7. The cross-lane job shelving system of claim 6, wherein the conflict resolution policy comprises: acquiring the front and rear idle time of the reserved time window; If the actual arrival time is in the range of the front and rear idle time and the time interval between the actual arrival time and the initial planned arrival time of the reservation window time is smaller than a preset adjustment threshold value, determining the actual arrival time as the planned arrival time; otherwise, dynamically adjusting the cross-roadway operation of the climbing robot, wherein the dynamic adjustment comprises site switching, task redistribution and task priority preemption.
8. The cross-roadway job shelving system of claim 2, further comprising: Acquiring state data of the climbing robot corresponding to the task to be executed; when the state data meets the roadway crossing feasible condition, judging that the climbing robot can execute the roadway crossing operation; otherwise, the climbing robot is selected again.
9. The cross-roadway job shelving system of claim 8, wherein the status data comprises health data and task data, the health data comprising corresponding battery health factors, machine health factors, communication health factors, and historical health factors, wherein when the status data meets a cross-roadway feasible condition, determining that the climbing robot can perform the cross-roadway job comprises: obtaining a health evaluation value corresponding to the climbing robot according to the product of the battery health factor, the mechanical health factor, the communication health factor and the historical health factor; When the health evaluation value is larger than a preset health threshold value, the climbing robot is enabled to meet the schedulable requirement; and when the task data corresponding to the climbing robot meeting the schedulable requirement meets the roadway crossing feasible condition, judging that the climbing robot can execute the roadway crossing operation.
10. The rack system of cross-lane jobs of claim 9, wherein the task data comprises cross-lane job waiting time, cross-lane movement time, cross-lane energy consumption cost, cross-lane resource conflict probability, cross-lane benefit, self-lane task execution time, self-lane job energy consumption, self-lane resource conflict probability, and self-lane task waiting time, wherein when the task data corresponding to the climbing robot meeting schedulable requirements meets the cross-lane feasibility condition, determining that the climbing robot can execute the cross-lane job comprises: Obtaining corresponding cross-tunnel scheduling cost through weighted summation according to the cross-tunnel operation waiting time, the cross-tunnel moving time, the cross-tunnel energy consumption cost, the cross-tunnel resource conflict probability and the cross-tunnel income; Obtaining corresponding local tunnel scheduling cost through weighted summation according to the local tunnel task execution time, the local tunnel operation energy consumption, the local tunnel resource conflict probability and the local tunnel task waiting time; and if the product of the cross-roadway scheduling cost and the preset cross-roadway coefficient is larger than the roadway scheduling cost, judging that the climbing robot can execute the cross-roadway operation.

Description

Goods shelf system for roadway-crossing operation Technical Field The invention relates to the technical field of warehouse logistics, in particular to a shelf system for cross-roadway operation. Background The goods shelf system is used as a core infrastructure in the field of automatic storage and intelligent logistics, is widely applied to the scenes of e-commerce storage centers, intelligent manufacturing factory part warehouses, medical circulation warehouses, library automatic access systems and the like, greatly improves space utilization rate through high-level dense storage design, supports ordered storage and efficient transfer of materials, and is key equipment for meeting the management requirements of 'large capacity, quick turnover and refinement' of modern logistics. In the related art, a fixed deployment mode of a single-roadway special robot is generally adopted, and each robot can only finish the work of picking and placing a material box in a roadway (a goods shelf body) to which the robot belongs, so that the overall utilization rate of a goods shelf system is low, the resource allocation is unbalanced, and the goods scheduling efficiency of the goods shelf system is affected. Disclosure of Invention The invention solves the problem of how to improve the cargo scheduling efficiency of a shelf system. In order to solve the problems, the invention provides a shelf system for cross-roadway operation. In a first aspect, the invention provides a shelf system for cross-roadway operation, comprising a climbing robot, a truss robot and a dispatching module, The truss robots are arranged at the tops of a plurality of shelf bodies arranged side by side along a first direction, and the first direction, the length direction and the vertical direction of the shelf bodies are respectively perpendicular to each other; The scheduling module is used for controlling the truss robots to capture the corresponding climbing robots according to the acquired tasks to be executed, and executing the roadway-crossing operation between the shelf bodies corresponding to the tasks to be executed. Optionally, the controlling, according to the acquired task to be executed, the truss robot to grasp the climbing robot, and executing the task of crossing the roadway between the shelf bodies corresponding to the task to be executed, includes: constructing a cost matrix according to all the climbing robots and the tasks to be executed; Obtaining the task execution scheme with the minimum cost through a Hungary algorithm according to the cost matrix, wherein the task execution scheme comprises a one-to-one correspondence relationship between the climbing robot and the task to be executed; And controlling the truss robot to execute the roadway-crossing operation in cooperation with the climbing robot according to the task execution scheme. Optionally, the construction method of the cost matrix includes: Obtaining the corresponding element comprehensive cost in the cost matrix through a preset cost relation according to each climbing robot and the task to be executed; and generating the cost matrix according to the comprehensive cost of all the elements. Optionally, the cost relationship satisfies: Cij=w1×Dij+w2×SOCi+w3×TQj+w4×TCij; C ij is the comprehensive cost of the element corresponding to the j-th task to be executed by the i-th climbing robot, D ij is the distance from the i-th climbing robot to the j-th task point of the task to be executed, SOC i is the electric quantity of the i-th climbing robot, TQ j is the waiting time of the j-th task to be executed, TC ij is the tunnel crossing time of the j-th task to be executed by the i-th climbing robot, and w 1、w2、w3 and w 4 are corresponding weight coefficients respectively. Optionally, the controlling the truss robot to execute the roadway-crossing operation in cooperation with the climbing robot according to the task execution scheme includes: determining a corresponding initial goods shelf body and a corresponding target goods shelf body according to the task to be executed; The climbing robots corresponding to the tasks to be executed are arranged on corresponding climbing tracks of the initial goods shelf body; Controlling the truss robot to execute the roadway-crossing operation in cooperation with the corresponding climbing robot according to the roadway-crossing moving path of the task to be executed, wherein the roadway-crossing moving path comprises an original roadway longitudinal path for the climbing robot to move from a goods taking position of the initial goods shelf body to a corresponding site, a roadway-crossing transverse path for the truss robot to grasp from the site of the initial goods shelf body to the site of the target goods shelf body, and a target roadway longitudinal path for the climbing robot to move from the site of the target goods shelf body to the corresponding target position. Optionally, the system further comprises: acquiring the actua