CN109190840A - A kind of freezer shuttle dispatching management information system and dispatching method - Google Patents
A kind of freezer shuttle dispatching management information system and dispatching method Download PDFInfo
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- CN109190840A CN109190840A CN201811107250.XA CN201811107250A CN109190840A CN 109190840 A CN109190840 A CN 109190840A CN 201811107250 A CN201811107250 A CN 201811107250A CN 109190840 A CN109190840 A CN 109190840A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
Abstract
The invention discloses a kind of freezer shuttle dispatching management information systems and dispatching method, belong to shuttle vehicle type warehousing system field.It includes shuttle management system, it further include the car-mounted terminal being arranged on shuttle, the car-mounted terminal and the shuttle communication, the car-mounted terminal is used to record the working condition of shuttle itself, and it is uploaded to the shuttle management system, the working condition includes car number, remaining capacity, position, state and the task of vehicle；The shuttle management system includes scheduler module, and the scheduler module is monitored the shuttle managed in shuttle management system according to transport task, dispatches and path optimization, and sends dispatch command to corresponding shuttle by car-mounted terminal.Using dispatching management information system and dispatching method of the invention, the optimization that more shuttle environment are carried out with intelligent scheduling and path may be implemented, improve logistic efficiency.
Description
Technical field
The invention belongs to vehicle type warehousing system fields of shuttling, specifically, being related to a kind of freezer shuttle management and running
System and dispatching method.
Background technique
In recent years, the stimulation and promotion put into effect by policy, domestic Cold Chain Logistics park building upsurge are increasingly risen, and corresponding
Hardware facility there is no synchronized developments, the dependence of logistics storage repository the degree of automation is higher and higher, and logistics warehouse is deposited
Reserves, the frequent batch of cargo adapt to, the increase of cargo batch type, and automated warehousing is implemented as freezer construction operation
Main restricting factor.
Shuttle realizes the full-automatic of article carrying and cargo handling process by the charging crane and navigation device of automation
Change.As a kind of flexible and efficient conveying equipment, shuttle is in automated warehousing, logistics handling system, intelligent manufacturing system etc.
It is used widely in field.Traditional shelf are added high-precision guide rail, shuttle can be allowed above by shuttle vehicle type warehousing system
Even running, guide rail undertakes cargo conveying simultaneously and cargo store function, so-called cargo store function refer to that cargo is directly to put
It sets on guide rail, therefore storage space utilization rate can be greatly improved, improve logistic efficiency, save logistics cost.
Although the hardware device of shuttle vehicle type warehousing system is very perfect, control scheduling, optimum management side
There are still many shortcomings in face.Scheduling is to be ranked up to existing job task and optimize to Path selection
Problem is achieved the purpose that reduce the time into outbound and be improved efficiency by the means of optimization.One is designed reasonable, theory
Advanced scheduling system realizes there is important facilitation to the application of automatic stereowarehouse.Therefore, how to ensure to pick
While selecting for a post the accurate execution of business, complete in time, optimization shuttle job scheduling becomes current automatic stereowarehouse and urgently solves
A major issue certainly.
Chinese patent publication No. CN104555222A, the patent document of date of publication 2015-04-29 disclose a kind of based on latent
Enter the storage and distribution integrated system and method for formula AGV, system includes: AGV subsystem, slips into goods using multiple submersible AGV trolleys
Frame bottom carries out the carrying of shelf, is put in storage, is automatically stored according to task order, sorted, outbound, monitoring and automatic charging；
Task subsystem, comprising: subsystem, picking subsystem, outbound subsystem, Monitor And Control Subsystem is automatically stored in warehousing subsystem
With automatic charging subsystem；Management subsystem, for mutually coupling AGV subsystem with task subsystem, according to task subsystem
Task order, the storage in warehouse is completed by the work compounds of multiple AGV trolleies, is automatically stored, sorts, outbound, realizes storage
Divide integration, and realizes monitoring and the automatic charging of AGV trolley.The technical solution is mainly the work compound for passing through AGV trolley
The carrying and picking in warehouse are completed, realizes storage point integration.
RGV (Rail Guided Vehicle) is rail guidance vehicle, is called rail shuttle, is a kind of track pallet
Floor truck is made of an operating mechanism and a chain of stations formula or a volume formula conveyer two parts, is responsible for cargo to be distributed to specified
Position.AGV (Automated Guided Vehicle) is automated guided vehicle, refers to and magnetically or optically waits automatically equipped with electricity
Guiding device, it is not necessarily to stationary track, and RGV then presses fixed rail running.But route tune when compared to AGV route planning
Whole, RGV needs to optimize scheduling system by the time.AGV is move freely, if path interference occurs for some point,
It only needs to turn curved, but RGV can only be moved along track, if route interferes, when needing to rearrange
Between logic.Therefore the warehouse style system needs of RGV have a central schedule to all shuttles.And the adverse circumstances based on freezer,
The scheduling system of entire shuttle is scheduled and the optimization of route, it is particularly important.
Summary of the invention
1, it to solve the problems, such as
Aiming at the problem that existing shuttle system does not carry out intelligent scheduling to shuttle well, the present invention provides one kind
Freezer shuttle dispatching management information system and dispatching method.Using dispatching management information system and dispatching method of the invention, Ke Yishi
The optimization that now more shuttle environment are carried out with intelligent scheduling and path, improves logistic efficiency.
2, technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of freezer shuttle dispatching management information system, including shuttle management system, further includes:
Car-mounted terminal on shuttle, the car-mounted terminal and the shuttle communication, the vehicle are set
Mounted terminal is used to record the working condition of shuttle itself, and is uploaded to the shuttle management system, the working condition packet
Include car number, remaining capacity, position, state and the task of vehicle；
The shuttle management system includes scheduler module, and the scheduler module is according to transport task to shuttle management system
The shuttle managed in system is monitored, dispatches and optimizes, and sends dispatch command to corresponding shuttle by car-mounted terminal.
In order to further increase logistic efficiency, it is preferable that the scheduler module includes task scheduling unit, the task tune
Unit is spent according to task requests by calculating the absolute distance between each shuttle present position and transport task initial position, selection
The shuttle of minimum range executes task, and passes through the volume of car-mounted terminal logger task initial time and execution the task shuttle
Number to database；The task requests include cargo present position and are sent to target shelf location.
Preferably, if the shuttle management system is detected without idle shuttle, task scheduling unit is never called, is appointed
Business continues waiting for；A shuttle if it exists, then the shuttle management system sends dispatch command to the shuttle, executes and appoints
Business；More shuttles if it exists start the task scheduling unit.
In order to further increase logistic efficiency, optimal transit route is selected, it is preferable that the scheduler module further includes road
Diameter optimizes unit, and path optimization's unit calculates shuttle from being presently in shortest path of the position to task target point, and
Gained path is stored in the car-mounted terminal.
In order to which each shuttle and shuttle management system can preferably cooperate operation, it is preferable that the car-mounted terminal packet
It includes:
Positioning unit, for realizing the positioning function of shuttle；
Map unit, for describing the running environment of shuttle, the running environment include shelf information, goods yard coordinate and
Goods yard state；
Communication unit, the positioning unit and the map unit by communication unit and the shuttle management system into
Row communication.
Record and processing in order to realize in communication process, for information command, it is preferable that the shuttle management system
It is also equipped with communication unit, communication unit includes memory and processor interconnected, and the processor is described for handling
The program set in car-mounted terminal and the shuttle management system, including assignment instructions information；The memory is for storing
Information command and record out storage information, the information command includes depositing pick-up instruction, it is described go out storage information, that is, cargo from goods
The information entered and left on frame.
For more easily access and communication between shuttle management system and car-mounted terminal, it is preferable that the shuttle
Pass through Socket TCP/IP communication between vehicle management system and the car-mounted terminal.
For more convenient calling and storage information, present invention construction has a database, it is preferable that the database includes
Goods information table, shelf information table, shuttle information of vehicles table and elevator information table, for storing and reading the shuttle
Management system information.
For position and the operating status for reflecting each shuttle in time, and the intelligent control speed of travel, it is preferable that shuttle
Operation identifies bar code on conveying track by reader for two-dimension code in real time simultaneously, confirmation self-position and to the shuttle pipe
Reason system Real-time Feedback self-position；Distance measuring sensor, the distance measuring sensor and the shuttle are installed on the shuttle
Vehicle communication, when the distance measuring sensor is close to task object point coordinate, the shuttle management system is to shuttle
Vehicle sends deceleration instruction, and when the distance measuring sensor reaches task object point coordinate, the shuttle management system is as shuttle
Send halt instruction.
A kind of freezer shuttle dispatching method, after cargo reaches storage point, shuttle management system detects whether to deposit
In vacant goods yard and with the presence or absence of idle shuttle, if existing, the task scheduling unit and path optimization in scheduler module are single
Member selects optimal execution shuttle and optimal path by car-mounted terminal, is scheduled management to whole shuttles, completes transport
Task；Vacant goods yard and/or there is no idle shuttle if it does not exist, then cargo continues waiting for.
3, beneficial effect
Compared with the prior art, the invention has the benefit that
(1) a kind of freezer shuttle dispatching management information system of the invention, including shuttle management system further include setting
Car-mounted terminal on shuttle, car-mounted terminal and shuttle communication, shuttle management system include scheduler module,
Scheduler module is monitored, dispatches and optimizes to the shuttle managed in shuttle management system according to transport task, and passes through
Car-mounted terminal sends dispatch command to corresponding shuttle, and the present invention carries out centralized control to shuttle all in freezer, fits
For the management of more shuttles in freezer, logistic efficiency is improved, to meet high batches dispatching demand；The present invention is finally real
Existing shuttle management system can be scheduled each shuttle according to transport task, and to the shuttle for choosing execution task
Route optimization is carried out, and the state of each shuttle can be monitored in real time, greatly improves the logistic efficiency of entire refrigeration storage system；
(2) a kind of freezer shuttle dispatching management information system of the invention, in order to further increase and optimize logistic efficiency,
Scheduler module of the invention includes task scheduling unit and path optimization's unit, task scheduling unit according to task requests select away from
A shuttle nearest from transport task starting distance, and calculate be shuttle to transport task starting distance it is absolute away from
From shuttle can be with accumulated error, and measurement result is relatively accurate；The shuttle that path optimization's unit chooses task scheduling unit
Route optimization is carried out, the terminal of transport task is reached in the shortest time, it is also predicted that whether path can occur between shuttle
Conflict, i.e., by calculating the path crosspoint time, synchronization is not allow for multiple path crosspoints, passes through collision detection and punching
Prominent removing method Optimizing Transport path, can be improved system stability and safety；
(3) a kind of freezer shuttle dispatching management information system of the invention further includes having a database, database tool
Body includes goods information table, shelf information table, shuttle information of vehicles table and elevator information table, for storing and reading shuttle
Vehicle management system information is easily facilitated and is realized in shuttle and shuttle management system communication process, for the note of information command
Record and processing；
(4) a kind of freezer shuttle dispatching management information system of the invention, the car-mounted terminal on shuttle include positioning
Unit, map unit and communication unit, wherein positioning unit and map unit by communication unit and shuttle management system into
Row communication, is more advantageous to each shuttle and shuttle management system preferably cooperates operation；
(5) a kind of freezer shuttle dispatching management information system of the invention, shuttle management system are also equipped with communication unit
Member, communication unit include memory and processor interconnected, and processor is for handling car-mounted terminal and shuttle management system
The program set in system, for memory for storing information command and recording out storage information, information command includes depositing pick-up instruction,
The information that storage information, that is, cargo enters and leaves from shelf out；
(6) a kind of freezer shuttle dispatching management information system of the invention, between shuttle management system and car-mounted terminal
It by Socket TCP/IP communication, is communicated using the socket (Socket) of TCP/IP, bi-directional data biography may be implemented
Defeated, both sides can be carried out sending and receiving operation, and TCP transmission data are limited without size, and versatility is stronger, so that information
It is more convenient to transmit；
(7) a kind of freezer shuttle dispatching management information system of the invention, shuttle operation pass through two dimensional code in real time simultaneously
Reader identifies bar code on conveying track, confirms self-position and to shuttle management system Real-time Feedback self-position；It wears
Distance measuring sensor, distance measuring sensor and the shuttle communication are installed on shuttle car, appointed when distance measuring sensor is close
When business coordinate of ground point, shuttle management system sends deceleration instruction to shuttle, and distance measuring sensor reaches task object point and sits
When mark, shuttle management system sends halt instruction as shuttle, reflects position and the operating status of each shuttle in time, and
The intelligent control speed of travel；
(8) a kind of freezer shuttle dispatching method, after cargo reaches storage point, shuttle management system is detected whether
There are vacant goods yard and with the presence or absence of idle shuttle, task scheduling unit and path optimization if existing, in scheduler module
Unit selects optimal execution shuttle and optimal path by car-mounted terminal, is scheduled management to whole shuttles, completes fortune
Defeated task；Vacant goods yard and/or there is no idle shuttle if it does not exist, then cargo continues waiting for；For extensive shuttle
Scheduler module designed by system can be adapted for the management of more shuttles in freezer, improve logistic efficiency, to meet high batch
Secondary material allocation demand；Path optimization's unit has planned the optimal path of shuttle in advance, and whether path between prediction shuttle
It can clash, be optimized the system operation by collision detection and conflict resolving method, system stability and safety can be improved；
Dispatching method of the invention can carry out real time monitoring and management and running to the shuttle in freezer, with normal dispatch method phase
Than the data dynamic realized by location technology and wireless communication technique is more advantageous.
Detailed description of the invention
Fig. 1 is system flow chart of the invention；
Fig. 2 is task scheduling unit flow chart of the invention；
Fig. 3 is path optimization's unit flow chart of the invention.
Specific embodiment
The present invention will be described in detail in the following with reference to the drawings and specific embodiments.
Embodiment 1
A kind of freezer shuttle dispatching management information system, including shuttle management system, further includes:
Car-mounted terminal on shuttle, car-mounted terminal and shuttle communication are set, and car-mounted terminal is for remembering
The working condition of shuttle itself is recorded, and is uploaded to shuttle management system, working condition includes the car number of shuttle, remains
Remaining electricity, position, state and task；Each shuttle is numbered in large-scale shuttle system needs, shuttle
Scheduling or the execution of task are embodied in car number in systems, facilitate management, simplify program；In shuttle operation
The electricity to shuttle itself is needed to monitor in real time in the process, in case not enough power supply influences conevying efficiency, and not enough power supply
Caused trolley stops on guide rail, will lead to the confusion of entire shuttle system；For convenient for shuttle management system to shuttle
The scheduling of vehicle, needs to detect position, state and the task of each trolley in time, and so-called state refers to that shuttle vehicle type was being transported
It is in journey or idle, so-called task, that is, transport task, including receiving the time of task, the starting that transport task instructs and terminal
Target shelf coordinate.
Shuttle management system includes scheduler module, and scheduler module is according to transport task to managing in shuttle management system
Shuttle be monitored, dispatch and optimize, and by car-mounted terminal to corresponding shuttle send dispatch command, so-called transport
Task specifically includes goods information, cargo initial position and target shelf location.
Embodiment 2
A kind of freezer shuttle dispatching management information system of the invention, system composition and embodiment 1 are essentially identical, specifically
, scheduler module includes task scheduling unit, as shown in Fig. 2, task scheduling unit, according to task requests, so-called task requests are
Initial position locating for cargo and the highest priority shelf location to be sent to, it should be noted that system of the invention includes
One database, database include goods information table, shelf information table, shuttle information of vehicles table and elevator information table, are used
In storing and reading shuttle management system information, goods information table includes the type, number, weight and volume of cargo.Cargo
Information table further includes title, storage date, the place of production and shelf-life etc..Shelf information table includes goods yard coordinate, goods yard idle state,
Goods information etc. on goods yard；Shuttle information of vehicles includes number, position, state and task dispatching；Elevator information table includes
Whether elevator number, state, so-called state include the number of plies where elevator and are in idle condition；The foundation of database
The calling and storage of more convenient information.
Task scheduling unit is according to task requests by calculating between each shuttle present position and transport task initial position
Absolute distance, select minimum range shuttle execute task, using the calculating of absolute distance shuttle is accumulated
Error, measurement method is easier, optimizes subsequently through path optimization's unit to the path for choosing trolley to target shelf,
Select path that is most short and not clashing.Once the shuttle chosen receives task, it will be recorded and be appointed by car-mounted terminal
Initial time of being engaged in and the number for executing the task shuttle monitor the state of the shuttle in real time to database.
It should be noted that the calling of above-mentioned task scheduling unit meets the following conditions: shuttle management system by pair
All shuttles are detected, and are seen with the presence or absence of idle shuttle, if shuttle management system is detected without idle shuttle,
Task scheduling unit is then never called, task, that is, cargo continues waiting for；Once there is available free shuttle, queuing time is longest
Task can be performed；If shuttle management system detects the presence of a shuttle, shuttle management system is to the shuttle
Dispatch command is sent, task is executed；More shuttles if it exists start task scheduling unit, select optimal shuttle.
Task scheduling unit is implemented especially by following manner: shuttle management system receives storage point and issues cargo carrying
Request, it includes cargo present position that cargo, which is carried and requested, and it is sent to target shelf location, then passes through wireless or 4G communication
It obtains all to be in and stops wait state shuttle successive vehicles, if idle shuttle quantity more than one, task tune in queue
The host computer of degree unit calculates the absolute distance between each shuttle present position and task starting point position, and selection rises apart from task
The nearest vehicle in initial point position executes the task, transmission cargo carrying assignment instructions to shuttle, and logger task initial time
It numbers with the task shuttle is executed to database；Idle shuttle if it does not exist, then cargo continues waiting for.
As shown in figure 3, scheduler module further includes path optimization's unit, path optimization's unit application algorithm calculate shuttle from
Be presently in position to task target point shortest path, wherein the algorithm can be dijkstra's algorithm, Bellman-
Ford algorithm, Floyd algorithm and SPFA algorithm etc., and gained path is stored in car-mounted terminal, allow shuttle according to
Path optimizing traveling completes transport task, further improves logistic efficiency.By taking dijkstra's algorithm as an example, Dijkstra is calculated
The thought of method is that network node is divided into 3 parts: unmarked node, temporary marker node and permanent marks node.Institute in network
There is node to be initialized as unmarked node first, the node being connected in search process with the node in shortest path is interim
Mark node, every time circulation be all from temporary marker node the shortest node of Search Length source point path length as permanent marks
Node, until finding destination node or all nodes becomes permanent marks node all to terminate algorithm.
In an entitled simple connected undirected graph G=<V, E, W>(V: vertex set, E: side collection, W: weight), a source is asked
The length of the shortest path of node a to other nodes x.Algorithm steps are as follows: 1) V is divided into two subsets S and T, when initial, S=
{ a }, T=V-S；2) for the time t of each pointi(ti∈ T), calculate D (ti), (D (ti) indicate from a to tiDo not include T in its
The length of the shortest path of his node), according to D (ti) value finds out in T away from the shortest node x of a, write out the shortest path of a to x
Length D (x)；3) setting S is S ∪ { x }, and setting T is otherwise 2) T- { x } is repeated if T=Υ, stops.
Path optimization's unit is implemented especially by following manner: after shuttle receives carrying instruction, itself being stored
Map unit in, read whole site information, so-called site information, that is, picking point and goods putting point；It calculates and shuttles using algorithm
Vehicle is from being presently in shortest path of the position to task target point；Gained path is stored in shuttle memory；Vehicle
It brings into operation.
Scheduling system based on the present embodiment, the present embodiment also provide a kind of freezer shuttle dispatching method, work as cargo
After reaching storage point, shuttle management system is detected whether there are vacant goods yard and with the presence or absence of idle shuttle, if existing,
Task scheduling unit and path optimization's unit in scheduler module select optimal execution shuttle and optimal road by car-mounted terminal
Diameter is scheduled management to whole shuttles, completes transport task；It vacant goods yard and/or shuttles if it does not exist there is no idle
Vehicle, then cargo continues waiting for.
Embodiment 3
A kind of freezer shuttle dispatching management information system of the invention, system composition and embodiment 2 are essentially identical, in order to
Each shuttle and shuttle management system can preferably cooperate operation, and the car-mounted terminal of the present embodiment includes:
Positioning unit, for realizing the positioning function of shuttle；Positioning unit is based on radio RF recognition technology and photoelectricity
Sensor realizes vehicle location function.
Map unit, for describing the running environment of shuttle, running environment includes shelf information, goods yard coordinate and goods yard
State；That is task requests send dispatch command in a manner of the running environment in invocation map unit, to shuttle.
Communication unit, positioning unit and map unit are communicated by communication unit and shuttle management system.Specifically
, for more easily access and communication, shuttle management system and vehicle-mounted between shuttle management system and car-mounted terminal
It is communicated between terminal by Socket TCP/IP, realizes the transmitted in both directions of information, and more convenient.
It is noted that the present embodiment, in order to realize in communication process, record and processing for information command shuttle
Vehicle management system is also equipped with communication unit, and communication unit includes memory and processor interconnected, and processor is for locating
Manage the program set in car-mounted terminal and shuttle management system, the selection etc. of processing and optimal path including assignment instructions；
Memory is for storing information command and recording out storage information, and information command includes depositing pick-up instruction, out storage information, i.e. goods
The information that object enters and leaves from shelf.
As shown in Figure 1, the scheduling system based on the present embodiment, below dispatches a kind of freezer of the present embodiment with shuttle
Method is described in detail:
1) cargo reach storage point, scheduler module by awareness apparatus (including but not limited to laser radar, laser ranging,
Ultrasonic sensor, optoelectronic switch, barcode scanner, RFID etc.) goods information is obtained, goods information includes: type of merchandize, goods
Object number, goods weight and measurement of cargo.
2) scheduler module inquires running environment, monitoring storage point and each shelf cargo quantity by map unit, when depositing
When putaway stock, shuttle management system inquires remaining sky goods yard information in freezer first, when there are vacant goods yard, then
For the specified storage goods yard of the cargo, scheduler module will record the goods yard position and goods information to database.If current storage
There are multiple vacant goods yards in system, then calculate apart from the nearest goods yard of goods warehousing point；Then goods yard position and cargo are believed
Breath record, application task scheduling unit select shuttle scheduling scheme；If vacant goods yard is not present in current system, to shuttle
Vehicle management system gives a warning；It should be noted that the sequence of task execution is calculated according to the length that the time waits in waiting, i.e.,
Waiting time longest task can preferentially be executed in available free shuttle.
3) scheduler module inquiry is with the presence or absence of the shuttle being in idle condition, and an idle shuttle, then will if it exists
Shuttle number, goods information, cargo location and the task issuing time are recorded to shuttle management system, and by vehicle-mounted
Terminal is instructed to the shuttle release tasks；The more shuttles being in idle condition if it exists then calculate each shuttle institute
Locate absolute distance between position and cargo present position, selection distance is carried the nearest shuttle of task starting point, sent out to the shuttle
Cloth assignment instructions simultaneously transmit information to shuttle by communication unit；Idle shuttle if it does not exist, then cargo continues waiting for, no
Call task scheduling unit.
4) shuttle receives after carrying assignment instructions, calls path optimization's unit, is equipped with subpath module on shuttle
Itself driving path is calculated, can also directly be calculated by shuttle management system.Specifically, driving path includes: from elevator
Current stop position goes to task starting point path；Release shuttle carries out travelling road needed for feeding shuttle after elevator reaches
Diameter；After shuttle completes feeding, elevator carrying shuttle goes to specified shelf path；Elevator reaches designated position, is promoted
Shuttle reaches specified goods yard height；After promoting specified altitude assignment, shuttle is discharged, shuttle reaches the path in specified goods yard.
All Paths, path optimization's Unit selection shortest path are recorded, and routing information is transferred to memory module by communication unit,
Memory can be hard disk, Cloud Server or log storage card, and the communication unit selection of the present embodiment passes through WIFI communication party
Formula can also be communicated using 4G, easy to operate.
5) shuttle starts running.
Embodiment 4
A kind of freezer shuttle dispatching management information system of the present embodiment, system composition and embodiment 2 are essentially identical, more
It further, is to reflect position and the operating status of each shuttle in time, and the intelligent control speed of travel, the present embodiment are worn
Shuttle car operation identifies bar code on conveying track by reader for two-dimension code in real time simultaneously, confirmation self-position and to shuttle pipe
Reason system Real-time Feedback self-position；Distance measuring sensor is connected on shuttle, specially a kind of laser range sensor, ranging
Sensor and shuttle communication, when distance measuring sensor is close to task object point coordinate, shuttle management system to
Shuttle sends deceleration instruction, and so-called close judgement distance is specifically set depending on shuttle vehicle speed；Deceleration distance measuring sensor reaches
When task object point coordinate, shuttle management system sends halt instruction as shuttle.
A kind of freezer shuttle dispatching method of the present embodiment is being travelled when shuttle receives an assignment and brings into operation
Shuttle is combined by laser range sensor and barcode reader in the process, is read relevant information on track, is looked into real time
Ask self-position；By communication unit, to shuttle management system Real-time Feedback self information.Shuttle management system is located in real time
More shuttle location informations are managed, the collision that may occur between shuttle is evaded；Specific shuttle can upload itself in real time
Location parameter, host computer judge whether that path, which can occur, interferes, and evades interference wind by changing shuttle vehicle speed and acceleration
Danger；When shuttle is close to cargo destined unloading position, shuttle management system issues deceleration instruction to shuttle, and shuttle receives
It is reduced speed now after to deceleration instruction until resting against designated position completely, the transport of appointed task is completed in beginning discharging.Value
It obtains one and is mentioned that driving process, shuttle is if a failure occurs, self information can be timely feedbacked to shuttle management system, worn
Shuttle car management system issues warning message to staff.
To sum up, the present invention proposes that a kind of freezer shuttles using the intelligent scheduling of shuttle in freezer logistics distribution as target
Vehicle dispatching management information system and dispatching method, for realizing being real-time and efficiently that shuttle assigns task.Entire shuttle management system
System, for carrying out visual control and management and running to full logistics system.Administrative staff can be in shuttle management system
The remaining capacity of each shuttle of real time inspection, position, state, task dispatching information monitor each goods yard state；Scheduler module is being worked as
When new task arrives, application task scheduling unit and path optimization's unit distribute each shuttle automatically and execute task, and according to
The optimal path that designed path planning algorithm is calculated generates shuttle driving trace, greatly improves logistic efficiency.
Claims (10)
1. a kind of freezer shuttle dispatching management information system, including shuttle management system, which is characterized in that further include:
Car-mounted terminal on shuttle, the car-mounted terminal and the shuttle communication, the vehicle-mounted end are set
End is uploaded to the shuttle management system for recording the working condition of shuttle itself, and the working condition includes vehicle
Car number, remaining capacity, position, state and task；
The shuttle management system includes scheduler module, and the scheduler module is according to transport task in shuttle management system
The shuttle of management is monitored, dispatches and optimizes, and sends dispatch command to corresponding shuttle by car-mounted terminal.
2. a kind of freezer shuttle dispatching management information system according to claim 1, which is characterized in that the scheduler module packet
Task scheduling unit is included, the task scheduling unit is according to task requests by calculating each shuttle present position and transport task
Absolute distance between initial position selects the shuttle of minimum range to execute task, and is originated by car-mounted terminal logger task
Time and the number of the task shuttle is executed to database；The task requests include cargo present position and are sent to target goods
Rack position.
3. a kind of freezer shuttle dispatching management information system according to claim 2, which is characterized in that if the shuttle pipe
System detection is managed to without idle shuttle, then never calls task scheduling unit, task continues waiting for；A shuttle if it exists,
Then the shuttle management system sends dispatch command to the shuttle, executes task；More shuttles if it exists, described in starting
Task scheduling unit.
4. a kind of freezer shuttle dispatching management information system according to claim 2, which is characterized in that the scheduler module is also
Including path optimization's unit, path optimization's unit calculates shuttle from being presently in shortest path of the position to task target point
Diameter, and gained path is stored in the car-mounted terminal.
5. a kind of according to claim 1 or 3 or 4 freezer shuttle dispatching management information systems, which is characterized in that described vehicle-mounted
Terminal includes:
Positioning unit, for realizing the positioning function of shuttle；
Map unit, for describing the running environment of shuttle, the running environment includes shelf information, goods yard coordinate and goods yard
State；
Communication unit, the positioning unit and the map unit are led to by communication unit and the shuttle management system
Letter.
6. a kind of freezer shuttle dispatching management information system according to claim 5, which is characterized in that the shuttle management
System is also equipped with communication unit, and communication unit includes memory and processor interconnected.
7. a kind of freezer shuttle dispatching management information system according to claim 1, which is characterized in that the shuttle management
Pass through Socket TCP/IP communication between system and the car-mounted terminal.
8. a kind of freezer shuttle dispatching management information system according to claim 2, which is characterized in that the database includes
Goods information table, shelf information table, shuttle information of vehicles table and elevator information table, for storing and reading the shuttle
Management system information.
9. a kind of freezer shuttle dispatching management information system according to claim 4, which is characterized in that shuttle is run simultaneously
Identify that bar code on conveying track, confirmation self-position are simultaneously real to the shuttle management system by reader for two-dimension code in real time
When feed back self-position；Distance measuring sensor, the distance measuring sensor and shuttle management system are installed on the shuttle
System communication, when the distance measuring sensor is close to task object point coordinate, the shuttle management system subtracts to shuttle transmission
Speed instruction, when the distance measuring sensor reaches task object point coordinate, the shuttle management system stops as shuttle is sent
Instruction.
10. a kind of freezer shuttle dispatching method, after cargo reaches storage point, shuttle management system detects whether exist
Vacant goods yard and with the presence or absence of idle shuttle, task scheduling unit and path optimization's unit if existing, in scheduler module
Optimal execution shuttle and optimal path are selected by car-mounted terminal, management is scheduled to whole shuttles, transport is completed and appoints
Business；Vacant goods yard and/or there is no idle shuttle if it does not exist, then cargo continues waiting for.
Priority Applications (1)
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| CN201811107250.XA CN109190840A (en) | 2018-09-21 | 2018-09-21 | A kind of freezer shuttle dispatching management information system and dispatching method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811107250.XA CN109190840A (en) | 2018-09-21 | 2018-09-21 | A kind of freezer shuttle dispatching management information system and dispatching method |
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Application publication date: 20190111 |