| With the development of e-commerce,new demands and opportunities have been asked for warehouses and freight distribution centers.Its carrying units are miniaturized,multi-product,small-lot,multi-batch,and short cycles.Traditional warehouse and cargo distribution centers are constantly facing various disadvantages in application process,and it is difficult to meet new-coming demands.Warehouse automation Technology based on robot came into being.This article focuses on how to realize efficient moving dispatch in the process of how to implement multi-warehouse cargo carrying robots in moving dispatch operations.Combined with related research data and available laboratory conditions,a multiwarehouse robot system for distributing goods is designed.Simulation experiments were used to verify the moving dispatch algorithm which proposed in this paper,and the following research work was carried out around the multi-transport robot design and moving dispatch system:(1)The overall design of the handling robot system includes the analysis of cargo carrying robots,the design of warehouse shelves for goods and the systematic design of the carrying robot system.The hardware design and software design of the carrying robot are analyzed and designed,including the hardware structure,the movement,and the inspection route,NFC read module,the transport robot communication layer and robot drive system of software.In the aspect of design,this paper proposes an algorithm scheme for inertial navigation including NFC mark calibration.It only needs to lay NFC tags in the grid area,which avoids the laying of traditional navigation lines,improves the efficiency of warehouse deployment while reducing maintenance costs.(2)In the task allocation of multi-robot moving dispatch,the problems of storage of goods in the system warehouse,mathematical modeling of moving dispatch,and tasks of multi-robots in the system are analyzed.The method of distribution according to target shelf order,the nearest target shelves,and method based on market auction are proposed.The three probability distribution bidding algorithms for congestion probability compensation bidding algorithm are described.The algorithm of congestion probability compensation bidding is described in detail.Giving the concept of the probability of racking congestion and the correlation function of probability compensation are proposed to solve the congestion problem in multi-robot scheduling tasks of warehouse systems.Increased computing efficiency.(3)For the path planning problem in multi-robot moving dispatch,this paper points out the traditional A* algorithm theory,points out that the traditional A* algorithm can't realize multi-robot path planning problem in this system,and combines the traditional A* algorithm to inspiration function proposes the concept of grid occupancy rate,weights the heuristic function,proposes a dynamic weighted A* algorithm,uses the method of specifying the robot's direction in the warehouse to solve the congestion and collision,to usefully settle the issues of multiple robots path planning,and Dynamic weighted A* algorithm implementation and related simulation experiments were performed.(4)By combining the multi-robot task allocation and motion scheduling to form the dynamic scheduling algorithm,and using the simulating experiment software platform,the three scheduling task allocation methods proposed in this paper are combined with the path planning of the dynamic weighted A* algorithm to simulate the experiment.Relevant conclusions.This paper is based on the research of the movement scheduling system of warehouse goods Multi-transport robots.The simulation results show that the market auction's congestion probability compensation bidding algorithm is used to realize the task allocation of moving dispatch,combined with the dynamic weighted A* algorithm planning scheme,which is more accurate,and achieved the movement scheduling system of Multi-transport robots. |
