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Multi-robot mobile shelf task allocation method for intelligent warehouse

A multi-robot, task distribution technology, applied in the field of intelligent warehouse

Active Publication Date: 2021-05-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0002] With the rapid increase in the number of online shopping, online payment, and mobile electronic merchants, my country's warehousing industry has developed rapidly in recent years. In today's warehousing environment, there are many types of goods, large orders, and real-time updates of tasks. The traditional warehousing logistics system has already It is difficult to meet these requirements, and the application of smart warehouses is becoming more and more popular

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  • Multi-robot mobile shelf task allocation method for intelligent warehouse
  • Multi-robot mobile shelf task allocation method for intelligent warehouse
  • Multi-robot mobile shelf task allocation method for intelligent warehouse

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[0052] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0053] Such as figure 1 As shown, the present invention is used in the multi-robot mobile shelf task assignment method of intelligent warehouse, comprising the following steps:

[0054] Step 1: Input the data information of various objects in the smart warehouse, including: task information, robot information and picking station information. Randomly arrange the set of n tasks to be assigned to form a task sequence, expressed as L={t 1 ,t 2 ,...,t n}.

[0055] Such as figure 2 As shown, the task information refers to the number n of all tasks to be assigned in the task pool and the coordinate points where each task is located, and the number of all tasks in the task pool is defined as t 1 ,t 2 ,...,t n , the i-th task t i The coordinates are That is, the i-th task t i Corresponding to the coordinates of the shelf.

[0056] Such as image 3 A...

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Abstract

The invention discloses a multi-robot mobile shelf task allocation method for an intelligent warehouse, which can ensure that the total operation distance of a robot for executing all tasks is minimum and improve the transportation efficiency of the robot. The method comprises the steps: randomly arranging the tasks to be distributed to form a task sequence; assigning tasks in the task sequence to each robot one by one in an auction mode, and performing reordering according to distances to obtain a robot task sequence; calculating the execution cost of the task sequence of each robot, and adding the execution cost to obtain the total execution cost of the task sequence; acquiring a neighborhood set of the task sequence by adopting an exchange neighborhood operator, calculating the total execution cost of each sequence in the neighborhood set, and screening out a sequence of which the cost is lower than that of the task sequence from the neighborhood set as an initial solution set; for each sequence in the initial solution set, optimizing an optimal solution task sequence by expanding K kinds of neighborhood sets; and outputting the sequence with the minimum total execution cost in the optimal solution set and the corresponding robot task sequence.

Description

technical field [0001] The invention belongs to the technical field of intelligent warehouses, and in particular relates to a multi-robot task assignment method for intelligent warehouses related to shelf movement. Background technique [0002] With the rapid increase in the number of online shopping, online payment, and mobile electronic merchants, my country's warehousing industry has developed rapidly in recent years. In today's warehousing environment, there are many types of goods, large orders, and real-time updates of tasks. The traditional warehousing logistics system has already It is difficult to meet these requirements, and the application of smart warehouses is becoming more and more popular. At present, smart warehouses mostly use multi-robot systems for shelf handling and picking. The robots need to transport the designated shelves to the corresponding picking stations according to the order information, which involves task allocation. In this environment, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/06G06Q10/08G06N20/00B25J9/16
CPCG06Q10/06316G06Q10/087G06N20/00B25J9/163
Inventor 邓方樊云峰石翔陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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