CN109902975A - Dispatching method, system, device and computer readable storage medium - Google Patents
Dispatching method, system, device and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a kind of dispatching method, system, device and computer readable storage mediums, are related to unmanned storehouse technical field.Dispatching method therein includes: according to the task queue of each shelf, is set to be matched singly matching shelf from each shelf, and task queue includes that matched set is single for affiliated shelf；By the single task queue that matched shelf are added of set to be matched.The present invention can be improved the resource utilization of unmanned storehouse system.
Description
Technical field
The present invention relates to unmanned storehouse technical field, in particular to a kind of dispatching method, system, device and computer-readable
Storage medium.
Background technique
Typical goods is as shown in Figure 1 to people's sorting scene in unmanned warehouse.The scene uses shelf (hereinafter referred to as shelf)
It forms goods with AGV (Automated Guided Vehicle, automated guided vehicle, hereinafter referred to as trolley) and is sorted to people and be
System, wherein houses the cargo of several SKU (Stock Keeping Unit, keeper unit) on shelf.Set singly issues
To after work station, the single matched shelf of set can go to work station to carry out picking by trolley.From the point of view of supply and demand visual angle, need
Asking a side is set list to be picked, and one side of supply is shelf, and both sides provide traffic resource by trolley, gone out by work station
Library operation.
In above-mentioned scene, the technical issues of core is to realize efficient to the resource of supplying party how for demand
Match and utilizes.Especially when demand is real time down, the matching of resource needs real-time online to carry out.
Sorting applied by scene in above-mentioned unmanned warehouse goods to people at present is a kind of pseudo- online resource matching, can be sketched
It is as follows.The basis of pseudo- online resource distribution is three component of the static state matching of resource, and general pseudo- online distribution can be according to fixed frequency
Rate (as per minute) carries out, and can be solved according to the real-time occupancy situation for distributing each resource at that time.At the time of certain, consider current
All new set lists to be matched for being handed down to work station, it is all partially to meet the single shelf of these set, Yi Jisuo
Available free available trolley.Three components distribution i.e. will the determination trolley set to be gone out --- shelf set --- work station collection
The matching relationship of conjunction is currently unable to satisfy with meeting the needs of current set to be matched is singly gathered for various cargos as far as possible
SKU will be put into next time it is resource matched in.
Summary of the invention
Inventor is the study found that the distribution of pseudo- online resource has the following disadvantages: first, in pseudo- online distribution, shelf and small
Carfare source is once occupied, unless the task that shelf go to current bindings work station can have additional task, otherwise shelf can not
It is positioned by subsequent resource allocation, could be positioned until shelf return to its storage space, will cause the raising of outbound shelf number, money in this way
Source utilization rate reduces；Second, the selection that pseudo- online distribution executes frequency artificially determines.Too fast frequency is chosen, will lead to
Matching every time gathers that single backlog is too low, due to mentioning shelf in outbound in 1 unless additional task otherwise cannot be by
Positioning, it is meant that more shelf will all be gone out by executing distribution every time, further decrease resource utilization；If choosing slow frequency
Rate, no doubt available more preferably matching result, but will cause the single backlog of set and become larger, influence outbound efficiency；Third, pseudo-
In online distribution, trolley consigns shelf to work station after being connected to task, from standby point to the shelf position of binding, completes to sort and appoint
After business, shelf are checked into back warehouse compartment, original place is standby or selects other standby points.Some time of trolley flower is in task and appoints
Movement among being engaged in, this part-time reduce the utilization rate of trolley.
The technical problem that the present invention solves is how to improve the resource utilization of unmanned storehouse system.
According to an aspect of an embodiment of the present invention, a kind of dispatching method is provided, comprising: according to the task of each shelf
Queue, is set to be matched singly matching shelf from each shelf, and task queue includes that matched set is single for affiliated shelf；It will
The single task queue that matched shelf are added of set to be matched.
In some embodiments, task queue also include belonging to the matched set of shelf singly corresponding work station position and
Work station stay time；It is that singly matching shelf include: set to be matched from each shelf according to the task queue of each shelf
Guaranteeing to be before the cargo deposit to be matched for gathering single matched shelf set is able to satisfy the single cargo demand of set to be matched
It puts, using work station position and work station stay time, calculating makes the smallest shelf set of total activation cost；It will make always to adjust
The smallest shelf set of cost is spent as the single matched shelf of set to be matched.
In some embodiments, guarantee be the single matched shelf set of set to be matched cargo deposit be able to satisfy to
Under the premise of with the single cargo demand of set, using work station position and work station stay time, calculating makes total activation cost
The smallest shelf set includes: that calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition j
Indicate shelf,Indicating the shelf set comprising various cargos needed for set list to be matched, k indicates type of merchandize,Indicate new
The set of various cargos needed for gathering list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } is indicated j-th
Whether shelf are matched, QkIndicate set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task, according to tasks leave complete duration arrange from small to large,Indicate the preamble task-set in the task queue of shelf j
It closes,Indicate the work station for going to set to be matched single after shelf j completes the preceding sequence task in task queue
Duration, ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station.
In some embodiments, guarantee be the single matched shelf set of set to be matched cargo deposit be able to satisfy to
Under the premise of with the single cargo demand of set, using work station position and work station stay time, calculating makes total activation cost
The smallest shelf set includes: that calculating makes the smallest x of following objective functioni；
Wherein, it needs to meet constraint condition J table
Show shelf,Indicating the shelf set comprising various cargos needed for set list to be matched, k indicates type of merchandize,Indicate new collection
The set of various cargos needed for closing list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } indicates j-th of goods
Whether frame is matched, QkIndicate set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task is completed duration according to tasks leave and is arranged from small to large,Indicate the preamble set of tasks in the task queue of shelf j,Indicate the work station for going to set to be matched single after shelf j completes the preceding sequence task in task queue away from
From ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station, α1、α2For can preset weight.
In some embodiments, dispatching method further include: calculate the excellent of the shelf not carried by trolley according to preset rules
First grade；According to the sequence of priority from high to low, the shelf not carried by trolley match trolley, to execute in task queue
Task.
In some embodiments, when task queue also includes the matched set of affiliated shelf single mounting time and completion
Between；Calculating not according to preset rules includes: that the shelf not carried by trolley are matched by the priority for the shelf that trolley carries
Each set list, current time and mounting time are subtracted each other to obtain and overstock duration, deadline and current time are subtracted each other
Duration is completed to residue；Using overstocked duration and the remaining ratio for completing duration the role pressure value single as set, by each collection
Close the priority that single role pressure value is added to obtain the shelf not carried by trolley.
Other side according to an embodiment of the present invention provides a kind of scheduling system, comprising: shelf coalignment is used
It is set to be matched singly matching shelf from each shelf in the task queue according to each shelf, task queue includes affiliated
Matched set is single for shelf；Task queue updating device, for set list to be matched to be added to the task team of matched shelf
Column.
In some embodiments, task queue also include belonging to the matched set of shelf singly corresponding work station position and
Work station stay time；It is that singly matching shelf include: set to be matched from each shelf according to the task queue of each shelf
Guaranteeing to be before the cargo deposit to be matched for gathering single matched shelf set is able to satisfy the single cargo demand of set to be matched
It puts, using work station position and work station stay time, calculating makes the smallest shelf set of total activation cost；It will make always to adjust
The smallest shelf set of cost is spent as the single matched shelf of set to be matched.
In some embodiments, shelf coalignment is used for: calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition
J indicates shelf,Indicating the shelf set comprising various cargos needed for set list to be matched, k indicates type of merchandize,Indicate new
The set of various cargos needed for gathering list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } is indicated j-th
Whether shelf are matched, QkIndicate set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task, according to tasks leave complete duration arrange from small to large,Indicate the preamble task-set in the task queue of shelf j
It closes,Indicate the work station for going to set to be matched single after shelf j completes the preceding sequence task in task queue
Duration, ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station.
In some embodiments, shelf coalignment is used for: calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition J table
Show shelf,Indicating the shelf set comprising various cargos needed for set list to be matched, k indicates type of merchandize,Indicate new collection
The set of various cargos needed for closing list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } indicates j-th of goods
Whether frame is matched, QkIndicate set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task is completed duration according to tasks leave and is arranged from small to large,Indicate the preamble set of tasks in the task queue of shelf j,Indicate the work station for going to set to be matched single after shelf j completes the preceding sequence task in task queue away from
From ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station, α1、α2For can preset weight.
In some embodiments, dispatch system further include: priority computing device, for according to preset rules calculate not by
The priority of the shelf of trolley carrying；Trolley coalignment, for the sequence according to priority from high to low, not held by trolley
The shelf of load match trolley, to execute the task in task queue.
In some embodiments, when task queue also includes the matched set of affiliated shelf single mounting time and completion
Between；Priority computing device is used for: each set matched for the shelf not carried by trolley is single, by current time and carry
Time, which subtracts each other to obtain, overstocks duration, and deadline and current time are subtracted each other to obtain remaining completion duration；By overstocked duration and remain
The single role pressure value of each set is added to obtain not small by the remaining ratio for the completing duration role pressure value single as set
The priority of the shelf of vehicle carrying.
Another aspect according to an embodiment of the present invention provides a kind of dispatching device, wherein includes: memory；And
It is coupled to the processor of memory, processor is configured as executing dispatching party above-mentioned based on instruction stored in memory
Method.
Another aspect according to an embodiment of the present invention provides a kind of computer readable storage medium, wherein computer
Readable storage medium storing program for executing is stored with computer instruction, and instruction realizes dispatching method above-mentioned when being executed by processor.
Dispatching method provided by the invention can be improved the resource utilization of unmanned storehouse system.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows in unmanned warehouse typical goods and sorts schematic diagram of a scenario to people.
Fig. 2 shows the flow diagrams of the dispatching method of one embodiment of the invention.
Fig. 3 shows the flow diagram of the dispatching method of another embodiment of the present invention.
Fig. 4 shows the structural schematic diagram of the scheduling system of one embodiment of the invention.
Fig. 5 shows the structural schematic diagram of the dispatching device of one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, shall fall within the protection scope of the present invention.
The shortcomings that for pseudorandom distribution, dispatching method of the invention propose a kind of strategy of online resource distribution, core
Thought road is to allow currently to have the shelf of task that can bind follow-up work, i.e., when realizing task on shelf face, sequence task is arranged
Table.In addition, being clearly set list and shelf to be matched by the both sides of supply and demand of assignment problem, trolley delivery shelf to work station are one
Transport need derived from kind, the scheduling problem other as one individually solves with the binding of shelf.In order to realize above-mentioned plan
Slightly, with the main On-line matching for being to solve supply and demand resource, this paper complete technical solution described below.
Fig. 2 is combined to introduce the dispatching method of one embodiment of the invention first.
Fig. 2 shows the flow diagrams of the dispatching method of one embodiment of the invention.As shown in Fig. 2, in the present embodiment
Dispatching method include:
Step S202 is set to be matched singly matching shelf from each shelf, appoints according to the task queue of each shelf
Business queue includes that matched set is single for affiliated shelf.
The form of task queue specifically can be for example shown in table 1.Wherein, task queue can indicate the suitable of task execution
Sequence, task mounting time tAIndicate that the task is mounted to the time of this shelf, task is by time tDIt indicates corresponding to the task
It must complete the time sorted, outbound work station ID indicates the task to the number in requisition for the outbound work station gone to, set
Single ID indicates the single number of the corresponding set for needing to meet of the task, and demand SKU set and quantity are the shelf at this
The quantity for each SKU that can be singly provided for set in business.Task sequence can be according to following regularly arranged: assuming that current time
For t, according to tD- t (away from task by the time) is arranged from small to large, works as tDWhen-t is identical, according to t-tA(task waiting time) from
Minispread is arrived greatly.
Table 1
Wherein, the queue of task can support task insertion, merge the operations such as execution, task deletion.Task is inserted into
For, when the queue for thering is new task to be added to the shelf, need that the task is inserted into phase according to task sequence ordering rule
The position answered.For task deletion, after task execution finishes, task is cancelled, task need to be deleted from queue, and update
Each task execution serial number in queue.For merging and executing, shelf are when work station executes outbound task, if had in queue
Other set single tasks of identical work station, can execute together.
Other than task queue, each shelf can also record some other status informations, as current task, position are believed
Breath, inventory etc..The inventory of shelf needs to reduce in advance after task carry, if task is cancelled, needs inventory again add-back.
Particularly, task queue can also include the single corresponding work station position of the matched set of affiliated shelf and work
It stands stay time.Guaranteeing to be that the cargo deposit to be matched for gathering single matched shelf set is able to satisfy the single goods of set to be matched
Under the premise of object demand, using work station position and work station stay time, can calculate makes the smallest goods of total activation cost
Frame set, and the smallest shelf set of total activation cost will be made as the single matched shelf of set to be matched.
Step S204, by the single task queue that matched shelf are added of set to be matched.
In above-described embodiment, by being arranged task queue on shelf, shelf can be used as task buffer mechanism at any time
With new set list to receive new task.Due to realizing shelf task queue, have matched set is single can also be with even if shelf
New set list is matched, so that all shelf can be considered in scheduled production, selection when real-time matching is singly carried out to each set
Be all that current optimal shelf improve the resource utilization of unmanned storehouse system to accomplish that the optimal of task issues.
Meanwhile new set list can be received when work station has vacant slot.After set is singly issued to work station,
It always carries out resource matched without singly being mentioned by the scheduled production caching by preset frequency, more set, does not need holding for default resource allocation
Line frequency, but singly just once matched per new one set of reception, it is achieved that online resource distributes, improve nobody
The working efficiency of storehouse system.
Two kinds of specific situations for calculating and making the smallest shelf set of total activation cost are set forth below.
(1) make total activation time cost minimum.
Calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition j
Indicate shelf,Indicating the shelf set comprising various cargos needed for the set list to be matched, k indicates type of merchandize,Table
The set of various cargos needed for showing the new set list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } table
Show whether j-th of shelf is matched, QkIndicate that the set single pair to be matched in the demand of type of merchandize k, indicates shelf j's
Task in task queue is completed duration according to tasks leave and is arranged from small to large,Before indicating in the task queue of shelf j
Sequence task set,It indicates to go to the set to be matched after shelf j completes the preceding sequence task in task queue
The duration of single work station, ci,travelIndicate that shelf j goes to the work station of i-th task from the work station of (i-1)-th task
Duration, c when i=1i,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j exists
The duration of work station is rested in task i.
(2) make the total activation time and dispatch the weighting cost minimum of pallet quantity.
Calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition
J indicates shelf,It indicates
Shelf set comprising various cargos needed for the set list to be matched, k indicate type of merchandize,Indicate that the new set is single
The set of required various cargos, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } indicates that j-th of shelf is
It is no to be matched, QkIndicate the set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task is completed duration according to tasks leave and is arranged from small to large,Indicate the preamble set of tasks in the task queue of shelf j,Indicate the work station for going to the set to be matched single after shelf j completes the preceding sequence task in task queue
Distance, ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station, α1、α2For can preset weight.
Below by taking (two) plant situation as an example, calculating process is explained.
The first part of the objective function of the problem is desirable to occupy few shelf as far as possible, and second part is to try to wish goods
The total cost of frame is minimum.In view of there is pending task queue on shelf j, shelf cost c is calculatedjWhen taken into account
It goes.Specifically, consider the corresponding order deadline t of all orders in current collection listDIt is identical that (this consideration is reasonable
, because of the corresponding t of order of general same wave timeDIt is identical, for causing the change of order deadline because of special order,
Single split of set can always be considered), according to the t of current collection listDDetermine the front and continued task of each shelf j: by appointing for shelf j
Business queue splits into { 1,2,3, Pj,...,Lj, wherein 1 is currently in execution task, 1-PjIt is the preamble times of current collection single task
Business (is set as gathering), i.e., the completion of preceding sequence task could be executed into the set single task.Solution obtains xjIt afterwards, will according to result
Corresponding task is tied to the position of selected shelf, and the execution order of its adjustable shelf task queue.
Above-described embodiment can take into account time cost factor, realize the real-time matching of supply and demand, reduce unmanned storehouse system
The scheduling cost of system further promotes the working efficiency of unmanned storehouse system.
The dispatching method of another embodiment of the present invention is introduced below with reference to Fig. 3.
Fig. 3 shows the flow diagram of the dispatching method of another embodiment of the present invention.As shown in figure 3, shown in Fig. 2
Dispatching method on the basis of embodiment, in the present embodiment further include:
Step S306 calculates the priority for the shelf not carried by trolley according to preset rules；
Task queue also includes the single mounting time and deadline of the matched set of affiliated shelf.For not by trolley
The matched each set of the shelf of carrying is single, and current time and mounting time are subtracted each other to obtain and overstock duration, by the deadline with
Current time subtracts each other to obtain remaining completion duration；Using overstocked duration and the remaining ratio for completing duration the task pressure single as set
The single role pressure value of each set is added to obtain the priority for the shelf not carried by trolley by force value.Those skilled in the art
Member is it should be understood that role pressure value is the function for changing over time, changing with number of tasks.Time increases and task increase can all cause
The priority of shelf increases, to promote its priority.
Step S308, according to the sequence of priority from high to low, the shelf not carried by trolley match trolley, to execute
Task in task queue.
The matching of shelf and vehicle can then take following two: (1) whenever an AGV trolley free time can position after, by
It triggers the matching with shelf.(2) matching of shelf and vehicle is periodically triggered according to a temporal frequency.From algorithm angle,
One is second of special circumstances, therefore second introduced below matches.According to regular hour frequency, a cycle can be generated
The set of idle trolley, while also having task carry but not yet binding the shelf of trolley resource, this is shelf and vehicle match
Two sides.If the set of idle trolleySo that 1,2,3 ..., and N }, the shelf set of trolley to be boundForFor 1,2,
3,...,M}.Consider that the shelf number that can be bound with trolley is that min (M, N) needs to filter out from shelf N number of if M >=N
Shelf.According to the rule in step S306, preceding min (M, N) a shelf can be selected.Next, the matching of shelf and vehicle is sent out
Life is between a shelf being selected of min (M, N) and N number of idle trolley.
For concrete example, can calculate makes the smallest x of following objective functionmn；
Wherein, need to meet two constraint conditions: (1) each shelf must be matched
(2) each trolley at most distributes to a shelfM indicates that shelf, n indicate
Trolley, xmn∈ { 0,1 } indicates that shelf m is matched with trolley n,Indicate the shelf to be matched filtered out according to priority
Set,Indicate idle trolley set,cmnIndicate the distance of shelf m to trolley n.
After the completion of matching, the trolley being matched goes to bound shelf, starts the task queue for executing shelf.It is holding
During row task queue, trolley always with the shelf bind, and this during shelf can match always it is new to
With shelf.When trolley completes the last one task and enters queue without new task, trolley can consign shelf Hui Ku, cross
Task after the decision point is matched by next trolley to be executed.
In above-described embodiment, shelf according to the task on shelf and complete pressure when with vehicle match, this
So that limited traffic resource always can preferentially be allocated to the most desirable shelf in system, it is ensured that by costs such as time, distances
Under the premise of factor takes into account, the real-time matching of supply and demand and traffic resource is realized.It will be understood by those skilled in the art that shelf sheet
What the task queue of body can be arranged according to task priority and urgency, it can also be adjusted flexibly in the process of implementation, therefore can
To derive increasingly complex control strategy, the resource utilization of unmanned storehouse system is further increased.
In addition, task, mistake will be executed according to the sequence of task queue by being carrying out the shelf of task with trolley binding
It can receive new task in journey, be inserted into task queue.Under actual scene, the share tasks in task queue are in different work
It stands, and each work station has the physical cache position of finite number, shelf cannot be received to wait without limitation.Therefore, practical execute is appointed
When business queue, if the cache bit that the work station of head of the queue task is available free, first the caching bit quantity of the work station is subtracted 1
(only preempting quantity, do not preempt physical cache position)；If the not idle cache bit of the corresponding work station of head of the queue task,
The task of the available free cache bit in relevant work station is then sequentially selected from task queue, and current task is set as the task；If
The corresponding all working station of all tasks should then be arranged shelf Accreditation Waiting Area, go to goods in trolley without free buffer position on shelf
Execution current task can be returned at any time during frame Accreditation Waiting Area or waiting.
The scheduling system of one embodiment of the invention is introduced below with reference to Fig. 4.
Fig. 4 shows the structural schematic diagram of the scheduling system of one embodiment of the invention.As shown in figure 4, the present embodiment
Scheduling system 40 includes:
Shelf coalignment 402 is that set to be matched is single from each shelf for the task queue according to each shelf
Shelf are matched, the task queue includes that matched set is single for affiliated shelf；
Task queue updating device 404, for the set list to be matched to be added to the task queue of matched shelf.
In some embodiments, task queue also include belonging to the matched set of shelf singly corresponding work station position and
Work station stay time；The task queue according to each shelf is set to be matched singly matching shelf from each shelf
It include: to guarantee to be that the cargo deposit to be matched for gathering single matched shelf set is able to satisfy the single cargo of the set to be matched
Under the premise of demand, using the work station position and work station stay time, calculating makes the smallest shelf of total activation cost
Set；The smallest shelf set of total activation cost will be made as the single matched shelf of set to be matched.
In above-described embodiment, by being arranged task queue on shelf, shelf can be used as task buffer mechanism at any time
With new set list to receive new task.Due to realizing shelf task queue, have matched set is single can also be with even if shelf
New set list is matched, so that all shelf can be considered in scheduled production, selection when real-time matching is singly carried out to each set
Be all that current optimal shelf improve the resource utilization of unmanned storehouse system to accomplish that the optimal of task issues.
Meanwhile new set list can be received when work station has vacant slot.After set is singly issued to work station,
It always carries out resource matched without singly being mentioned by the scheduled production caching by preset frequency, more set, does not need holding for default resource allocation
Line frequency, but singly just once matched per new one set of reception, it is achieved that online resource distributes, improve nobody
The working efficiency of storehouse system.
In some embodiments, shelf coalignment is used for: calculating makes the smallest x of following objective functioni；
Wherein, it needs to meet constraint condition j
Indicate shelf,Indicating the shelf set comprising various cargos needed for set list to be matched, k indicates type of merchandize,Indicate new
The set of various cargos needed for gathering list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } is indicated j-th
Whether shelf are matched, QkIndicate set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task, according to tasks leave complete duration arrange from small to large,Indicate the preamble task-set in the task queue of shelf j
It closes,Indicate the work station for going to set to be matched single after shelf j completes the preceding sequence task in task queue
Duration, ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station.
In some embodiments, shelf coalignment is used for: calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition j
Indicate shelf,Indicating the shelf set comprising various cargos needed for set list to be matched, k indicates type of merchandize,Indicate new
The set of various cargos needed for gathering list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } is indicated j-th
Whether shelf are matched, QkIndicate set single pair to be matched in the demand of type of merchandize k, the task queue for indicating shelf j
Task, according to tasks leave complete duration arrange from small to large,Indicate the preamble task-set in the task queue of shelf j
It closes,Indicate the work station for going to set to be matched single after shelf j completes the preceding sequence task in task queue
Distance, ci,travelIndicate that shelf j goes to the duration of the work station of i-th of task from the work station of (i-1)-th task, when i=1
ci,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j is stopped in task i
In the duration of work station, α1、α2For can preset weight.
Above-described embodiment can take into account time cost factor, realize the real-time matching of supply and demand, reduce unmanned storehouse system
The scheduling cost of system further promotes the working efficiency of unmanned storehouse system.
In some embodiments, system is dispatched further include:
Priority computing device 406, for calculating the priority for the shelf not carried by trolley according to preset rules；
Trolley coalignment 408, for the sequence according to priority from high to low, the shelf not carried by trolley are matched
Trolley, to execute the task in the task queue.
In some embodiments, when task queue also includes the matched set of affiliated shelf single mounting time and completion
Between；The priority computing device 406 is used for: each set matched for the shelf not carried by trolley singly, when will be current
Between subtract each other to obtain with mounting time and overstock duration, deadline and current time are subtracted each other to obtain and remaining complete duration；It will overstock
The single role pressure value of each set is added by the role pressure value of duration and the remaining ratio for completing duration as set list
To the priority for the shelf not carried by trolley.
In above-described embodiment, shelf according to the task on shelf and complete pressure when with vehicle match, this
So that limited traffic resource always can preferentially be allocated to the most desirable shelf in system, it is ensured that by costs such as time, distances
Under the premise of factor takes into account, the real-time matching of supply and demand and traffic resource is realized.It will be understood by those skilled in the art that shelf sheet
What the task queue of body can be arranged according to task priority and urgency, it can also be adjusted flexibly in the process of implementation, therefore can
To derive increasingly complex control strategy, the resource utilization of unmanned storehouse system is further increased.
Fig. 5 shows the structural schematic diagram of another embodiment of dispatching device of the present invention.As shown in figure 5, the embodiment
Dispatching device 50 include: memory 510 and the processor 520 for being coupled to the memory 510, processor 520 is configured as
Based on the instruction being stored in memory 510, the dispatching method in any one aforementioned embodiment is executed.
Wherein, memory 510 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
Dispatching device 50 can also include input/output interface 530, network interface 540, memory interface 550 etc..These connect
It can for example be connected by bus 560 between mouth 530,540,550 and memory 510 and processor 520.Wherein, it inputs defeated
The input-output equipment such as outgoing interface 530 is display, mouse, keyboard, touch screen provide connecting interface.Network interface 540 is each
Kind networked devices provide connecting interface.The external storages such as memory interface 550 is SD card, USB flash disk provide connecting interface.
The invention also includes a kind of computer readable storage mediums, are stored thereon with computer instruction, and the instruction is processed
Device realizes the dispatching method in any one aforementioned embodiment when executing.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of dispatching method, comprising:
It is set to be matched singly matching shelf, the task queue packet from each shelf according to the task queue of each shelf
Containing affiliated shelf, matched set is single；
By the single task queue that matched shelf are added of set to be matched.
2. dispatching method as described in claim 1, wherein the task queue also includes the matched set single pair of affiliated shelf
The work station position answered and work station stay time；
The task queue according to each shelf is that singly matching shelf include: set to be matched from each shelf
Guaranteeing to be that the cargo deposit to be matched for gathering single matched shelf set is able to satisfy the single cargo of the set to be matched
Under the premise of demand, using the work station position and work station stay time, calculating makes the smallest shelf of total activation cost
Set；
The smallest shelf set of total activation cost will be made as the single matched shelf of set to be matched.
3. dispatching method as claimed in claim 2, wherein described to guarantee to be the single matched shelf set of set to be matched
Under the premise of cargo deposit is able to satisfy the single cargo demand of the set to be matched, the work station position and work station are utilized
Stay time, calculating make the smallest shelf set of total activation cost include:
Calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition J table
Show shelf,Indicating the shelf set comprising various cargos needed for the set list to be matched, k indicates type of merchandize,It indicates
The set of various cargos needed for the new set list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } is indicated
Whether j-th of shelf is matched, QkThe set single pair to be matched is indicated in the demand of type of merchandize k, i indicates shelf j's
Task in task queue is completed duration according to tasks leave and is arranged from small to large,Before indicating in the task queue of shelf j
Sequence task set,It indicates to go to the set to be matched after shelf j completes the preceding sequence task in task queue
The duration of single work station, ci,travelIndicate that shelf j goes to the work station of i-th task from the work station of (i-1)-th task
Duration, c when i=1i,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate that shelf j exists
The duration of work station is rested in task i.
4. dispatching method as claimed in claim 2, wherein described to guarantee to be the single matched shelf set of set to be matched
Under the premise of cargo deposit is able to satisfy the single cargo demand of the set to be matched, the work station position and work station are utilized
Stay time, calculating make the smallest shelf set of total activation cost include:
Calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition j
Indicate shelf,Indicating the shelf set comprising various cargos needed for the set list to be matched, k indicates type of merchandize,Table
The set of various cargos needed for showing the new set list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈ { 0,1 } table
Show whether j-th of shelf is matched, QkThe set single pair to be matched is indicated in the demand of type of merchandize k, i indicates shelf j
Task queue in task, according to tasks leave complete duration arrange from small to large,In the task queue for indicating shelf j
Preamble set of tasks,It indicates to go to the collection to be matched after shelf j completes the preceding sequence task in task queue
Close the distance of single work station, ci,travelIndicate that shelf j goes to the work station of i-th of task from the work station of (i-1)-th task
Duration, c when i=1i,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate shelf j
The duration of work station, α are rested in task i1、α2For can preset weight.
5. dispatching method as described in claim 1, wherein the dispatching method further include:
The priority for the shelf not carried by trolley is calculated according to preset rules；
According to the sequence of priority from high to low, the shelf not carried by trolley match trolley, to execute the task queue
In task.
6. dispatching method as claimed in claim 5, wherein the task queue also includes that the matched set of affiliated shelf is single
Mounting time and deadline；
It is described not include: by the priority for the shelf that trolley carries according to preset rules calculating
Each set matched for the shelf not carried by trolley is single, when subtracting each other current time and mounting time to obtain overstocked
It is long, deadline and current time are subtracted each other to obtain remaining completion duration；
Using overstocked duration and the remaining ratio for completing duration the role pressure value single as set, by the single task pressure of each set
Force value is added to obtain the priority for the shelf not carried by trolley.
7. a kind of scheduling system, comprising:
Shelf coalignment is set to be matched singly matching goods from each shelf for the task queue according to each shelf
Frame, the task queue include that matched set is single for affiliated shelf；
Task queue updating device, for the set list to be matched to be added to the task queue of matched shelf.
8. scheduling system as claimed in claim 7, wherein the task queue also includes the matched set single pair of affiliated shelf
The work station position answered and work station stay time；
The shelf coalignment is used for:
Guaranteeing to be that the cargo deposit to be matched for gathering single matched shelf set is able to satisfy the single cargo of the set to be matched
Under the premise of demand, using the work station position and work station stay time, calculating makes the smallest shelf of total activation cost
Set；
The smallest shelf set of total activation cost will be made as the single matched shelf of set to be matched.
9. scheduling system as claimed in claim 8, wherein the shelf coalignment is used for:
Calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition
J indicates shelf,Indicating the shelf set comprising various cargos needed for the set list to be matched, k indicates type of merchandize,
The set of various cargos needed for indicating the new set list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈{0,1}
Indicate whether j-th of shelf is matched, QkThe set single pair to be matched is indicated in the demand of type of merchandize k, i indicates shelf
Task in the task queue of j is completed duration according to tasks leave and is arranged from small to large,In the task queue for indicating shelf j
Preamble set of tasks,It is gone to after preceding sequence task in expression shelf j completion task queue described to be matched
Gather the duration of single work station, ci,travelIndicate that shelf j goes to the work of i-th of task from the work station of (i-1)-th task
The duration stood, c when i=1i,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate goods
Frame j rests on the duration of work station in task i.
10. scheduling system as claimed in claim 8, wherein the shelf coalignment is used for:
Calculating makes the smallest x of following objective functionj；
Wherein, it needs to meet constraint condition
J indicates shelf,Indicating the shelf set comprising various cargos needed for the set list to be matched, k indicates type of merchandize,
The set of various cargos needed for indicating the new set list, qjkIndicate the amount of storage of the type of merchandize k on shelf j, xj∈{0,1}
Indicate whether j-th of shelf is matched, QkThe set single pair to be matched is indicated in the demand of type of merchandize k, i indicates shelf
Task in the task queue of j is completed duration according to tasks leave and is arranged from small to large,In the task queue for indicating shelf j
Preamble set of tasks,It is gone to after preceding sequence task in expression shelf j completion task queue described to be matched
Gather the distance of single work station, ci,travelIndicate that shelf j goes to the work of i-th of task from the work station of (i-1)-th task
The duration stood, c when i=1i,travelIndicate the duration of first task work station of shelf j current distance, ci,processingIndicate goods
Frame j rests on the duration of work station, α in task i1、α2For can preset weight.
11. scheduling system as claimed in claim 7, wherein the scheduling system further include:
Priority computing device, for calculating the priority for the shelf not carried by trolley according to preset rules；
Trolley coalignment, for the sequence according to priority from high to low, the shelf not carried by trolley match trolley, with
Execute the task in the task queue.
12. scheduling system as claimed in claim 11, wherein the task queue also includes that the affiliated matched set of shelf is single
Mounting time and the deadline；
The priority computing device is used for:
Each set matched for the shelf not carried by trolley is single, when subtracting each other current time and mounting time to obtain overstocked
It is long, deadline and current time are subtracted each other to obtain remaining completion duration；
Using overstocked duration and the remaining ratio for completing duration the role pressure value single as set, by the single task pressure of each set
Force value is added to obtain the priority for the shelf not carried by trolley.
13. a kind of dispatching device, wherein include:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute such as dispatching method described in any one of claims 1 to 6.
14. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
It states and realizes such as dispatching method described in any one of claims 1 to 6 when instruction is executed by processor.
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