CN110059900B - Method and device for controlling transport vehicles in a warehouse - Google Patents

Method and device for controlling transport vehicles in a warehouse Download PDF

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CN110059900B
CN110059900B CN201810054958.7A CN201810054958A CN110059900B CN 110059900 B CN110059900 B CN 110059900B CN 201810054958 A CN201810054958 A CN 201810054958A CN 110059900 B CN110059900 B CN 110059900B
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transport
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CN110059900A (en
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芦杰
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Beijing Jingbangda Trade Co Ltd
Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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Abstract

The embodiment of the application discloses a method and a device for controlling a transport vehicle in a warehouse. One embodiment of the method comprises the following steps: generating a first matching relation set of the associated sorting area empty vehicle temporary storage points with the number of the empty vehicle spaces being more than or equal to 1 and the transport vehicles after the bags are dumped and wrapped at the bag falling openings; updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; and planning a first path from a bag falling port of the transport vehicle to the sorting area empty vehicle temporary storage point for each sorting area empty vehicle temporary storage point in the first matching relation set and the transport vehicle, sending a first reflow task comprising the first path to the transport vehicle, and sending the transport vehicle to a task of an empty parking space in a corresponding empty vehicle queuing position in response to the transport vehicle reaching the sorting area empty vehicle temporary storage point. The embodiment realizes the smooth reflux of the transport vehicle after the package is dumped.

Description

Method and device for controlling transport vehicles in a warehouse
Technical Field
The embodiment of the application relates to the technical field of logistics, in particular to the technical field of logistics distribution, and particularly relates to a method and a device for controlling a transport vehicle in a warehouse.
Background
A sorting robot is an apparatus for warehouse sorting for sorting small packages. The warehouse sorting center comprises a two-layer steel structure platform, the two layers are divided, the first layer is a goods falling bag collecting, packing and stacking area, the second layer is a robot sorting area, and the second layer comprises a packing table and a sorting robot. The parcel is carried to artifical parcel platform of going up through the slope belt, through artifical parcel, sorts the robot and sorts the parcel automatically. The ground of the second layer is attached with a two-dimensional code for guiding the sorting robot. In addition, the second floor is provided with a bag falling opening on the ground, and the sorting robot can deliver and wrap the bag to the basket of the first floor through the bag falling opening corresponding to the wrapping destination, and uniformly load the bag after the bag is filled.
In the robot sorting area of the second layer, sorting robots can respectively run in parallel, and travel in a mode of scanning the overground two-dimensional codes for sorting packages according to destinations. The sorting robot capable of turning and running is provided with a cover plate capable of being lifted to one side. The sorting robot can wrap a package at the wrapping table each time, the sorting robot passes through the sorting area, the package on the sorting robot is thrown into a bag falling opening corresponding to a package destination in a cover plate lifting mode, and the sorting robot for completing a package dumping task needs to return to the opened wrapping table for re-wrapping.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling a transport vehicle in a warehouse.
In a first aspect, an embodiment of the present application provides a method for controlling a transport vehicle in a warehouse, where the warehouse includes a packing station, the packing station includes two weighing scanning stations, the weighing scanning stations are correspondingly provided with empty vehicle queuing positions, sorting area empty vehicle temporary storage points and charging area empty vehicle temporary storage points, where the sorting area empty vehicle temporary storage points, the charging area empty vehicle temporary storage points corresponding to the weighing scanning stations are related to the number of empty vehicle spaces in the empty vehicle queuing positions corresponding to the weighing scanning stations, and the method includes: generating a first matching relation set of the empty vehicle temporary storage points of the sorting area, the number of which is greater than or equal to 1, and the transport vehicles after the package falls down from the bag opening, wherein the first matching relation is used for representing the matching relation between the transport vehicles after the package falls down and the empty vehicle temporary storage points of the sorting area; updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, planning a first path from a bag falling port of the transport car to the sorting area empty car temporary storage point, sending a first reflux task comprising the first path to the transport car, responding to the transport car reaching the sorting area empty car temporary storage point, and sending the transport car to a task of a corresponding empty car queuing position empty car space.
In some embodiments, the warehouse further comprises a charging point; the method further comprises the following steps: generating a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated idle parking spaces being more than or equal to 1 and the charged transport vehicles, wherein the second matching relation is used for representing the matching relation between the charged transport vehicles and the charging area empty vehicle temporary storage points; updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; and for the charging area empty car temporary storage point and the transport car in each second matching relation in the second matching relation set, planning a second path from the charging point to the charging area empty car temporary storage point of the transport car, sending a second reflow task comprising the second path to the transport car, responding to the transport car reaching the charging area empty car temporary storage point, and sending the transport car to the task of the empty car space in the corresponding empty car queuing position.
In some embodiments, the warehouse further comprises a packet-collecting waiting point, wherein the packet-collecting waiting point is used for parking the full carrier; the method further comprises the following steps: for each of the above-described bins, the following operations are performed: in response to determining that the spout is closed, the following is performed for each transport vehicle that is destined for the spout: sending a task to the transport vehicle to a last point of a current lock point of the transport vehicle; determining an idle packet-collecting waiting point closest to the transport vehicle as a target packet-collecting waiting point; planning a third path from the last point of the current lock point to a target packet-collecting waiting point of the transport vehicle, updating the state of the target packet-collecting waiting point into an occupied state, and sending the third path to the transport vehicle so that the transport vehicle can go to the target packet-collecting waiting point according to the third path; in response to determining that the bag opening is opened, the following operations are performed for the transport vehicle at each target packet waiting point: planning a fourth path of the transport vehicle at the target packet waiting point to the bag falling opening, and sending the fourth path to the transport vehicle at the target packet waiting point so that the transport vehicle at the target packet waiting point can fall packages to the bag falling opening according to the fourth path.
In some embodiments, the generating the first matching relationship set between the empty truck temporary storage point of the sorting area and the truck after the package falls down from the bag opening, where the number of the associated empty trucks is greater than or equal to 1 includes: calculating Manhattan distance from a bag falling opening of each dumped transport vehicle to a temporary storage point of empty vehicles in each sorting area; and generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car based on the calculation result.
In some embodiments, for the sorting area empty wagon balance point and the transport wagon in each first matching relationship in the first matching relationship set, planning a first path from the bag dropping opening to the sorting area empty wagon balance point of the transport wagon includes: and for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, dynamically calculating the shortest path from the bag falling opening of the transport car to the sorting area empty car temporary storage point through a map with a turning radius, and taking the shortest path as a first path.
In some embodiments, the generating the second matching relationship set between the empty vehicle temporary storage point of the charging area and the charged transport vehicle, where the number of the associated empty vehicles is greater than or equal to 1, includes: calculating Manhattan distance from the charging point of each charged transport vehicle to the empty vehicle temporary storage point of each charging area; and generating a second matching relation set of the empty temporary storage point of the charging area and the transport vehicle based on the calculation result.
In some embodiments, the empty queuing bits include a first stage queuing bit, a second stage queuing bit, and a third stage queuing bit; and the task of responding to the arrival of the transport vehicle at the empty vehicle temporary storage point of the sorting area and sending the transport vehicle to the empty vehicle in the corresponding empty vehicle queuing position comprises the following steps: selecting an idle parking space closest to an idle car temporary storage point of the sorting area from the idle parking spaces of the second-stage queuing position and the third-stage queuing position as a target idle parking space; and sending the task from the sorting area empty car temporary storage point to the target empty parking space to the transport car.
In some embodiments, the above method further comprises: in response to determining that an idle parking space appears in the first-stage queuing position, determining whether a transport vehicle exists in the parking spaces in the first-stage queuing position behind the idle parking space; responding to the fact that the transport vehicles in the first-stage queuing position exist in the positions, behind the idle position, of the first-stage queuing position, and sending a translation instruction to the transport vehicles behind the idle position so as to enable the transport vehicles behind the idle position to translate to the idle position; in response to determining that no transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position, sequentially searching whether transport vehicles exist in the second-stage queuing position and the third-stage queuing position; and in response to determining that the transport vehicles exist in the second-level queuing position and the third-level queuing position, sending a translation instruction to the first searched transport vehicle so as to translate the first searched transport vehicle to an idle parking space.
In some embodiments, the above method further comprises: and updating the number of idle bits associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point in response to determining that the transport car on the second-level queuing bit and the third-level queuing bit enters the first-level queuing bit or is charged.
In a second aspect, embodiments of the present application provide an apparatus for controlling a transport vehicle in a warehouse, comprising: above-mentioned warehouse includes the platform of wrapping, and the platform of wrapping includes two weighing scanning platforms, and the scanning platform of weighing corresponds to be provided with empty wagon queuing position, sorting district empty wagon temporary storage point and charging district empty wagon temporary storage point, wherein, the empty wagon temporary storage point of sorting district that the scanning platform of weighing corresponds, charging district empty wagon temporary storage point are correlated with the empty wagon quantity in the empty wagon queuing position that the scanning platform corresponds, and above-mentioned device includes: the first generation unit is used for generating a first matching relation set of the empty vehicle temporary storage points of the sorting area, the number of the associated empty vehicles is greater than or equal to 1, and the transport vehicles after the bags fall down and are subjected to package dumping, wherein the first matching relation is used for representing the matching relation between the transport vehicles after package dumping and the empty vehicle temporary storage points of the sorting area; the first updating unit is used for updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; the first reflux unit is used for planning a first path from a bag falling port of the transport vehicle to the sorting area empty vehicle temporary storage point for each sorting area empty vehicle temporary storage point and the transport vehicle in the first matching relation set, sending a first reflux task comprising the first path to the transport vehicle, and sending the transport vehicle to the task of the empty vehicle space in the corresponding empty vehicle queuing position in response to the transport vehicle reaching the sorting area empty vehicle temporary storage point.
In some embodiments, the warehouse further comprises a charging point; the above apparatus further comprises: the second generation unit is used for generating a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated idle parking spaces being greater than or equal to 1 and the charged transport vehicles, wherein the second matching relation is used for representing the matching relation between the charged transport vehicles and the charging area empty vehicle temporary storage points; the second updating unit is used for updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; the second reflux unit is used for planning a second path from the charging point to the charging space empty car temporary storage point of the transport car for the charging space empty car temporary storage point and the transport car in each second matching relation in the second matching relation set, sending a second reflux task comprising the second path to the transport car, responding to the transport car reaching the charging space empty car temporary storage point, and sending the transport car to the task of the empty car space in the corresponding empty car queuing position.
In some embodiments, the warehouse further comprises a packet-collecting waiting point, wherein the packet-collecting waiting point is used for parking the full carrier; and the apparatus further comprises a waiting unit for: for each of the above-described bins, the following operations are performed: in response to determining that the spout is closed, the following is performed for each transport vehicle that is destined for the spout: sending a task to the transport vehicle to a last point of a current lock point of the transport vehicle; determining an idle packet-collecting waiting point closest to the transport vehicle as a target packet-collecting waiting point; planning a third path from the last point of the current lock point to a target packet-collecting waiting point of the transport vehicle, updating the state of the target packet-collecting waiting point into an occupied state, and sending the third path to the transport vehicle so that the transport vehicle can go to the target packet-collecting waiting point according to the third path; in response to determining that the bag opening is opened, the following operations are performed for the transport vehicle at each target packet waiting point: planning a fourth path of the transport vehicle at the target packet waiting point to the bag falling opening, and sending the fourth path to the transport vehicle at the target packet waiting point so that the transport vehicle at the target packet waiting point can fall packages to the bag falling opening according to the fourth path.
In some embodiments, the first generation unit is further to: calculating Manhattan distance from a bag falling opening of each dumped transport vehicle to a temporary storage point of empty vehicles in each sorting area; and generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car based on the calculation result.
In some embodiments, the first reflow unit further includes: and for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, dynamically calculating the shortest path from the bag falling opening of the transport car to the sorting area empty car temporary storage point through a map with a turning radius, and taking the shortest path as a first path.
In some embodiments, the second generating unit is further to: calculating Manhattan distance from the charging point of each charged transport vehicle to the empty vehicle temporary storage point of each charging area; and generating a second matching relation set of the empty temporary storage point of the charging area and the transport vehicle based on the calculation result.
In some embodiments, the empty queuing bits include a first stage queuing bit, a second stage queuing bit, and a third stage queuing bit; the first reflow unit is further configured to: selecting an idle parking space closest to an idle car temporary storage point of the sorting area from the idle parking spaces of the second-stage queuing position and the third-stage queuing position as a target idle parking space; and sending the task from the sorting area empty car temporary storage point to the target empty parking space to the transport car.
In some embodiments, the apparatus further comprises a translation unit for: in response to determining that an idle parking space appears in the first-stage queuing position, determining whether a transport vehicle exists in the parking spaces in the first-stage queuing position behind the idle parking space; responding to the fact that the transport vehicles in the first-stage queuing position exist in the positions, behind the idle position, of the first-stage queuing position, and sending a translation instruction to the transport vehicles behind the idle position so as to enable the transport vehicles behind the idle position to translate to the idle position; in response to determining that no transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position, sequentially searching whether transport vehicles exist in the second-stage queuing position and the third-stage queuing position; and in response to determining that the transport vehicles exist in the second-level queuing position and the third-level queuing position, sending a translation instruction to the first searched transport vehicle so as to translate the first searched transport vehicle to an idle parking space.
In some embodiments, the apparatus further includes a third updating unit, where the third updating unit is configured to: and updating the number of idle bits associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point in response to determining that the transport car on the second-level queuing bit and the third-level queuing bit enters the first-level queuing bit or is charged.
In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; and a storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method as described in any of the implementations of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method as described in any of the implementations of the first aspect.
According to the method and the device for controlling the transport vehicle in the warehouse, first, the first matching relation set of the sorting area empty vehicle temporary storage points with the number of the associated empty vehicle parking spaces being larger than or equal to 1 and the transport vehicle after the package is dumped at the bag falling opening is generated, then the number of the empty vehicle parking spaces associated with the sorting area empty vehicle temporary storage points and the charging area empty vehicle temporary storage points is updated, finally, for each sorting area empty vehicle temporary storage point and the transport vehicle in the first matching relation set, a first path from the bag falling opening to the sorting area empty vehicle temporary storage point of the transport vehicle is planned, a first backflow task comprising the first path is sent to the transport vehicle, the task of the corresponding empty vehicle temporary storage point is sent to the transport vehicle in the queuing position in response to the transport vehicle, and the matching relation between the transport vehicle after the package is dumped and the previous sorting area empty vehicle temporary storage point is determined through the generation of the first matching relation set, so that smooth backflow of the transport vehicle after the package is dumped is realized.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
FIG. 1 is a schematic diagram of a warehouse layout in which the present application may be applied;
FIG. 2 is a flow chart of one embodiment of a method for controlling a transporter in a warehouse according to the present application;
FIG. 3a is an exemplary block diagram of a sort map that calculates path costs between travel nodes of a transport vehicle according to the present application;
FIG. 3b is an exemplary block diagram of a turning map that calculates path costs between travel nodes of a transport vehicle according to the present application;
FIG. 4 is a flow chart of yet another embodiment of a method for controlling a transporter in a warehouse according to the present application;
FIG. 5 is a schematic structural view of one embodiment of an apparatus for controlling a transport vehicle in a warehouse according to the present application;
fig. 6 is a schematic diagram of a computer system suitable for use in implementing embodiments of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 shows a warehouse layout schematic 100 to which an embodiment of a method for controlling a transport vehicle in a warehouse of the present application may be applied.
As shown in fig. 1, the warehouse layout schematic 100 includes a packing station 110, a transport vehicle 120, a bag falling port 130, a charging point 140, and a bag collecting waiting point 150, where the packing station 110 may include a left weighing scanning station and a right weighing scanning station, each weighing scanning station is correspondingly provided with an empty vehicle queuing position 111, a sorting area empty vehicle temporary storage point 112, and a charging area empty vehicle temporary storage point 113, and the sorting area empty vehicle temporary storage point 112 and the charging area empty vehicle temporary storage point 113 corresponding to each weighing scanning station are associated with the number of empty vehicle spaces in the empty vehicle queuing position 111 corresponding to the weighing scanning station. As an example, the transport vehicle 120 may be a sorting robot.
Taking the warehouse in the warehouse layout diagram 100 as an example, the middle part is a sorting area, 1 upper packing table is arranged on the north side, 1 upper packing table is arranged on the south side, each upper packing table comprises a left weighing scanning table and a right weighing scanning table, the upper packing table is opened by manually scanning packages, and after the weighing scanning tables scan the packages, the upper packing table is opened. The sorting area has 28 bag falling openings. The number of charging points is 4, 2 is positioned in the uppermost row of the map, and 2 is positioned in the lowermost row of the map. The number of sorting robots is 50 in total. There are 14 packet waiting points.
In the warehouse layout diagram 100, each driving node of the sorting robot, that is, a node required to pass through by the sorting robot in the driving path of the warehouse layout diagram 100, is shown on the warehouse layout diagram 100, that is, a cell in the warehouse layout diagram 100, for example, a packing table, a transport vehicle, a bag falling port, a charging station, a bag collecting waiting point, and the like, and the presentation form on the diagram is a cell.
In the warehouse, planning and layout includes:
1. packing table planning
The packing platform comprises two weighing scanning platforms, namely, two rows of empty transport vehicles are queued to be packed after the packing platform. Because the two rows of channels opposite to the upper wrapping table are all single-row lines, and the direction of the single-row lines is the same as the direction of the leading-in of the upper wrapping table, the upper wrapping table positioned at the north side and the upper wrapping table positioned at the south side are not exactly opposite, but are staggered.
Each packing platform comprises a left weighing scanning platform and a right weighing scanning platform, empty car queuing positions on two sides exist, and each empty car queuing position corresponds to an empty car temporary storage point of a sorting area and an empty car temporary storage point of a charging area respectively.
2. Bag opening setting
Each bag falling opening has four adjacent positions up, down, left and right (namely north, south, west and east), but only the upper position and the lower position are provided for the sorting robot to fall bags. The problem that other sorting robots which travel at a uniform speed at the back can be blocked due to the fact that the sorting robots need to slow down in advance and time is needed for falling bags is considered
The bag falling opening cannot be positioned in the row where the upper bag table is positioned, and the distance between the left and right sides of the bag falling opening is 1 lattice at the shortest.
In principle, each bag falling opening is provided with an upper sorting robot pouring point and a lower sorting robot pouring point, so that the distance between the upper bag falling opening and the lower bag falling opening is at least 2 grids, namely, two single-line lines exist between the upper bag falling opening and the lower bag falling opening, and the directions of the upper bag opening and the lower bag falling opening are opposite. Taking the case that the sorting robot can only turn the right side cover to fall the bag, the direction of the single line positioned on the north side of the bag falling opening faces to the right, and the direction of the single line positioned on the south side of the bag falling opening faces to the left.
3. Packet-collecting waiting point setting
If the distance between two adjacent bag falling openings in the north and the south exceeds 2 grids, a bag collecting waiting point can be arranged between the two bag falling openings, and the arranged bag collecting waiting point is separated from any bag falling opening in the two bag falling openings by at least one grid.
It should be understood that the numbers of the packing stations, the transport carts, the bag drop ports, the charging points, and the pack collection waiting points in fig. 1 are merely illustrative. According to actual needs, can have any number of package platform, transport vechicle, pocket mouth, charge point, collection package waiting point.
It should be noted that, the method for controlling a carrier in a warehouse provided in the embodiments of the present application is generally performed by an electronic device (such as a terminal device or a server) for controlling the carrier to sort packages, and accordingly, the apparatus for controlling a carrier in a warehouse may be generally disposed in the electronic device for controlling the carrier to sort packages.
With continued reference to fig. 2, a flow 200 of one embodiment of a method for controlling a transport vehicle in a warehouse according to the present application is shown. The method for controlling the transport vehicle in the warehouse comprises the following steps:
step 201, generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car after the package falls down from the bag opening, wherein the number of the associated empty car spaces is greater than or equal to 1.
In this embodiment, an electronic device on which a method for controlling a carrier vehicle in a warehouse operates may generate a first matching relationship set of a sorting area empty vehicle temporary storage point with an associated number of empty parking spaces greater than or equal to 1 and a carrier vehicle after a package is dumped at a bag dropping opening, where the first matching relationship is used to characterize a matching relationship between the carrier vehicle after the package is dumped and a sorting area empty vehicle temporary storage point that is addressed. Here, the number of idle parking spaces associated with the empty car temporary storage points in the sorting area of a certain weighing scanning table is greater than or equal to 1, which means that empty car queuing positions corresponding to the weighing scanning table can store empty carriers, and at the moment, empty carriers can be selected from the empty carriers after the package falls down from the bag opening to go to the empty car temporary storage points in the sorting area corresponding to the weighing scanning table.
As an example, the electronic device may first count all sorting area empty car temporary storage points with the number of the associated empty spaces being greater than or equal to 1 and all transport cars after dumping packages, and then the electronic device may select the same number of sorting area empty car temporary storage points and generate a first matching relation set by various modes for the transport cars after dumping packages, for example, arrange that the selected transport cars after dumping packages randomly go to one selected sorting area empty car temporary storage point, where each transport car can only go to one sorting area empty car temporary storage point, and each sorting area empty car temporary storage point can only receive one trolley.
Generally, after a transport vehicle loads a package on a weighing and scanning table, the electronic device can determine a bag falling opening of the package according to a package destination, send a bag falling task from the weighing and scanning table to the determined bag falling opening to the transport vehicle, and after the transport vehicle pours the package, the transport vehicle needs to go to an empty vehicle queuing position corresponding to a certain weighing and scanning table from the bag falling opening to wait for reloading the package.
In some optional implementations of this embodiment, the step 201 may specifically include: firstly, calculating Manhattan distance from a bag falling opening of each dumped transport vehicle to empty vehicle temporary storage points of each sorting area; and secondly, generating a first matching relation set of the sorting area empty wagon temporary storage points and the transport wagons based on the calculation result, wherein the number of the empty parking spaces associated with the sorting area empty wagon temporary storage points is more than or equal to 1.
As an example, the minimum matching number Q of empty carrier and sorting area empty carrier temporary storage point after the package pouring can be determined by the following formula:
the method comprises the steps that I represents a transport vehicle set after pouring of packages is finished, J represents a sorting area empty vehicle temporary storage point set with the number of empty parking spaces being greater than or equal to 1, I represents the number of transport vehicles in the transport vehicle set, and J represents the number of sorting area empty vehicle temporary storage points in the sorting area empty vehicle temporary storage point set.
When I is less than J, randomly selecting I from J, and forming new sorting area empty car temporary storage point set by using the selected sorting area empty car temporary storage points Representing a collection of empty temporary storage points of a sorting area>The number of empty car temporary storage points in the middle sorting area; when |I| is not less than |J| | the%>
The first set of matching relationships may be obtained by creating a minimum cost problem, for example, by the following formula:
s.t.
∑ i∈I ∑ j∈J x ij ≥Q (3)
constraint (1) represents that a transport vehicle goes to at most one empty car temporary storage point in a sorting area;
constraint (2) means that a sorting area empty car temporary storage point can receive a transport car at most;
constraint (3) represents a smaller value that the minimum matching number is greater than the number of transport vehicles and the number of empty vehicle temporary storage points in the sorting area;
constraint (4) represents a range of variable values.
Wherein x is ij =1 indicates the empty temporary storage point, x of the ith transport vehicle to the jth sorting area ij =0 means that the ith transport vehicle does not travel to the jth sorting area empty buffer. d, d ij Representing the manhattan distance from the ith transport vehicle to the empty car temporary storage point in the jth sorting area.
Because the optimization problem is a two-match problem, the optimization problem can be converted into a network flow problem, the coefficient matrix of the problem is a full unit mode matrix, and integer solutions can be obtained by loosening 0-1 variable constraints. I.e. converting the constraint (4) into
To solve for. The problem can thus be solved by an open source linear solver.
Step 202, updating the number of idle parking spaces associated with the empty car temporary storage points in the sorting area and the empty car temporary storage points in the charging area.
In this embodiment, the electronic device may update the number of idle parking spaces associated with the sorting area empty parking spot and the charging area empty parking spot. As an example, the electronic device may decrease by 1 the number of idle parking spaces associated with the sorting area empty car temporary storage point and the number of idle parking spaces associated with the charging area empty car temporary storage point corresponding to the sorting area empty car temporary storage point, which are included in the first matching relation set, so as to update the number of idle parking spaces associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point. The number of idle parking spaces associated with the sorting area idle car temporary storage point and the charging area idle car temporary storage point corresponding to a certain weighing scanning table is reduced by 1, which means that one empty parking space in the idle car queuing position corresponding to the weighing scanning table is occupied by one dumped package carrier or one charged carrier, and the idle parking space in the idle car queuing position corresponding to the weighing scanning table is reduced by one.
Step 203, for each sorting area empty car temporary storage point and transport car in the first matching relation set, planning a first path from a bag falling port of the transport car to the sorting area empty car temporary storage point, sending a first reflow task comprising the first path to the transport car, responding to the transport car reaching the sorting area empty car temporary storage point, and sending the transport car to a task of a corresponding empty car queuing position empty parking space.
In this embodiment, for a sorting area empty wagon temporary storage point and a transport wagon in each first matching relationship in the first matching relationship set, the electronic device may first plan a first path from a bag falling port where the transport wagon is located to the sorting area empty wagon temporary storage point; then, the electronic device may send a first reflow task including the first path to the transport vehicle; and then, responding to the transport vehicle reaching the empty vehicle temporary storage point of the sorting area, and sending the transport vehicle to the task of the empty vehicle space in the corresponding empty vehicle queuing space. As an example, when the number of the empty parking spaces in the empty vehicle queuing positions corresponding to the empty vehicle temporary storage points in the sorting area is greater than or equal to 2, the empty parking space closest to the empty vehicle temporary storage points in the sorting area in the empty vehicle queuing positions may be selected for parking the transport vehicle.
In some optional implementations of this embodiment, in the step 203, for the sorting area empty wagon temporary storage point and the transport wagon in each first matching relationship in the first matching relationship set, planning a first path from the bag dropping port of the transport wagon to the sorting area empty wagon temporary storage point may specifically include: and for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, dynamically calculating the shortest path from the bag falling opening of the transport car to the sorting area empty car temporary storage point through a map with a turning radius, and taking the shortest path as a first path. In the warehouse, the transport vehicle may reach the sorting area empty car temporary storage point through a plurality of paths, and the electronic device may select an optimal path from the plurality of paths by way of example: firstly, each driving node of a transport vehicle in a sorting map can be split into 4 direction points of east, south, west and north in a turning map, wherein the sorting map can comprise planning and layout in a warehouse, and specifically can comprise a packing table, transport vehicles, empty vehicle queuing positions, sorting area empty vehicle temporary storage points, charging points, packet collecting waiting points and the like; then, for the 4 direction points of east, south, west and north, the unidirectional edges can be respectively connected with east to south, east to north, south to east, south to west, west to south, west to north, north to east and north to west, and the cost of turning in the original path can be converted into the cost of the unidirectional edges; then, corresponding to the original path between two adjacent driving nodes in the sorting map, establishing a new path connected by a unidirectional edge in the turning map; and finally, calculating a shortest path (namely an optimal path) according to the preset cost of the unidirectional edge and a plurality of paths from the bag falling opening to the empty vehicle temporary storage point in the sorting area in the turning map, and taking the shortest path as a first path.
Referring to fig. 3a and 3b, fig. 3a illustrates an exemplary block diagram of a sort map that calculates path costs between travel nodes of a transport vehicle; fig. 3b shows an exemplary block diagram of a turning map that calculates the cost of a path between travel nodes of a transport vehicle.
Taking the path between the traveling node 310 and the traveling node 320 in the sort map as an example, as shown in fig. 3a, the traveling node 310 is split into 4 direction points of east, south, west and north, and the direction points 311, 312, 313 and 314 in the turning map as shown in fig. 3b can be obtained; the traveling nodes 320 in the sort map are broken into 4 direction points of east, south, west and north, and the direction points 321, 322, 323 and 324 in the turning map can be obtained. At this time, based on the newly built direction points of each driving node, 8 unidirectional edges are newly built, including east to south, east to north, south to east, south to west, west to south, west to north, north to east and north to west, and the cost of each obtained edge is the turning cost. For the original path between the driving node 310 and the driving node 320, the unidirectional edges from the direction point 314 to the direction point 324 and the unidirectional edges from the direction point 322 to the direction point 312 are correspondingly established in the map with the turning radius, and at this time, the costs of the two unidirectional edges are the original path costs.
According to the method for calculating the shortest path from the bag falling opening to the empty truck temporary storage point in the sorting area, the path cost is calculated by constructing the map with the turning radius, and the efficiency and the accuracy for calculating the path cost are improved, so that the electronic equipment can reasonably determine the running path of the transport truck, and the running efficiency of the transport truck is improved.
In some optional implementations of this embodiment, the empty queuing bit corresponding to each weighing scanning platform may include a first queuing bit, a second queuing bit, and a third queuing bit, where priorities of the first queuing bit, the second queuing bit, and the third queuing bit are: the first-level queuing bit > the second-level queuing bit > the third-level queuing bit, wherein the first-level queuing bit can be positioned behind the weighing scanning platform, the closer the other-level queuing bits except the first-level queuing bit are to the weighing scanning platform, the higher the priority is, as an example, the first-level queuing bit behind each weighing scanning platform can correspond to one second-level queuing bit and one third-level queuing bit, and the number of idle parking spaces in the corresponding empty parking spaces of the weighing scanning platform is the sum of the number of idle parking spaces of the second-level queuing bit and the third-level queuing bit. And in the step 203, in response to the carrier reaching the empty car temporary storage point in the sorting area, the task of sending the carrier to the empty car space in the corresponding empty car queuing space may specifically include: firstly, selecting an idle parking space closest to an idle car temporary storage point of the sorting area from idle parking spaces of the second-stage queuing position and the third-stage queuing position as a target idle parking space; and then, sending the task from the sorting area empty car temporary storage point to the target empty parking space to the transport car.
Typically, the wrapping station is opened by manually scanning the package bar code. And after a certain weighing scanning platform on the packing platform scans the package, opening the packing platform, and updating the number of empty car temporary storage points in a sorting area and empty car temporary storage points in a charging area corresponding to the weighing scanning platform to the number of empty car spaces corresponding to empty car queuing positions currently. After the wrapping table is opened, the weighing scanning table does not scan a new package within a preset time period (for example, within 10 minutes), and the wrapping table is closed.
When the packing platform is closed, the transport vehicle of the first-stage queuing position is preferentially dispersed to an available (namely, the number of the associated idle parking spaces is more than or equal to 1) sorting area empty vehicle temporary storage point or charging area empty vehicle temporary storage point, and meanwhile, the number of the idle parking spaces of the number of the sorting area empty vehicle temporary storage point and the charging area empty vehicle temporary storage point corresponding to the weighing scanning platform is changed to 0. Thus, no other transport vehicles go to the empty queuing positions corresponding to the weighing scanning tables. And if the transport vehicle at the first-stage queuing position is completely disintegrated, planning transport vehicles at the second-stage queuing position and the third-stage queuing position corresponding to the weighing scanning table to an available sorting area empty vehicle temporary storage point or a charging area empty vehicle temporary storage point.
In some optional implementations, the method for controlling a transport vehicle in a warehouse may further include: firstly, determining whether a transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position or not in response to determining that the idle parking spaces appear in the first-stage queuing position; secondly, in response to determining that the transport vehicle exists in the first-stage queuing position and in the position behind the idle position, a translation instruction is sent to the transport vehicle behind the idle position, so that the transport vehicle behind the idle position translates to the idle position; then, in response to determining that no transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position, sequentially searching whether transport vehicles exist in the second-stage queuing position and the third-stage queuing position; and finally, in response to determining that the transport vehicles in the second-level queuing position and the third-level queuing position are available, transmitting a translation instruction to the first searched transport vehicle so as to translate the first searched transport vehicle to an idle parking space.
Optionally, the method for controlling a transport vehicle in a warehouse may further include: and updating the number of idle bits associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point in response to determining that the transport car on the second-level queuing bit and the third-level queuing bit enters the first-level queuing bit or is charged.
In some optional implementations of this embodiment, the warehouse may further include a packet-collecting waiting point for parking the full carrier vehicle. And the method for controlling a transport vehicle in a warehouse may further include:
for each of the bag-drop openings in the warehouse, the electronic device may perform the following operations:
in response to determining that the spout is closed, the following is performed for each transport vehicle that is destined for the spout: sending a task to the transport vehicle to a last point of a current lock point of the transport vehicle; determining an idle packet-collecting waiting point closest to the transport vehicle as a target packet-collecting waiting point; and planning a third path from the last point of the current lock point to the target packet-collecting waiting point of the transport vehicle, updating the state of the target packet-collecting waiting point into an occupied state, and sending the third path to the transport vehicle so that the transport vehicle can go to the target packet-collecting waiting point according to the third path. Here, the current lock point of the transport vehicle may refer to a certain number of nodes locked in the advancing direction of the transport vehicle at the current moment, and once a certain node is locked, other transport vehicles cannot enter the node any more, so that collision between transport vehicles can be avoided by means of the lock point. The last point of the current lock point refers to the last node of the current lock point. Here, the number of nodes locked by the current lock point may be determined according to the speed of the carrier, for example, if the speed of the carrier is fast, several nodes may be locked more; if the speed of the transport vehicle is slow, several nodes may be locked out less.
In response to determining that the bag opening is opened, the following operations are performed for the transport vehicle at each target packet waiting point: planning a fourth path of the transport vehicle at the target packet waiting point to the bag falling opening, and sending the fourth path to the transport vehicle at the target packet waiting point so that the transport vehicle at the target packet waiting point can fall packages to the bag falling opening according to the fourth path.
According to the method provided by the embodiment of the application, the matching relation between the transport vehicle after the package is dumped and the empty vehicle temporary storage point of the sorting area is determined by generating the first matching relation set, so that the smooth reflux of the transport vehicle after the package is dumped is realized.
With further reference to fig. 4, a flow 400 of yet another embodiment of a method for controlling a transporter in a warehouse is shown. The flow 400 of the method for controlling a transport vehicle in a warehouse comprises the steps of:
step 401, generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car after the package falls down from the bag opening, wherein the number of the associated empty car spaces is greater than or equal to 1.
In this embodiment, an electronic device on which a method for controlling a carrier vehicle in a warehouse operates may generate a first matching relationship set of a sorting area empty vehicle temporary storage point with an associated number of empty parking spaces greater than or equal to 1 and a carrier vehicle after a package is dumped at a bag dropping opening, where the first matching relationship is used to characterize a matching relationship between the carrier vehicle after the package is dumped and a sorting area empty vehicle temporary storage point that is addressed.
Step 402, updating the number of idle parking spaces associated with the sorting area idle car temporary storage points and the charging area idle car temporary storage points.
In this embodiment, the electronic device may update the number of idle parking spaces associated with the sorting area empty parking spot and the charging area empty parking spot.
Step 403, for each sorting area empty car temporary storage point and transport car in the first matching relation set, planning a first path from a bag falling port of the transport car to the sorting area empty car temporary storage point, sending a first reflow task including the first path to the transport car, responding to the transport car reaching the sorting area empty car temporary storage point, and sending the transport car to a task of a corresponding empty car queuing position empty parking space.
In this embodiment, for a sorting area empty wagon temporary storage point and a transport wagon in each first matching relationship in the first matching relationship set, the electronic device may first plan a first path from a bag falling port where the transport wagon is located to the sorting area empty wagon temporary storage point; then, the electronic device may send a first reflow task including the first path to the transport vehicle; and then, responding to the transport vehicle reaching the empty vehicle temporary storage point of the sorting area, and sending the transport vehicle to the task of the empty vehicle space in the corresponding empty vehicle queuing space.
Step 404, generating a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated empty parking spaces being greater than or equal to 1 and the charged transport vehicle.
In this embodiment, the warehouse may further include a charging point. The electronic device can generate a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated idle parking spaces being greater than or equal to 1 and the charged transport vehicle, wherein the second matching relation can be used for representing the matching relation between the charged transport vehicle and the charging area empty vehicle temporary storage points. The number of idle parking spaces associated with the empty car temporary storage points of the charging area of a certain weighing scanning platform is greater than or equal to 1, which means that empty car queuing positions corresponding to the weighing scanning platform can store empty transport cars, and at the moment, transport cars can be selected from the empty transport cars after charging to go to the empty car temporary storage points of the charging area corresponding to the weighing scanning platform. The charged transport vehicle is an empty transport vehicle. Typically, when the power level of a certain vehicle located in the empty queuing position is lower than a certain threshold, the electronic device may plan a route of the vehicle from the current position to a suitable charging point (for example, a charging point closest to the current position), and send a charging task including the planned route to the vehicle. In response to the transport vehicle leaving the empty queuing position, the number of empty spaces corresponding to the empty queuing position is updated, e.g., the number of empty spaces is increased by 1.
In some alternative implementations, the step 404 may specifically include: firstly, calculating Manhattan distance from a charging point of each charged transport vehicle to a temporary storage point of empty vehicles in each charging area; and then, generating a second matching relation set of the empty temporary storage points of the charging area and the transport vehicle based on the calculation result. The specific process of generating the second matching relationship set may specifically refer to the specific process of generating the first matching relationship set, which is not described herein.
Step 405, updating the number of idle parking spaces associated with the sorting area idle car temporary storage point and the charging area idle car temporary storage point.
In this embodiment, the electronic device may newly sort the number of idle parking spaces associated with the empty car temporary storage point in the charging area. As an example, the electronic device may decrease the number of idle spaces associated with the empty car temporary storage point of the charging area and the number of idle spaces associated with the empty car temporary storage point of the sorting area corresponding to the empty car temporary storage point of the charging area, which are included in the second matching relation set, by 1, so as to update the number of idle spaces associated with the empty car temporary storage point of the sorting area and the empty car temporary storage point of the charging area.
Step 406, for each charging area empty car temporary storage point and transport car in the second matching relation set, planning a second path from the charging point to the charging area empty car temporary storage point, sending a second reflow task including the second path to the transport car, responding to the transport car reaching the charging area empty car temporary storage point, and sending the transport car to the task of the empty parking space in the corresponding empty car queuing position.
In this embodiment, for the charging area empty car temporary storage point and the transport car in each second matching relationship in the second matching relationship set, the electronic device may plan a second path from the charging point where the transport car is located to the charging area empty car temporary storage point, send a second reflow task including the second path to the transport car, and respond to the transport car reaching the charging area empty car temporary storage point, send the transport car to a task corresponding to an empty car space in the empty car queuing position.
According to the method provided by the embodiment of the application, smooth backflow of the transport vehicle after dumping the package and the transport vehicle after charging is realized by generating the first matching relation set and the second matching relation set, and the transport vehicle after dumping the package and the transport vehicle after charging are not interfered with each other when the transport vehicle after dumping the package and the transport vehicle after charging backflow are in backflow through the arrangement of the temporary storage point of the empty vehicle in the sorting area and the temporary storage point of the empty vehicle in the charging area, so that collision and congestion caused by two types of backflow transport vehicles are avoided.
With further reference to fig. 5, as an implementation of the method shown in the above figures, the present application provides an embodiment of an apparatus for controlling a transport vehicle in a warehouse, where the embodiment of the apparatus corresponds to the embodiment of the method shown in fig. 2, and the apparatus is particularly applicable to various electronic devices.
As shown in fig. 5, an apparatus 500 for controlling a transport vehicle in a warehouse, where the warehouse includes a packing station, the packing station includes two weighing scanning stations, the weighing scanning stations are correspondingly provided with empty vehicle queuing positions, sorting area empty vehicle temporary storage points and charging area empty vehicle temporary storage points, where the sorting area empty vehicle temporary storage points, the charging area empty vehicle temporary storage points, which correspond to the weighing scanning stations, are associated with the number of empty vehicle spaces in the empty vehicle queuing positions, which correspond to the weighing scanning stations, and the apparatus 500 includes: a first generation unit 501, a first update unit 502, and a first reflow unit 503. The first generating unit 501 is configured to generate a first matching relationship set of a sorting area empty car temporary storage point with the number of associated empty parking spaces being greater than or equal to 1 and a transport car after the package falls down from a bag opening and is used for characterizing a matching relationship between the transport car after the package falls down and the sorting area empty car temporary storage point; the first updating unit 502 is configured to update the number of idle parking spaces associated with the empty car temporary storage point of the sorting area and the empty car temporary storage point of the charging area; the first reflow unit 503 is configured to plan, for each sorting area empty car temporary storage point and transport car in the first matching relation set, a first path from a bag falling port where the transport car is located to the sorting area empty car temporary storage point, send a first reflow task including the first path to the transport car, and respond to the transport car reaching the sorting area empty car temporary storage point, and send the transport car to a task corresponding to an empty car space in an empty car queuing position.
In this embodiment, the specific processes of the first generating unit 501, the first updating unit 502, and the first reflow unit 503 of the apparatus 500 for controlling a transport vehicle in a warehouse and the technical effects thereof may refer to the relevant descriptions of the steps 201, 202, and 203 in the corresponding embodiment of fig. 2, and are not repeated herein.
In some optional implementations of this embodiment, the warehouse may further include a charging point; and the apparatus 500 may further include: a second generating unit (not shown in the figure) for generating a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated idle parking spaces being greater than or equal to 1 and the charged transport vehicle, wherein the second matching relation is used for representing the matching relation between the charged transport vehicle and the charging area empty vehicle temporary storage points; a second updating unit (not shown in the figure) for updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; and the second reflow unit (not shown in the figure) is used for planning a second path from the charging point to the charging space empty car temporary storage point of the transport car for the charging space empty car temporary storage point and the transport car in each second matching relation in the second matching relation set, sending a second reflow task comprising the second path to the transport car, and sending the transport car to the task of the empty car space in the corresponding empty car queuing position in response to the transport car reaching the charging space empty car temporary storage point.
In some optional implementations of this embodiment, the warehouse may further include a packet-collecting waiting point, where the packet-collecting waiting point is used to park the full carrier; and the apparatus 500 may further include a waiting unit (not shown in the drawing) for: for each of the above-described bins, the following operations are performed: in response to determining that the spout is closed, the following is performed for each transport vehicle that is destined for the spout: sending a task to the transport vehicle to a last point of a current lock point of the transport vehicle; determining an idle packet-collecting waiting point closest to the transport vehicle as a target packet-collecting waiting point; planning a third path from the last point of the current lock point to a target packet-collecting waiting point of the transport vehicle, updating the state of the target packet-collecting waiting point into an occupied state, and sending the third path to the transport vehicle so that the transport vehicle can go to the target packet-collecting waiting point according to the third path; in response to determining that the bag opening is opened, the following operations are performed for the transport vehicle at each target packet waiting point: planning a fourth path of the transport vehicle at the target packet waiting point to the bag falling opening, and sending the fourth path to the transport vehicle at the target packet waiting point so that the transport vehicle at the target packet waiting point can fall packages to the bag falling opening according to the fourth path.
In some optional implementations of the present embodiment, the first generating unit 501 may be further configured to: calculating Manhattan distance from a bag falling opening of each dumped transport vehicle to a temporary storage point of empty vehicles in each sorting area; and generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car based on the calculation result.
In some optional implementations of this embodiment, the first reflow unit may further be configured to: and for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, dynamically calculating the shortest path from the bag falling opening of the transport car to the sorting area empty car temporary storage point through a map with a turning radius, and taking the shortest path as a first path.
In some optional implementations of this embodiment, the second generating unit is further configured to: calculating Manhattan distance from the charging point of each charged transport vehicle to the empty vehicle temporary storage point of each charging area; and generating a second matching relation set of the empty temporary storage point of the charging area and the transport vehicle based on the calculation result.
In some optional implementations of this embodiment, the empty queuing bits include a first-stage queuing bit, a second-stage queuing bit, and a third-stage queuing bit; the first reflow unit is further configured to: selecting an idle parking space closest to an idle car temporary storage point of the sorting area from the idle parking spaces of the second-stage queuing position and the third-stage queuing position as a target idle parking space; and sending the task from the sorting area empty car temporary storage point to the target empty parking space to the transport car.
In some optional implementations of this embodiment, the apparatus 500 may further include a translation unit (not shown in the drawing), where the translation unit is configured to: in response to determining that an idle parking space appears in the first-stage queuing position, determining whether a transport vehicle exists in the parking spaces in the first-stage queuing position behind the idle parking space; responding to the fact that the transport vehicles in the first-stage queuing position exist in the positions, behind the idle position, of the first-stage queuing position, and sending a translation instruction to the transport vehicles behind the idle position so as to enable the transport vehicles behind the idle position to translate to the idle position; in response to determining that no transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position, sequentially searching whether transport vehicles exist in the second-stage queuing position and the third-stage queuing position; and in response to determining that the transport vehicles exist in the second-level queuing position and the third-level queuing position, sending a translation instruction to the first searched transport vehicle so as to translate the first searched transport vehicle to an idle parking space.
In some optional implementations of this embodiment, the apparatus 500 may further include a third updating unit (not shown in the figure), where the third updating unit is configured to: and updating the number of idle bits associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point in response to determining that the transport car on the second-level queuing bit and the third-level queuing bit enters the first-level queuing bit or is charged.
Referring now to FIG. 6, a schematic diagram of a computer system 600 suitable for use in implementing an electronic device of an embodiment of the present application is shown. The electronic device shown in fig. 6 is only an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present application.
As shown in fig. 6, the computer system 600 includes a central processing unit (CPU, central Processing Unit) 601, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage section 608 into a random access Memory (RAM, random Access Memory) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other through a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a liquid crystal display (LCD, liquid Crystal Display), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN (local area network ) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. The above-described functions defined in the method of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 601. It should be noted that, the computer readable medium described in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware. The described units may also be provided in a processor, for example, described as: a processor includes a first generation unit, a first update unit, and a first reflow unit. The names of the units are not limited to the unit itself in some cases, for example, the first generating unit may also be described as "a unit that generates a first matching relationship set between a sorting area empty car temporary storage point with the number of associated empty car spaces being greater than or equal to 1 and a transport car after the package falls into a bag opening for dumping".
As another aspect, the present application also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by the apparatus, cause the apparatus to: generating a first matching relation set of the empty vehicle temporary storage points of the sorting area, the number of which is greater than or equal to 1, and the transport vehicles after the package falls down from the bag opening, wherein the first matching relation is used for representing the matching relation between the transport vehicles after the package falls down and the empty vehicle temporary storage points of the sorting area; updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area; for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, planning a first path from a bag falling port of the transport car to the sorting area empty car temporary storage point, sending a first reflux task comprising the first path to the transport car, responding to the transport car reaching the sorting area empty car temporary storage point, and sending the transport car to a task of a corresponding empty car queuing position empty car space.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.

Claims (20)

1. A method for controlling a transport vehicle in a warehouse, the warehouse comprising a packing station, the packing station comprising two weighing scanning stations, the weighing scanning stations correspondingly provided with empty vehicle queuing positions, sorting area empty vehicle temporary storage points and charging area empty vehicle temporary storage points, wherein the sorting area empty vehicle temporary storage points, the charging area empty vehicle temporary storage points, which correspond to the weighing scanning stations, are associated with the number of empty vehicle spaces in the empty vehicle queuing positions, which correspond to the weighing scanning stations, the method comprising:
generating a first matching relation set of the sorting area empty wagon temporary storage points with the number of the associated empty parking spaces being more than or equal to 1 and the transport wagon with the bag falling opening after the package is poured on the basis of the distance between the transport wagon with the package poured and the sorting area empty wagon temporary storage points, wherein the first matching relation is used for representing the matching relation between the transport wagon with the package poured and the sorting area empty wagon temporary storage points;
Updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area;
for a sorting area empty car temporary storage point and a transport car in each first matching relation in the first matching relation set, planning a first path from a bag falling port of the transport car to the sorting area empty car temporary storage point, sending a first reflow task comprising the first path to the transport car, responding to the transport car reaching the sorting area empty car temporary storage point, and sending the transport car to a task of a corresponding empty car queuing position empty car space.
2. The method of claim 1, wherein the warehouse further comprises a charging point; and
the method further comprises the steps of:
generating a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated idle parking spaces being more than or equal to 1 and the charged transport vehicles, wherein the second matching relation is used for representing the matching relation between the charged transport vehicles and the charging area empty vehicle temporary storage points;
updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area;
and for the charging area empty car temporary storage point and the transport car in each second matching relation in the second matching relation set, planning a second path from the charging point to the charging area empty car temporary storage point of the transport car, sending a second reflow task comprising the second path to the transport car, responding to the transport car reaching the charging area empty car temporary storage point, and sending the transport car to the task of the empty car space in the corresponding empty car queuing position.
3. The method of claim 1, wherein the warehouse further comprises a packet-gathering waiting point for parking a full carrier; and
the method further comprises the steps of:
for each of the bag-drop openings in the warehouse, the following operations are performed:
in response to determining that the spout is closed, the following is performed for each transport vehicle that is destined for the spout: sending a task to the transport vehicle to a last point of a current lock point of the transport vehicle; determining an idle packet-collecting waiting point closest to the transport vehicle as a target packet-collecting waiting point; planning a third path from the last point of the current lock point to a target packet-collecting waiting point of the transport vehicle, updating the state of the target packet-collecting waiting point into an occupied state, and sending the third path to the transport vehicle so that the transport vehicle can go to the target packet-collecting waiting point according to the third path;
in response to determining that the bag opening is opened, the following operations are performed for the transport vehicle at each target packet waiting point: planning a fourth path of the transport vehicle at the target packet waiting point to the bag falling opening, and sending the fourth path to the transport vehicle at the target packet waiting point so that the transport vehicle at the target packet waiting point can pour the package to the bag falling opening according to the fourth path.
4. The method of claim 1, wherein the generating a first set of matching relationships between the sorting area empty car temporary storage point and the transport car after the package is dumped at the bag drop port, wherein the number of the associated empty spaces is greater than or equal to 1, based on the distance between the transport car after the package is dumped and the sorting area empty car temporary storage point, comprises:
calculating Manhattan distance from a bag falling opening of each dumped transport vehicle to a temporary storage point of empty vehicles in each sorting area;
and generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car based on the calculation result.
5. The method of claim 1, wherein for a sorting area empty buffer and a carrier in each first matching relationship in the first set of matching relationships, planning a first path for the carrier from a bag drop to the sorting area empty buffer comprises:
and for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, dynamically calculating the shortest path from the bag falling opening of the transport car to the sorting area empty car temporary storage point through a map with a turning radius, and taking the shortest path as a first path.
6. The method of claim 2, wherein the generating the second set of matching relationships between the charging area empty wagon temporary storage point and the charged transport wagon with the associated number of empty spaces being 1 or more comprises:
Calculating Manhattan distance from the charging point of each charged transport vehicle to the empty vehicle temporary storage point of each charging area;
and generating a second matching relation set of the empty temporary storage point of the charging area and the transport vehicle based on the calculation result.
7. The method of claim 1, wherein the empty queuing bits comprise a first level queuing bit, a second level queuing bit, and a third level queuing bit; and
the task of responding to the transport vehicle to reach the empty vehicle temporary storage point of the sorting area and sending the transport vehicle to the empty vehicle space in the corresponding empty vehicle queuing space comprises the following steps:
selecting an idle parking space closest to an idle car temporary storage point of the sorting area from the idle parking spaces of the second-stage queuing position and the third-stage queuing position as a target idle parking space;
and sending the task from the sorting area empty car temporary storage point to the target empty parking space to the transport car.
8. The method of claim 7, wherein the method further comprises:
in response to determining that an idle parking space appears in the first-stage queuing position, determining whether a transport vehicle exists in the parking spaces in the first-stage queuing position behind the idle parking space;
responding to the fact that the transport vehicles in the first-stage queuing position exist in the positions, behind the idle position, of the first-stage queuing position, and sending a translation instruction to the transport vehicles behind the idle position so as to enable the transport vehicles behind the idle position to translate to the idle position;
In response to determining that no transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position, sequentially searching whether transport vehicles exist in the second-stage queuing position and the third-stage queuing position;
and in response to determining that the transport vehicles exist in the second-level queuing position and the third-level queuing position, sending a translation instruction to the first searched transport vehicle so as to translate the first searched transport vehicle to an idle parking space.
9. The method of claim 8, wherein the method further comprises:
and updating the number of idle bits associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point in response to determining that the transport car on the second-level queuing bit and the third-level queuing bit enters the first-level queuing bit or is charged.
10. An apparatus for controlling a transport vehicle in a warehouse, the warehouse including a loading station, the loading station including two weighing scanning stations, the weighing scanning stations correspondingly being provided with empty vehicle queuing positions, sorting area empty vehicle temporary storage points and charging area empty vehicle temporary storage points, wherein the sorting area empty vehicle temporary storage points, the charging area empty vehicle temporary storage points corresponding to the weighing scanning stations are associated with the number of empty vehicle spaces in the empty vehicle queuing positions corresponding to the weighing scanning stations, the apparatus comprising:
the first generation unit is used for generating a first matching relation set of the sorting area empty car temporary storage points with the number of the associated empty parking spaces being more than or equal to 1 and the transport car with the package poured at the bag falling opening based on the distance between the transport car with the package poured and the sorting area empty car temporary storage points, wherein the first matching relation is used for representing the matching relation between the transport car with the package poured and the sorting area empty car temporary storage points;
The first updating unit is used for updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area;
the first reflux unit is used for planning a first path from a bag falling port of the transport vehicle to the sorting area empty vehicle temporary storage point for each sorting area empty vehicle temporary storage point and the transport vehicle in the first matching relation set, sending a first reflux task comprising the first path to the transport vehicle, and sending the transport vehicle to the task of the empty vehicle space in the corresponding empty vehicle queuing position in response to the transport vehicle reaching the sorting area empty vehicle temporary storage point.
11. The apparatus of claim 10, wherein the warehouse further comprises a charging point; and
the apparatus further comprises:
the second generation unit is used for generating a second matching relation set of the charging area empty vehicle temporary storage points with the number of the associated idle parking spaces being greater than or equal to 1 and the charged transport vehicles, wherein the second matching relation is used for representing the matching relation between the charged transport vehicles and the charging area empty vehicle temporary storage points;
the second updating unit is used for updating the number of idle parking spaces associated with the empty car temporary storage points of the sorting area and the empty car temporary storage points of the charging area;
The second reflux unit is used for planning a second path from the charging point to the charging space empty car temporary storage point of the transport car for the charging space empty car temporary storage point and the transport car in each second matching relation in the second matching relation set, sending a second reflux task comprising the second path to the transport car, and sending the transport car to the task of the empty car space in the corresponding empty car queuing position in response to the transport car reaching the charging space empty car temporary storage point.
12. The apparatus of claim 10, wherein the warehouse further comprises a packet-gathering waiting point for parking a full carrier; and
the apparatus further comprises a waiting unit for:
for each of the bag-drop openings in the warehouse, the following operations are performed:
in response to determining that the spout is closed, the following is performed for each transport vehicle that is destined for the spout: sending a task to the transport vehicle to a last point of a current lock point of the transport vehicle; determining an idle packet-collecting waiting point closest to the transport vehicle as a target packet-collecting waiting point; planning a third path from the last point of the current lock point to a target packet-collecting waiting point of the transport vehicle, updating the state of the target packet-collecting waiting point into an occupied state, and sending the third path to the transport vehicle so that the transport vehicle can go to the target packet-collecting waiting point according to the third path;
In response to determining that the bag opening is opened, the following operations are performed for the transport vehicle at each target packet waiting point: planning a fourth path of the transport vehicle at the target packet waiting point to the bag falling opening, and sending the fourth path to the transport vehicle at the target packet waiting point so that the transport vehicle at the target packet waiting point can pour the package to the bag falling opening according to the fourth path.
13. The apparatus of claim 10, wherein the first generation unit is further to:
calculating Manhattan distance from a bag falling opening of each dumped transport vehicle to a temporary storage point of empty vehicles in each sorting area;
and generating a first matching relation set of the empty car temporary storage points of the sorting area and the transport car based on the calculation result.
14. The apparatus of claim 10, wherein the first reflow unit is further to:
and for the sorting area empty car temporary storage point and the transport car in each first matching relation in the first matching relation set, dynamically calculating the shortest path from the bag falling opening of the transport car to the sorting area empty car temporary storage point through a map with a turning radius, and taking the shortest path as a first path.
15. The apparatus of claim 11, wherein the second generation unit is further configured to:
calculating Manhattan distance from the charging point of each charged transport vehicle to the empty vehicle temporary storage point of each charging area;
and generating a second matching relation set of the empty temporary storage point of the charging area and the transport vehicle based on the calculation result.
16. The apparatus of claim 10, wherein the empty queuing bits comprise a first level queuing bit, a second level queuing bit, and a third level queuing bit; and
the first reflow unit is further configured to:
selecting an idle parking space closest to an idle car temporary storage point of the sorting area from the idle parking spaces of the second-stage queuing position and the third-stage queuing position as a target idle parking space;
and sending the task from the sorting area empty car temporary storage point to the target empty parking space to the transport car.
17. The apparatus of claim 16, wherein the apparatus further comprises a translation unit to:
in response to determining that an idle parking space appears in the first-stage queuing position, determining whether a transport vehicle exists in the parking spaces in the first-stage queuing position behind the idle parking space;
responding to the fact that the transport vehicles in the first-stage queuing position exist in the positions, behind the idle position, of the first-stage queuing position, and sending a translation instruction to the transport vehicles behind the idle position so as to enable the transport vehicles behind the idle position to translate to the idle position;
In response to determining that no transport vehicle exists in the parking spaces behind the idle parking spaces in the first-stage queuing position, sequentially searching whether transport vehicles exist in the second-stage queuing position and the third-stage queuing position;
and in response to determining that the transport vehicles exist in the second-level queuing position and the third-level queuing position, sending a translation instruction to the first searched transport vehicle so as to translate the first searched transport vehicle to an idle parking space.
18. The apparatus of claim 17, wherein the apparatus further comprises a third updating unit to:
and updating the number of idle bits associated with the sorting area empty car temporary storage point and the charging area empty car temporary storage point in response to determining that the transport car on the second-level queuing bit and the third-level queuing bit enters the first-level queuing bit or is charged.
19. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-9.
20. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method of any of claims 1-9.
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