CN109902975B - Scheduling method, system, apparatus and computer readable storage medium - Google Patents
Scheduling method, system, apparatus and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a scheduling method, a scheduling system, a scheduling device and a computer readable storage medium, and relates to the technical field of unmanned bins. The scheduling method comprises the following steps: matching shelves for the to-be-matched collection sheet from each shelf according to the task queue of each shelf, wherein the task queue comprises the matched collection sheets of the shelf; and adding the collection sheet to be matched into the task queue of the matched shelf. The invention can improve the resource utilization rate of the unmanned storehouse system.
Description
Technical Field
The present invention relates to the field of unmanned storehouse technology, and in particular, to a scheduling method, system, apparatus, and computer-readable storage medium.
Background
A typical pick-to-pick scenario in an unmanned warehouse is shown in fig. 1. In the scene, goods shelves (hereinafter, referred to as shelves) on which goods of a plurality of types of SKUs (Stock Keeping units) are stored and AGVs (Automated Guided vehicles) constitute a goods-to-person picking system. After the collection sheet is issued to the workstation, the goods shelves matched with the collection sheet can go to the workstation through the trolley to carry out picking operation. From the view point of supply and demand, the demand side is the collection sheet to be picked, the supply side is the goods shelf, and the two sides rely on the trolley to provide traffic resources and the workstation to carry out warehouse-out operation.
In the above scenario, the core technical problem is how to implement efficient matching and utilization of resources of a supplier for demand. Especially, when the requirement is real-time delivery, the matching of the resources needs to be carried out on line in real time.
Currently, a pseudo online resource matching is applied in the unmanned warehouse goods-to-people picking scenario, which can be briefly described as follows. The basis of pseudo-online resource allocation is static ternary graph matching of resources, and generally, pseudo-online allocation is performed according to a fixed frequency (such as every minute) and is solved according to real-time occupation conditions of various resources allocated at that time. At a certain moment, all the current new lists to be matched issued to the workstations, all the shelves which can partially satisfy the lists, and all the available trolleys which are free are considered. The matching relation of a trolley set, a shelf set and a workstation set to be selected is determined by one-time treelet distribution, so that the requirements of the current set list set to be matched on various goods are met as much as possible, and the current unsatisfiable SKUs are put into the next resource matching.
Disclosure of Invention
The inventor researches and discovers that the pseudo online resource allocation has the following defects: firstly, in pseudo online distribution, once the goods shelf and trolley resources are occupied, unless the task of the goods shelf to the current binding workstation can have an additional task, the goods shelf cannot be positioned by subsequent resource distribution until the goods shelf returns to the storage position, so that the number of the goods shelves for delivery is increased, and the resource utilization rate is reduced; second, the selection of the pseudo-online allocation execution frequency is determined by human. Selecting too fast frequency can result in too low single backlog of each matching set, and since the shelf already in the warehouse-out cannot be positioned unless a task is added in step 1, more shelves are required for each allocation execution, and the resource utilization rate is further reduced; if too slow frequency is selected, a better matching result can be obtained, but the single backlog of the set is increased, and the ex-warehouse efficiency is influenced; and thirdly, in pseudo online distribution, after the trolley receives a task, the trolley consigns the goods shelves to the workstation from the standby point to the bound goods shelf position, and after the picking task is completed, the goods shelves are consigned to the warehouse return position to be standby in situ or other standby points are selected. The trolley has a portion of time spent moving from task to task, which reduces the trolley utilization.
The invention solves the technical problem of how to improve the resource utilization rate of the unmanned storehouse system.
According to an aspect of an embodiment of the present invention, there is provided a scheduling method, including: matching shelves for the to-be-matched collection sheet from each shelf according to the task queue of each shelf, wherein the task queue comprises the matched collection sheets of the shelf; and adding the collection sheet to be matched into the task queue of the matched shelf.
In some embodiments, the task queue further comprises the workstation position and the workstation dwell time corresponding to the collection sheet matched with the shelf; according to the task queue of each shelf, matching the shelf for the collection sheet to be matched from each shelf comprises the following steps: on the premise of ensuring that the goods reserve of the shelf set matched with the collection sheet to be matched can meet the goods requirement of the collection sheet to be matched, calculating the shelf set with the minimum total scheduling cost by utilizing the position of the workstation and the stay time of the workstation; and taking the shelf set with the minimum total scheduling cost as the shelf matched with the set list to be matched.
In some embodiments, calculating the shelf set that minimizes the total scheduling cost using the workstation location and the workstation dwell time while ensuring that the inventory of the shelf set matched to the matching slip can meet the inventory requirements of the matching slip comprises: calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing a shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
representing the time length of the shelf j going to the workstation of the to-be-matched collection list after completing the preorder task in the task queue, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i.
In some embodiments, calculating the shelf set that minimizes the total scheduling cost using the workstation location and the workstation dwell time while ensuring that the inventory of the shelf set matched to the matching slip can meet the inventory requirements of the matching slip comprises: calculating x which minimizes the following objective functioni；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing a shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
represents the distance from the shelf j to the workstation of the to-be-matched collection list after completing the preorder task in the task queue, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i, alpha1、α2Are weight that can be preset.
In some embodiments, the scheduling method further comprises: calculating the priority of the goods shelves which are not carried by the trolley according to a preset rule; matching the trolleys for the shelves not carried by the trolley according to the sequence from high to low in priority so as to execute the tasks in the task queue.
In some embodiments, the task queue further comprises the mount time and the completion time of the collection list matched with the belonging shelf; calculating the priority of the goods shelf not carried by the trolley according to a preset rule comprises the following steps: for each collection sheet matched with the shelf not borne by the trolley, subtracting the current time from the mounting time to obtain the backlog duration, and subtracting the completion time from the current time to obtain the residual completion duration; and taking the ratio of the overstock time length to the residual completion time length as the task pressure values of the collection lists, and adding the task pressure values of the collection lists to obtain the priority of the goods shelf which is not borne by the trolley.
According to another aspect of the embodiments of the present invention, there is provided a scheduling system, including: the shelf matching device is used for matching shelves for the collection sheet to be matched from each shelf according to the task queue of each shelf, and the task queue comprises the matched collection sheet of the shelf; and the task queue updating device is used for adding the collection sheet to be matched into the task queue of the matched shelf.
In some embodiments, the task queue further comprises the workstation position and the workstation dwell time corresponding to the collection sheet matched with the shelf; according to the task queue of each shelf, matching the shelf for the collection sheet to be matched from each shelf comprises the following steps: on the premise of ensuring that the goods reserve of the shelf set matched with the collection sheet to be matched can meet the goods requirement of the collection sheet to be matched, calculating the shelf set with the minimum total scheduling cost by utilizing the position of the workstation and the stay time of the workstation; and taking the shelf set with the minimum total scheduling cost as the shelf matched with the set list to be matched.
In some embodiments, the shelf matching device is for: calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing a shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
representing the time length of the shelf j going to the workstation of the to-be-matched collection list after completing the preorder task in the task queue, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i.
In some embodiments, the shelf matching device is for: calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing a shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
represents the distance from the shelf j to the workstation of the to-be-matched collection list after completing the preorder task in the task queue, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i, alpha1、α2Are weight that can be preset.
In some embodiments, the scheduling system further comprises: the priority calculating device is used for calculating the priority of the goods shelf which is not carried by the trolley according to a preset rule; and the trolley matching device is used for matching the trolley for the shelf which is not carried by the trolley according to the sequence of the priority from high to low so as to execute the tasks in the task queue.
In some embodiments, the task queue further comprises the mount time and the completion time of the collection list matched with the belonging shelf; the priority calculating means is for: for each collection sheet matched with the shelf not borne by the trolley, subtracting the current time from the mounting time to obtain the backlog duration, and subtracting the completion time from the current time to obtain the residual completion duration; and taking the ratio of the overstock time length to the residual completion time length as the task pressure values of the collection lists, and adding the task pressure values of the collection lists to obtain the priority of the goods shelf which is not borne by the trolley.
According to another aspect of the embodiments of the present invention, there is provided a scheduling apparatus, including: a memory; and a processor coupled to the memory, the processor configured to perform the aforementioned scheduling method based on instructions stored in the memory.
According to still another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor to implement the foregoing scheduling method.
The scheduling method provided by the invention can improve the resource utilization rate of the unmanned storehouse system.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 shows a schematic diagram of a typical goods-to-person picking scenario in an unmanned warehouse.
Fig. 2 is a flowchart illustrating a scheduling method according to an embodiment of the present invention.
Fig. 3 is a flowchart illustrating a scheduling method according to another embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a scheduling system according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the defect of pseudo-random allocation, the scheduling method of the invention provides a strategy of online resource allocation, and the core idea is to allow the current shelf with tasks to be capable of binding the subsequent tasks, namely, the task time sequence task list is realized on the shelf surface. In addition, the supply and demand sides of the distribution problem are definitely set as the collection list and the goods shelf to be matched, the goods shelf for the trolley to consign to the workstation is a derived traffic demand, and the binding of the goods shelf and the trolley is used as an additional scheduling problem to be solved independently. In order to implement the above strategy, the main solution is online matching of supply and demand resources, and the following describes a complete technical solution in detail.
First, a scheduling method according to an embodiment of the present invention is described with reference to fig. 2.
Fig. 2 is a flowchart illustrating a scheduling method according to an embodiment of the present invention. As shown in fig. 2, the scheduling method in this embodiment includes:
step S202, matching shelves for the collection sheet to be matched from each shelf according to the task queue of each shelf, wherein the task queue comprises the matched collection sheets of the shelf.
The form of the task queue may be specifically as shown in table 1, for example. Wherein, the task queue can represent the order of task execution and the task mounting time tAShowing the time when the task is mounted on the shelf, and the task cutoff time tDThe picking time of the goods shelf is represented, the ID of the ex-warehouse workstation represents the number of the out-warehouse workstation which needs to go to and corresponds to the task, the ID of the collection sheet represents the number of the collection sheet which needs to be met and corresponds to the task, and the demand SKU sets and the quantity are the quantity of each SKU which can be provided for the collection sheet by the goods shelf in the task. The task sequence may be arranged according to the following rules: assuming that the current time is t, according to tD-t (from task intercept time) is arranged from small to large, when tDWhen-t is the same, according to t-tA(task latency) is ranked from large to small.
TABLE 1
The queue of the task can support operations such as task insertion, merging execution, task deletion and the like. For task insertion, when a new task is added to the queue of the shelf, the task needs to be inserted into a corresponding position according to a task sequence ordering rule. For task deletion, after the task is executed and cancelled, the task needs to be deleted from the queue, and the execution sequence number of each task in the queue needs to be updated. For merge execution, when a shelf executes an outbound task at a workstation, it can execute all tasks together if there are other aggregate singlets for the same workstation in the queue.
In addition to the task queue, each shelf may record some other status information, such as current tasks, location information, inventory, etc. And inventory of the goods shelf needs to be deducted after the task is mounted, and if the task is cancelled, the inventory needs to be added back again.
In particular, the task queue may further include the workstation position and the workstation dwell time corresponding to the collection sheet matched with the shelf. On the premise of ensuring that the goods reserve of the shelf set matched with the collection sheet to be matched can meet the goods demand of the collection sheet to be matched, the shelf set with the minimum total scheduling cost can be calculated by utilizing the position of the workstation and the stay time of the workstation, and the shelf set with the minimum total scheduling cost is used as the shelf matched with the collection sheet to be matched.
And step S204, adding the collection sheet to be matched into the task queue of the matched shelf.
In the above embodiment, by setting the task queue on the shelf, the shelf can be used as a task caching mechanism to match with a new collection sheet at any time to receive a new task. Due to the fact that the shelf task queue is achieved, even if the shelf is provided with the matched collection sheet, the new collection sheet can be matched, all shelves can be considered in scheduling, the currently optimal shelf is selected when each collection sheet is matched in real time, optimal issuing of tasks is achieved, and the resource utilization rate of the unmanned warehouse system is improved.
Meanwhile, when the workstation has an empty slot, a new collection sheet can be received. After the collection list is issued to the workstation, resource matching is not performed through scheduling cache and multi-collection list extraction according to preset frequency, the execution frequency of resource allocation is not required to be preset, and matching is performed once when a collection list is newly received, so that online resource allocation is realized, and the working efficiency of the unmanned warehouse system is improved.
Two specific cases of computing a set of shelves that minimizes the overall scheduling cost are listed below.
One, the total scheduling time penalty is minimized.
Calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing the shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched collection sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
indicating that the shelf j goes to the waiting shelf after finishing the preorder task in the task queueDuration of workstation matching the collection sheet, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i.
And (II) the weighted cost of the total scheduling time and the number of scheduling shelves is minimized.
Calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
The calculation process is explained below by taking the second case as an example.
The first part of the objective function of the problem is to hope to occupy as few shelves as possible and the second part is to hope to minimize the total cost of shelves as possible. Calculating a shelf cost c taking into account the queue of tasks to be executed on shelf jjTaking this into account. Specifically, consider the order deadlines t for all orders in the current orderDThe same (this consideration is reasonable because orders of the same order generally correspond to tDSimilarly, for changes in order deadlines due to special orders, the order can always be split into consideration), based on t for the current orderDDetermine the previous task for each shelf j: splitting the task queue of shelf j into {1,2,3, Pj,...,LjWhere 1 is currently performing the task, 1-PjIs a pre-order task (set as a set) of a current set single task
) I.e., the predecessor is completed before the aggregate task can be executed. Solving to obtain xjAnd then binding the corresponding task to the position of the selected shelf according to the result, and adjusting the execution sequence of the shelf task queue.
The embodiment can take time cost factors into consideration, realize real-time matching of supply and demand, reduce the scheduling cost of the unmanned storehouse system, and further improve the working efficiency of the unmanned storehouse system.
A scheduling method according to another embodiment of the present invention is described below with reference to fig. 3.
Fig. 3 is a flowchart illustrating a scheduling method according to another embodiment of the present invention. As shown in fig. 3, on the basis of the embodiment shown in fig. 2, the scheduling method in this embodiment further includes:
step S306, calculating the priority of the goods shelves which are not carried by the trolley according to a preset rule;
the task queue also contains the mount time and the completion time of the collection list matched with the belonging shelf. For each collection sheet matched with the shelf not borne by the trolley, subtracting the current time from the mounting time to obtain the backlog duration, and subtracting the completion time from the current time to obtain the residual completion duration; and taking the ratio of the overstock time length to the residual completion time length as the task pressure values of the collection lists, and adding the task pressure values of the collection lists to obtain the priority of the goods shelf which is not borne by the trolley. Those skilled in the art will appreciate that the task pressure value is a function that varies with time and with the number of tasks. Both time and tasks increase causing the priority of the shelf to increase, thereby raising its priority.
And step S308, matching the goods shelves which are not carried by the trolley with the trolley according to the sequence of the priorities from high to low so as to execute the tasks in the task queue.
The matching of the goods shelf and the vehicle can adopt the following two types: (1) and when one AGV car is idle and can be positioned, the AGV car is triggered to be matched with the shelf. (2) The matching of the goods shelf with the vehicle is triggered regularly according to a time frequency. From an algorithmic point of view, the first is a special case of the second, so the second matching is described below. According to a certain time frequency, a set of idle trolleys can be generated in one period, and meanwhile, a task is mounted on a shelf which is not bound with trolley resources, and the shelf is matched with a vehicle. Set of idle trolleys
Is {1,2, 3., N }, a shelf set of the trolleys to be bound
Is composed of
Is {1,2,3,.. multidot.m }. Considering that the number of the shelves capable of being bound with the trolley is min (M, N), if M is larger than or equal to N, N shelves need to be screened out from the shelves. According to the rule in step S306, the top min (M, N) shelves can be selected. Next, matching of shelves to vehicles takes place between min (M, N) selected shelves and N empty carts.
By way of specific example, x may be calculated to minimize an objective functionmn；
Wherein two constraints need to be satisfied: (1) each shelf must be matched
(2) Each trolley is assigned to at most one shelf
m denotes a pallet, n denotes a trolley, xmnE {0,1} indicates that shelf m matches cart n,
showing the shelf sets to be matched screened out according to the priority,
the set of idle trolleys is shown,
cmnindicating the distance of the pallet m from the trolley n.
And after the matching is finished, the matched trolley goes to the bound goods shelf and starts to execute the task queue of the goods shelf. In the process of executing the task queue, the trolley is always bound with the goods shelf, and the goods shelf can be matched with a new goods shelf to be matched all the time in the process. When the trolley finishes the last task and no new task enters the queue, the trolley can consign the goods shelf to return to the warehouse, and the task after the decision point is matched and executed by the trolley at the next time.
In the embodiment, when the goods shelf is matched with the vehicle, the tasks and the completion pressure on the goods shelf are used, so that the limited traffic resources in the system can be always preferentially allocated to the most needed goods shelf, and the real-time matching of supply and demand and the traffic resources is realized on the premise of considering the cost factors such as time, distance and the like. Those skilled in the art will understand that the task queues of the shelves themselves can be arranged according to task priority and urgency, and can also be flexibly adjusted in the execution process, so that more complex control strategies can be derived to further improve the resource utilization rate of the unmanned warehouse system.
In addition, the goods shelves which are bound with the trolley and are executing the tasks are executed according to the sequence of the task queue, and new tasks can be received and inserted into the task queue in the process. In an actual scene, tasks in the task queue are scattered in different workstations, and each workstation has a limited number of physical cache bits and cannot accommodate shelf waiting without limitation. Therefore, when the task queue is actually executed, if the workstation of the task at the head of the queue has an idle cache bit, the number of the cache bits of the workstation is reduced by 1 (namely, only the number is pre-occupied, and the physical cache bit is not pre-occupied); if the workstation corresponding to the first task of the queue does not have idle cache bits, selecting the tasks of the corresponding workstations with the idle cache bits from the task queue in sequence, and setting the current task as the task; if all workstations corresponding to all tasks on the goods shelf have no idle buffer positions, a goods shelf waiting area is set, and the current task can be returned to be executed at any time when the trolley moves to the goods shelf waiting area or waits.
A scheduling system according to an embodiment of the present invention is described below with reference to fig. 4.
Fig. 4 is a schematic structural diagram of a scheduling system according to an embodiment of the present invention. As shown in fig. 4, the scheduling system 40 of the present embodiment includes:
the shelf matching device 402 is used for matching shelves for the collection sheets to be matched from each shelf according to the task queue of each shelf, wherein the task queue comprises the matched collection sheets of the shelf;
and a task queue updating device 404, configured to add the to-be-matched collection sheet to the task queue of the matched shelf.
In some embodiments, the task queue further comprises the workstation position and the workstation dwell time corresponding to the collection sheet matched with the shelf; the matching of the shelf for the collection sheet to be matched from each shelf according to the task queue of each shelf comprises the following steps: on the premise of ensuring that the goods reserve of the shelf set matched with the collection sheet to be matched can meet the goods requirement of the collection sheet to be matched, calculating the shelf set with the minimum total scheduling cost by using the position of the workstation and the stay time of the workstation; and taking the shelf set with the minimum total scheduling cost as the shelf matched with the set list to be matched.
In the above embodiment, by setting the task queue on the shelf, the shelf can be used as a task caching mechanism to match with a new collection sheet at any time to receive a new task. Due to the fact that the shelf task queue is achieved, even if the shelf is provided with the matched collection sheet, the new collection sheet can be matched, all shelves can be considered in scheduling, the currently optimal shelf is selected when each collection sheet is matched in real time, optimal issuing of tasks is achieved, and the resource utilization rate of the unmanned warehouse system is improved.
Meanwhile, when the workstation has an empty slot, a new collection sheet can be received. After the collection list is issued to the workstation, resource matching is not performed through scheduling cache and multi-collection list extraction according to preset frequency, the execution frequency of resource allocation is not required to be preset, and matching is performed once when a collection list is newly received, so that online resource allocation is realized, and the working efficiency of the unmanned warehouse system is improved.
In some embodiments, the shelf matching device is for: calculating x which minimizes the following objective functioni；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing a shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
representing the time length of the shelf j going to the workstation of the to-be-matched collection list after completing the preorder task in the task queue, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i.
In some embodiments, the shelf matching device is for: calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing a shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, representing the tasks in the task queue of the goods shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
represents the distance from the shelf j to the workstation of the to-be-matched collection list after completing the preorder task in the task queue, ci,travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci,travelIndicating the current time length of shelf j from the first task station, ci,processingIndicating the length of time that shelf j stays at the workstation in task i, alpha1、α2Are weight that can be preset.
The embodiment can take time cost factors into consideration, realize real-time matching of supply and demand, reduce the scheduling cost of the unmanned storehouse system, and further improve the working efficiency of the unmanned storehouse system.
In some embodiments, the scheduling system further comprises:
the priority calculating device 406 is used for calculating the priority of the goods shelf which is not carried by the trolley according to a preset rule;
and the trolley matching device 408 is used for matching trolleys for the shelves which are not carried by the trolley according to the sequence from high to low in priority so as to execute the tasks in the task queue.
In some embodiments, the task queue further comprises the mount time and the completion time of the collection list matched with the belonging shelf; the priority calculation means 406 is configured to: for each collection sheet matched with the shelf not borne by the trolley, subtracting the current time from the mounting time to obtain the backlog duration, and subtracting the completion time from the current time to obtain the residual completion duration; and taking the ratio of the overstock time length to the residual completion time length as the task pressure values of the collection lists, and adding the task pressure values of the collection lists to obtain the priority of the goods shelf which is not borne by the trolley.
In the embodiment, when the goods shelf is matched with the vehicle, the tasks and the completion pressure on the goods shelf are used, so that the limited traffic resources in the system can be always preferentially allocated to the most needed goods shelf, and the real-time matching of supply and demand and the traffic resources is realized on the premise of considering the cost factors such as time, distance and the like. Those skilled in the art will understand that the task queues of the shelves themselves can be arranged according to task priority and urgency, and can also be flexibly adjusted in the execution process, so that more complex control strategies can be derived to further improve the resource utilization rate of the unmanned warehouse system.
Fig. 5 shows a schematic structural diagram of another embodiment of the scheduling apparatus of the present invention. As shown in fig. 5, the scheduling apparatus 50 of this embodiment includes: a memory 510 and a processor 520 coupled to the memory 510, the processor 520 being configured to perform the scheduling method of any of the previous embodiments based on instructions stored in the memory 510.
The scheduling apparatus 50 may further include an input-output interface 530, a network interface 540, a storage interface 550, and the like. These interfaces 530, 540, 550 and the connections between the memory 510 and the processor 520 may be, for example, via a bus 560. The input/output interface 530 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 540 provides a connection interface for various networking devices. The storage interface 550 provides a connection interface for external storage devices such as an SD card and a usb disk.
The invention also includes a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the scheduling method of any of the preceding embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method of scheduling, comprising:
matching shelves for the collection sheet to be matched from each shelf according to the task queue of each shelf, wherein the task queue comprises the matched collection sheet of the shelf, the work station position corresponding to the matched collection sheet of the shelf and the stay time of the work station; on the premise of ensuring that the goods reserve of the shelf set matched with the collection sheet to be matched can meet the goods demand of the collection sheet to be matched, calculating the shelf set with the minimum total scheduling cost by using the position of the workstation and the stay time of the workstation, and taking the shelf set with the minimum total scheduling cost as the shelf matched with the collection sheet to be matched, wherein the total scheduling cost is the total scheduling time cost or the total scheduling time of each shelf scheduled to the corresponding workstation and the weighted cost of the number of the scheduling shelves under the condition of not considering the trolley for consigning the shelves;
adding the collection sheet to be matched into a task queue of the matched shelf;
the task queue also comprises the mounting time and the completion time of the collection list matched with the shelf; calculating the priority of the goods shelf not carried by the trolley according to a preset rule, comprising the following steps: for each collection sheet matched with the shelf not borne by the trolley, subtracting the current time from the mounting time to obtain the backlog duration, and subtracting the completion time from the current time to obtain the residual completion duration; taking the ratio of the overstocked time length to the residual completion time length as a task pressure value of the collection list, adding the task pressure values of all the collection lists to obtain the priority of the goods shelf which is not borne by the trolley, and increasing the time and the task to increase the priority of the goods shelf;
matching the trolleys for the shelves not carried by the trolley according to the sequence from high to low in priority so as to execute the tasks in the task queue.
2. The scheduling method of claim 1, wherein said calculating the shelf set that minimizes the total scheduling cost using the workstation location and the workstation dwell time while ensuring that the stock of the shelf set matched for the to-be-matched aggregated list can meet the stock demand of the to-be-matched aggregated list comprises:
calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing the shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, i representing the tasks in the task queue of the shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
c, the duration of the shelf j to go to the workstation of the to-be-matched collection list after completing the preorder task in the task queue is showni，travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci，travelIndicating the current time length of shelf j from the first task station, ci，processingIndicating the length of time that shelf j stays at the workstation in task i.
3. The scheduling method of claim 1, wherein said calculating the shelf set that minimizes the total scheduling cost using the workstation location and the workstation dwell time while ensuring that the stock of the shelf set matched for the to-be-matched aggregated list can meet the stock demand of the to-be-matched aggregated list comprises:
calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing the shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, i representing the tasks in the task queue of the shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
c, the duration of the shelf j to go to the workstation of the to-be-matched collection list after completing the preorder task in the task queue is showni，travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci，travelIndicating the current time length of shelf j from the first task station, ci，processingIndicating the length of time that shelf j stays at the workstation in task i, alpha1、α2Is a preset weight.
4. A scheduling system, comprising:
the shelf matching device is used for matching shelves for the collection sheet to be matched from each shelf according to the task queue of each shelf, and the task queue comprises the matched collection sheet of the shelf, the workstation position corresponding to the collection sheet matched with the shelf and the workstation staying time; on the premise of ensuring that the goods reserve of the shelf set matched with the to-be-matched collection list can meet the goods demand of the to-be-matched collection list, calculating the shelf set with the minimum total scheduling cost by using the position of the workstation and the stay time of the workstation; taking the shelf set with the minimum total scheduling cost as a shelf matched with the set list to be matched, wherein the total scheduling cost is the total scheduling time cost or the total scheduling time of scheduling each shelf to a corresponding workstation and the weighted cost of scheduling the number of shelves under the condition of not considering the trolley for shipping the shelves;
the task queue updating device is used for adding the to-be-matched collection sheet into the task queue of the matched shelf;
the priority calculating device is used for calculating the priority of the goods shelf not carried by the trolley according to a preset rule under the condition that the task queue also comprises the mounting time and the completion time of the collection list matched with the goods shelf, and comprises the following steps: for each collection sheet matched with the shelf not borne by the trolley, subtracting the current time from the mounting time to obtain the backlog duration, and subtracting the completion time from the current time to obtain the residual completion duration; taking the ratio of the overstocked time length to the residual completion time length as a task pressure value of the collection list, adding the task pressure values of all the collection lists to obtain the priority of the goods shelf which is not borne by the trolley, and increasing the time and the task to increase the priority of the goods shelf;
and the trolley matching device is used for matching the trolley for the shelf which is not carried by the trolley according to the sequence of the priority from high to low so as to execute the tasks in the task queue.
5. The scheduling system of claim 4, wherein the shelf matching device is to:
calculating x which minimizes the following objective functionj；
Therein, it is required toTo satisfy the constraint conditions
j denotes a shelf of the goods shelf,
representing the shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, i representing the tasks in the task queue of the shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
c, the duration of the shelf j to go to the workstation of the to-be-matched collection list after completing the preorder task in the task queue is showni，travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci，travelIndicating the current time length of shelf j from the first task station, ci，processingIndicating the length of time that shelf j stays at the workstation in task i.
6. The scheduling system of claim 4, wherein the shelf matching device is to:
calculating x which minimizes the following objective functionj；
Wherein the constraint condition needs to be satisfied
j denotes a shelf of the goods shelf,
representing the shelf set containing various goods required by the collection sheet to be matched, k representing the goods type,
representing the set of various goods required for the new slip, qjkStorage amount, x, representing the kind k of goods on the shelf jjE {0,1} indicates whether the jth shelf is matched, QkRepresenting the demand of the to-be-matched set sheet for the goods type k, i representing the tasks in the task queue of the shelf j, and arranging the tasks from small to large according to the residual completion duration of the tasks,
representing the set of predecessor tasks in the task queue for shelf j,
c, the duration of the shelf j to go to the workstation of the to-be-matched collection list after completing the preorder task in the task queue is showni，travelThe time length of the shelf j from the i-1 st task workstation to the i-th task workstation is shown, and when i is 1 hour ci，travelIndicating the current time length of shelf j from the first task station, ci，processingIndicating the length of time that shelf j stays at the workstation in task i, alpha1、α2Is a preset weight.
7. A scheduling apparatus, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the scheduling method of any of claims 1 to 3 based on instructions stored in the memory.
8. A computer readable storage medium, wherein the computer readable storage medium stores computer instructions which, when executed by a processor, implement the scheduling method of any one of claims 1 to 3.
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| CN112520282B (en) * | 2019-09-18 | 2022-11-08 | 北京京东乾石科技有限公司 | Dispatching method and device for goods to be transported |
| CN111754152A (en) * | 2019-09-24 | 2020-10-09 | 北京京东乾石科技有限公司 | Goods shelf scheduling method and device for goods-to-person warehouse, electronic equipment and medium |
| CN112884263B (en) * | 2019-11-29 | 2024-04-09 | 杭州海康机器人股份有限公司 | Goods shelf dispatching method and goods shelf dispatching device |
| CN112990617A (en) * | 2019-12-02 | 2021-06-18 | 杭州海康机器人技术有限公司 | Scheduling method and scheduling device for intelligent mobile robot |
| CN111832802A (en) * | 2020-04-15 | 2020-10-27 | 北京旷视机器人技术有限公司 | Method, apparatus, system, device and medium for controlling goods-carrying vehicle |
| CN113554381A (en) * | 2020-04-26 | 2021-10-26 | 北京京东乾石科技有限公司 | Warehousing scheduling method and device |
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