CN110147970A - A kind of method and apparatus of storage scheduling - Google Patents
A kind of method and apparatus of storage scheduling Download PDFInfo
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- CN110147970A CN110147970A CN201810150278.5A CN201810150278A CN110147970A CN 110147970 A CN110147970 A CN 110147970A CN 201810150278 A CN201810150278 A CN 201810150278A CN 110147970 A CN110147970 A CN 110147970A
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- 238000004590 computer program Methods 0.000 claims description 6
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- 238000005516 engineering process Methods 0.000 abstract description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The invention discloses a kind of method and apparatus of storage scheduling, are related to field of computer technology.One specific embodiment of this method includes: that control transporting equipment transports storage equipment to be sorted to outbound pipeline；Judge on the outbound pipeline with the presence or absence of storage equipment to be returned；If it exists, then it controls after the transporting equipment is moved to the storage equipment position to be returned, the transporting equipment and the storage equipment to be returned is bound, to execute return task；If it does not exist, then it controls the transporting equipment and is moved to position of readiness.The operational efficiency of embodiment promotion warehousing system.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of method and apparatus of storage scheduling.
Background technique
Existing unmanned storehouse outbound process needs shuttle that will be placed with the palletized transport of cargo to outbound work station, and
During carrying out picking to pallet, shuttle can carry always pallet, until picking is completed, shuttle again transports out of pallet
Outbound work station.
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery: in the process of outbound
Middle pallet and shuttle are mutually bound, and are resulted in the operational process of shuttle to there is the link waited in this way, are reduced and wear
The utilization rate of shuttle car influences the operational efficiency of warehousing system.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method and apparatus of storage scheduling, it is able to ascend warehousing system
Operational efficiency.
To achieve the above object, according to an aspect of an embodiment of the present invention, a kind of method of storage scheduling, packet are provided
It includes:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline；
Judge on the outbound pipeline with the presence or absence of storage equipment to be returned；
If it exists, then it controls after the transporting equipment is moved to the storage equipment position to be returned, by the fortune
Transfer device and the storage equipment to be returned are bound, to execute return task；If it does not exist, then it is mobile to control the transporting equipment
To position of readiness.
Optionally, the step of execution return task includes:
Judge whether the storage equipment to be returned has stored cargo；
If storage has cargo, the transporting equipment is controlled for the storage equipment to be returned according to the category of the cargo
It transports to corresponding storage space；
If not storing cargo, controls the transporting equipment and transport the storage equipment to be returned to buffer zone.
Optionally, the transporting equipment is controlled according to the category of the cargo to transport the storage equipment to be returned to phase
The step of answering storage space include:
Obtain the category information for the cargo stored in the storage equipment to be returned；
Inquire storage space corresponding with the category information；
The storage space of depth in selecting most in the corresponding storage space controls the transporting equipment for the storage to be returned
Object equipment conveying to it is described most in depth storage space.
Optionally, the buffer zone includes elevator cache bit and concentration buffer area；The transporting equipment is controlled by institute
It states storage equipment to be returned and transports to the step of buffer zone and include:
Judge whether there is empty elevator cache bit；
If it exists, then the transporting equipment is controlled to transport the storage equipment to be returned to the elevator caching of the sky
Position；
If it does not exist, then the transporting equipment is controlled to transport the storage equipment to be returned to the concentration buffer area.
Optionally, after the step of whether there is storage equipment to be returned on judging the pipeline, further includes:
If it does not exist, then the transporting equipment is set to idle transporting equipment；
The method also includes:
If it is determined that the quantity that in current movement and target position is the transporting equipment of outbound pipeline is conveyed with outbound is located at
The sum of quantity of transporting equipment of line then will be empty less than the sum of the quantity of the storage equipment to be returned on whole outbound pipelines
Not busy transporting equipment is dispatched to outbound pipeline.
Optionally, the step of idle transporting equipment being dispatched to outbound pipeline include:
The position of the position of each storage equipment to be returned and each idle transporting equipment on each outbound pipeline is obtained, to divide
The distance between each storage equipment to be returned and each idle transporting equipment are not calculated；
Each storage equipment to be returned is matched with each idle transporting equipment, so that matching result is met following condition: complete
Portion's storage equipment to be returned or all idle transporting equipment has matched, and after matching each idle transporting equipment to corresponding wait return
The total distance for returning storage equipment is minimum；
The outbound pipeline being dispatched to idle transporting equipment according to matching result where corresponding storage equipment to be returned.
Optionally, the outbound pipeline is disposed with outbound cache bit, sorts position and returns banked cache along outbound direction
Position；The channel mobile for transporting equipment is provided with below the outbound pipeline；
Control transporting equipment will storage equipment be sorted the step of transporting to outbound pipeline, comprising:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline, and by the storage equipment to be sorted
It is placed on the outbound cache bit of outbound pipeline；
Release the binding relationship of the transporting equipment Yu the storage equipment to be sorted；
Control transporting equipment will storage equipment be sorted transport to outbound pipeline the step of after, further includes:
Control the pipeline by the storage equipment to be sorted from the outbound cache bit transport to the sorting position into
Row picking, to obtain storage equipment to be returned；
It controls the pipeline and transports the storage equipment to be returned to described time banked cache position from the sorting position；
Controlling the step of transporting equipment is moved to the storage equipment position to be returned includes:
It controls the transporting equipment and is moved to the storage equipment position to be returned along the channel.
To achieve the above object, other side according to an embodiment of the present invention provides a kind of device of storage scheduling,
Include:
Outbound control module transports storage equipment to be sorted to outbound pipeline for controlling transporting equipment；
Judgment module, for judging on the outbound pipeline with the presence or absence of storage equipment to be returned；
Return to control module, for when there are storage equipment to be returned, control the transporting equipment be moved to it is described to
After returning to storage equipment position, the transporting equipment and the storage equipment to be returned are bound, to execute return task；
For controlling the transporting equipment and being moved to position of readiness when storage equipment to be returned is not present.
Optionally, the return control module is also used to:
Judge whether the storage equipment to be returned has stored cargo；
If storage has cargo, the transporting equipment is controlled for the storage equipment to be returned according to the category of the cargo
It transports to corresponding storage space；
If not storing cargo, controls the transporting equipment and transport the storage equipment to be returned to buffer zone.
Optionally, the return control module is also used to:
Obtain the category information for the cargo stored in the storage equipment to be returned；
Inquire storage space corresponding with the category information；
The storage space of depth in selecting most in the corresponding storage space controls the transporting equipment for the storage to be returned
Object equipment conveying to it is described most in depth storage space.
Optionally, the buffer zone includes elevator cache bit and concentration buffer area；The return control module is also used
In:
Judge whether there is empty elevator cache bit；
If it exists, then the transporting equipment is controlled to transport the storage equipment to be returned to the elevator caching of the sky
Position；
If it does not exist, then the transporting equipment is controlled to transport the storage equipment to be returned to the concentration buffer area.
Optionally, the return control module is also used to when storage equipment to be returned is not present, by the transporting equipment
It is set to idle transporting equipment；
Described device further include:
Scheduler module, for determine quantity that in current mobile and target position is the transporting equipment of outbound pipeline with
Positioned at the sum of the quantity of transporting equipment of outbound pipeline, less than the quantity of the storage equipment to be returned on whole outbound pipelines
The sum of when, idle transporting equipment is dispatched to outbound pipeline.
Optionally, the scheduler module is also used to:
The position of the position of each storage equipment to be returned and each idle transporting equipment on each outbound pipeline is obtained, to divide
The distance between each storage equipment to be returned and each idle transporting equipment are not calculated；
Each storage equipment to be returned is matched with each idle transporting equipment, so that matching result is met following condition: complete
Portion's storage equipment to be returned or all idle transporting equipment has matched, and after matching each idle transporting equipment to corresponding wait return
The total distance for returning storage equipment is minimum；
The outbound pipeline being dispatched to idle transporting equipment according to matching result where corresponding storage equipment to be returned.
Optionally, the outbound pipeline is disposed with outbound cache bit, sorts position and returns banked cache along outbound direction
Position；The channel mobile for transporting equipment is provided with below the outbound pipeline；
The outbound control module is also used to:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline, and by the storage equipment to be sorted
It is placed on the outbound cache bit of outbound pipeline；
Release the binding relationship of the transporting equipment Yu the storage equipment to be sorted；
The return control module is also used to:
It controls the transporting equipment and is moved to the storage equipment position to be returned along the channel；
Described device further include:
Pipeline control module, for controlling the pipeline for the storage equipment to be sorted from the outbound cache bit
Transport to the sorting position carries out picking, to obtain storage equipment to be returned；And the control pipeline will be described to be returned
Storage equipment is transported from the sorting position to described time banked cache position.
To achieve the above object, another aspect according to an embodiment of the present invention provides a kind of electronics of storage scheduling
Equipment, comprising:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device is at least realized:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline；
Judge on the outbound pipeline with the presence or absence of storage equipment to be returned；
If it exists, then it controls after the transporting equipment is moved to the storage equipment position to be returned, by the fortune
Transfer device and the storage equipment to be returned are bound, to execute return task；If it does not exist, then it is mobile to control the transporting equipment
To position of readiness.
To achieve the above object, another aspect according to an embodiment of the present invention provides a kind of computer-readable medium,
On be stored with computer program, at least realized when described program is executed by processor:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline；
Judge on the outbound pipeline with the presence or absence of storage equipment to be returned；
If it exists, then it controls after the transporting equipment is moved to the storage equipment position to be returned, by the fortune
Transfer device and the storage equipment to be returned are bound, to execute return task；If it does not exist, then it is mobile to control the transporting equipment
To position of readiness.
One embodiment in foregoing invention has the following advantages that or the utility model has the advantages that because using will store up in transporting equipment
After object equipment conveying to outbound pipeline, outbound is executed using outbound pipeline and is transported, and transporting equipment may exit off storing and set
The standby technical solution to execute other tasks solves prior art transporting equipment in outbound process and needs and storage equipment phase
Mutually binding has reached the utilization rate for improving transporting equipment so as to cause the technical problem that the transporting equipment waiting time is too long, is promoted
The technical effect of warehousing system outbound efficiency.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment
With explanation.
Detailed description of the invention
Attached drawing for a better understanding of the present invention, does not constitute an undue limitation on the present invention.Wherein:
Fig. 1 is the schematic diagram of the key step of the method for storage scheduling according to an embodiment of the present invention；
Fig. 2 is the schematic diagram of the key step of the method for storage scheduling according to another embodiment of the present invention.
Fig. 3 is the schematic diagram of the key step of the method for the storage scheduling of another embodiment according to the present invention.
Fig. 4 is adapted for the unmanned storehouse schematic layout pattern using storage dispatching method provided in an embodiment of the present invention；
Fig. 5 is adapted for the structure of outbound work station in the unmanned storehouse using storage dispatching method provided in an embodiment of the present invention
Schematic diagram；
Fig. 6 is the schematic diagram of the main modular of the device of storage scheduling according to an embodiment of the present invention；
Fig. 7 is that the embodiment of the present invention can be applied to exemplary system architecture figure therein；
Fig. 8 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present invention
Figure.
Specific embodiment
Below in conjunction with attached drawing, an exemplary embodiment of the present invention will be described, including the various of the embodiment of the present invention
Details should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art should recognize
It arrives, it can be with various changes and modifications are made to the embodiments described herein, without departing from scope and spirit of the present invention.Together
Sample, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
Fig. 1 is the schematic diagram of the key step of the method for storage scheduling according to an embodiment of the present invention.As shown in Figure 1, this
A kind of method for storage scheduling that embodiment provides, comprising:
S100, control transporting equipment transport storage equipment to be sorted to outbound pipeline.The outbound pipeline edge goes out
Library direction is disposed with outbound cache bit, sorts position and goes back to banked cache position；It is provided with below the outbound pipeline for transport
The mobile channel of equipment.Specifically, in this step, storage equipment to be sorted is transported to outbound and is conveyed by control transporting equipment
Line, and the storage equipment to be sorted is placed on the outbound cache bit of outbound pipeline.
It is binding relationship between transporting equipment and its storage equipment loaded in transport, after executing step S100,
The binding relationship of the transporting equipment Yu the storage equipment to be sorted can be released, so as to be scheduled to transporting equipment.
After step sloo, the outbound pipeline is further controlled by the storage equipment to be sorted from the outbound
Cache bit transports to the sorting position and carries out picking, to obtain storage equipment to be returned；And the control pipeline will be described
Storage equipment to be returned is transported from the sorting position to described time banked cache position.It is complete that outbound pipeline transports storage equipment to be sorted
It is executed independently of each other at the process of sorting and the scheduling process of transporting equipment.
S101 judges on the pipeline with the presence or absence of storage equipment to be returned；If it exists, S102 is thened follow the steps；It is no
Then follow the steps S103.
S102 is controlled after the transporting equipment is moved to the storage equipment position to be returned, the transport is set
It is standby to be bound with the storage equipment to be returned, to execute return task.Wherein, transporting equipment can be moved to along the channel to
Return to storage equipment position.
S103 controls the transporting equipment and is moved to position of readiness.Position of readiness is the waiting position reserved for transporting equipment
It sets, the idle transporting equipment for being not received by task can be moved to position of readiness and wait task, in the mistake for being moved to position of readiness
It in journey or is moved to after position of readiness, if idle transporting equipment receives other tasks, can transfer to execute other tasks.
From the above it can be seen that method provided in this embodiment transports storage equipment in transporting equipment because using
After transporting to outbound pipeline, outbound is executed using outbound pipeline and is transported, and transporting equipment may exit off storage equipment to execute
The technical solution of other tasks solves prior art transporting equipment needs in outbound process and mutually binds with storage equipment,
So as to cause the technical problem that the transporting equipment waiting time is too long, reach the utilization rate for improving transporting equipment, promotes storage system
The technical effect for outbound efficiency of uniting.
Fig. 2 is the schematic diagram of the key step of the method for storage scheduling according to another embodiment of the present invention.
As shown in Fig. 2, another embodiment of the present invention provides storage scheduling method, comprising:
S200, control transporting equipment transport storage equipment to be sorted to outbound pipeline.
S201 judges on the pipeline with the presence or absence of storage equipment to be returned；If it exists, S202 is thened follow the steps；It is no
Then follow the steps S206.
S202 is controlled after the transporting equipment is moved to the storage equipment position to be returned, the transport is set
It is standby to be bound with the storage equipment to be returned.
S203, judges whether the storage equipment to be returned has stored cargo；If storage has cargo, then follow the steps
S204；If not storing cargo, S205 is thened follow the steps.
S204 controls the transporting equipment according to the category of the cargo and transports the storage equipment to be returned to corresponding
Storage space.Specifically, obtaining the category letter for the cargo stored in the storage equipment to be returned first when executing step S204
Breath；Then storage space corresponding with the category information is inquired；The storage space of depth in being selected most in the corresponding storage space,
Control the transporting equipment by the storage equipment to be returned transport to it is described most in depth storage space." depth in most " refers to phase
In shelf where corresponding storage space, the farthest storage space of transport channel apart from transporting equipment；It should be noted that only selecting here
Empty storage space, if storage space has stored storage equipment, select in addition to the storage space most in depth storage space.Specific selection
Mode combines subsequent embodiment to be illustrated.
S205 controls the transporting equipment and transports the storage equipment to be returned to buffer zone.The buffer zone
Including elevator cache bit and concentrate buffer area；Specifically, when executing this step, it is first determined whether there is empty elevator
Cache bit；If it exists, then the transporting equipment is controlled to transport the storage equipment to be returned to the elevator caching of the sky
Position；If it does not exist, then the transporting equipment is controlled to transport the storage equipment to be returned to the concentration buffer area.
The transporting equipment is set to idle transporting equipment by S206, is controlled the transporting equipment and is moved to position of readiness.
Fig. 3 is the schematic diagram of the key step of the method for the storage scheduling of another embodiment according to the present invention.
In embodiment in front, the outbound process of transporting equipment is illustrated, the present embodiment embodiment in front
On the basis of, the scheduling flow of transporting equipment is illustrated.As shown in figure 3, method provided in this embodiment includes:
S300 calculates the transport that in current movement and target position is outbound pipeline and sets after timer timing
The sum of standby quantity and the quantity of transporting equipment for being located at outbound pipeline are as first as a result, calculating on whole outbound pipelines
The sum of the quantity of storage equipment to be returned be used as the second result.
S301, judges whether first result is less than second result；If being less than, S302 is thened follow the steps, so as to
Idle transporting equipment is dispatched to outbound pipeline；Otherwise the timing cycle for remaking timer, executes step S300.
S302 obtains the position of the position of each storage equipment to be returned and each idle transporting equipment on each outbound pipeline,
To calculate separately the distance between each storage equipment to be returned and each idle transporting equipment.
Each storage equipment to be returned is matched with each idle transporting equipment, matching result is made to meet following item by S303
Part: all storage equipments to be returned or all idle transporting equipment has matched, and after matching each idle transporting equipment to correspondence
Storage equipment to be returned total distance it is minimum.Specifically, can have asking for certain boundary conditions by establishing simultaneously final result
It inscribes and determines matching way, be illustrated in subsequent embodiment.
S304, the outbound where idle transporting equipment is dispatched to corresponding storage equipment to be returned according to matching result are defeated
Line sending；The timing cycle of timer is remake, step S300 is executed.
According to method provided in this embodiment, detect whether outbound pipeline lacks transporting equipment by timing, and lacking
It dispatches idle transporting equipment when few conveying equipment to be supplemented, so that the dynamic dispatching to transporting equipment is realized, at any time to each
Outbound pipeline supplement can use transporting equipment, and storage equipment to be returned is avoided to occur to overstock, and improve the operation effect of warehousing system
Rate.
Method provided by the invention is further described below with reference to a specific application scenarios.
Method provided in this embodiment can be applied in unmanned storehouse cargo outbound process.In unmanned storehouse, pass through scheduling
(also referred to as AGV, Automated Guided Vehicle, automated guided vehicle refer to and magnetically or optically wait certainly equipped with electricity shuttle
Dynamic guiding device, can travel along defined guide path, the transport vehicle with safeguard protection and various transfer functions) it will contain
The pallet for being placed with cargo is delivered to outbound work station, to carry out outbound picking；Meanwhile dispatching the support that shuttle will complete picking
Disk transports Hui Ku (non-empty) or transport to buffer zone (picking up sky).
Signified shuttle corresponds to the transporting equipment in previous embodiment, the pallet of the present embodiment meaning in the present embodiment
Corresponding to the storage equipment in previous embodiment.Certainly, the shuttle in the present embodiment and pallet can also replace with it respectively
He has the equipment of same or similar function, such as pallet also could alternatively be turnover box, storage basket etc..
Fig. 4 is adapted for needing using the unmanned storehouse schematic layout pattern of storage dispatching method provided in an embodiment of the present invention
Bright, unmanned storehouse generally includes multilayer, and Fig. 4 is to be suitable for for wherein one layer of layout.As shown in figure 4, in unmanned storehouse, if
Multiple storage spaces 410 (rectangle identified in Fig. 4 with cross spider) are equipped with, are provided with the channel mobile for shuttle between storage space 410,
(usually 8, according to warehouse layout, can also reduce quantity in the place for having barrier, protect longitudinally adjacent multiple storage spaces 410
Channel is reserved between card storage space) commonly used in cargo (SKU, Stock Keeping Unit, the quantity in stock list of the same SKU of storage
Position, i.e. inventory pass in and out the basic unit of metering, can be with part, box, pallet etc. is unit.SKU is for home-delivery center's logistics
One necessary method of management, has been extended to the abbreviation of product Unified number, every kind of product is corresponding with uniquely now
No. SKU).Unmanned storehouse side is provided with outbound work station 420, for receiving the pallet of shuttle transport, and will from pallet
Cargo picks.Unmanned storehouse side is additionally provided with elevator 430, and the freight lifting of supplement extremely should by elevator 430 for replenishing
Layer.
Fig. 5 is adapted for the structure of outbound work station in the unmanned storehouse using storage dispatching method provided in an embodiment of the present invention
Schematic diagram.As shown in figure 5, outbound work station 420 includes two outbound pipelines 421, outbound pipeline 421 can drive placement
Pallet on it is mobile, and outbound pipeline 421 can be using chain as traction using chain transfer etc., chain transfer
Material is conveyed with supporting body, chain can use common sleeve-barrel roollr carrier chain, various other special chain drives can also be used (such as
Gathering chain, double-speed chain).On outbound pipeline 421,3 outbound cache bits, a sorting position are in turn divided into along outbound direction
Return banked cache position with 3 (quantity of each position can be adjusted according to actual needs, herein be only to illustrate)；Outbound pipeline
321 lower sections are provided with the channel mobile for shuttle.Mechanical arm 422 is sorted sorting to be provided with by position, for will be in pallet
Cargo is picked to execute subsequent outbound process.In the present embodiment, a sorting mechanical arm 422 is used in an outbound work station
Pallet on two outbound pipelines 421 is sorted, this allows for the operational efficiency for sorting mechanical arm 422, if only picking
An outbound pipeline 421 is selected, then sorts mechanical arm 422 and is likely to occur the unsaturated situation of task.It in practical applications, can be with
It is adaptively adjusted according to quantity of the operational efficiency of storting apparatus to outbound pipeline.
In an outbound process, shuttle can will be held in the palm after receiving outbound task according to outbound task wait sort
Disk is bound after taking out in corresponding storage space, and according to outbound task by palletized transport to be sorted to specified outbound work station, wear
Shuttle car arrow meaning path along Fig. 5 moves, will after sorting palletized transport to outbound work station, shuttle with wait sort support
Disk is unbinding, pallet to be sorted is placed in outermost outbound cache bit (outbound cache bit in the top in Fig. 5), then edge
Channel below pipeline moves to outermost time banked cache position (Fig. 5 bottom goes back to banked cache position), if this time banked cache position
On be placed with pallet to be returned, then shuttle and the pallet to be returned are bound, are that empty or non-empty is held according to pallet to be returned
Row empties support task or returns library task；If without placing pallet to be returned on this time banked cache position, shuttle is set to the free time
Shuttle leaves outbound work station along arrow path and goes to position of readiness.
When establishing and issuing outbound task, first, it may be considered that whether You Kong outbound cache bit, if be not it is free out
Banked cache position does not establish outbound task temporarily then；Second, when empty outbound cache bit has multiple, it may be considered that outbound goods
The distance between storage space and outbound cache bit where object select the outbound cache bit nearest apart from storage space to build as target position
Vertical outbound task；Third, it is also contemplated that schedulable idle shuttle to the distance between the storage space where outbound cargo,
The idle shuttle nearest apart from storage space is selected to issue outbound task.
The task that support task refers to cleaning empty pallet is emptied, if returning the pallet to be returned placed on banked cache position is sky,
It is first determined whether there is empty elevator cache bit；If it exists, then shuttle is controlled to transport the empty pallet to the sky
Elevator cache bit, so that elevator replenishes using by the empty pallet；If it does not exist, then shuttle is controlled by the empty pallet
Transport to concentration buffer area is kept in.Wherein, it concentrates buffer area to refer to the region for leaving empty pallet concentratedly, is provided with specially
Empty pallet can be stacked storage to save space by the rack etc. of door.
It returns library task and refers to the task that the palletized transport to be returned of non-empty is returned to storage space.It, should when executing back library task
The SKU (SKU for each cargo stored in single pallet is all the same) for the cargo stored in the pallet to be returned is obtained, and is inquired
Storage space corresponding with the SKU；After inquiring corresponding storage space, the empty storage space of depth in selection most, control shuttle will be to
Return palletized transport to this most in depth empty storage space.The storage space of " depth in most " refers on the shelf described in the storage space, distance
The farthest storage space in channel, refering to what is shown in Fig. 4, the pallet of superposed 4 storage spaces storage passes through this in 8 storage spaces of a column
Channel outbound or Hui Ku above column storage space, the pallet that 4 storage spaces positioned at lower part are stored pass through the channel below this column storage space
Outbound or Hui Ku；For 4 storage spaces on top, most in the storage space of depth be the 4th storage space from top to bottom, for lower part
For 4 storage spaces, most in the storage space of depth be the 4th storage space from top to bottom；For 4 storage spaces on top, if the 4th storage
Position is occupied, then most in the empty storage space of depth be the 3rd storage space from top to bottom, remaining is similarly.Library pallet will be returned to be placed on
Depth storage space in most can improve the efficiency of storage operation in order to planning path.
Position of readiness is set to below storage space.Specifically, the storage space in the present embodiment is arranged on shelf, below shelf
There are the spaces passed through for shuttle.Specific position below some shelf is reserved with the position of readiness stopped for shuttle；
Position of readiness should not influence the normal operation of shuttle, and when carrying out path planning to shuttle, it is standby also to avoid these
Position.In addition, position of readiness can be evenly distributed in the lower section of each shelf in unmanned storehouse in order to improve operational efficiency, so as into
Row scheduling.
Library transportational process is once returned the above are shuttle.In addition to this, can also periodically judge in current movement and target
Position is the quantity of the shuttle of outbound pipeline and the sum of the quantity of shuttle for being located at outbound pipeline, if is less than all
The sum of the quantity of pallet to be returned on outbound pipeline；If being less than, illustrate to have pallet to be returned that can not be matched to corresponding
Shuttle.It is following by idle shuttle and pallet to be returned by constructing and solving the problems, such as in order to avoid pallet to be returned waiting
It is matched:
In problem RP, I is the set of idle shuttle,For where pallet to be returned return banked cache position set,
cijFor shuttle i to the distance for returning banked cache position j, variable xijIt is used to indicate whether shuttle i matches back banked cache position j；This is asked
The constraint condition of topic includes:
xij∈{0,1}.(condition 4)
In problem RP, condition 1 indicates that any one shuttle at most can only go back to banked cache position with one and match；Condition
2 indicate that any one goes back to banked cache position and can only at most match with a shuttle；Condition 3 directly be meant that completion matching after
Shuttle with return the logarithm of banked cache position not less than where former idle shuttle sum or former pallet to be returned to go back to library slow
Position sum is deposited, i.e., is sufficiently matched, is guaranteed without going back to banked cache position simultaneously where idle shuttle and former pallet to be returned
It is remaining；Condition 4 indicates variable xijValue range, xij=1 indicates that matching shuttle i transport is located at the pallet of pallet cache bit j
It returns, xij=0 indicates to mismatch shuttle i and the pallet for being located at pallet cache bit j.
Application of the method for storage scheduling provided by the invention in unmanned storehouse is illustrated in above-described embodiment.It should
Understand, other occasions for meeting following primary condition can also be using each method in the embodiment of the present invention: autonomous by having
The transporting equipment of locomotivity delivers separable storage equipment, stores cargo by storage equipment；Have by pipeline etc.
The equipment of autonomous delivery function is separated so that transporting equipment be allow to unbind with transporting equipment, is immediately performed as library facilities is gone out
Return task.
Fig. 6 is the schematic diagram of the main modular of the device of storage scheduling according to an embodiment of the present invention.
As shown in fig. 6, the device 600 of storage scheduling provided in this embodiment includes:
Outbound control module 601 transports storage equipment to be sorted to outbound pipeline for controlling transporting equipment；
Judgment module 602, for judging on the outbound pipeline with the presence or absence of storage equipment to be returned；
Return to control module 603, for when there are storage equipment to be returned, control the transporting equipment be moved to it is described
Behind storage equipment position to be returned, the transporting equipment and the storage equipment to be returned are bound, appointed with executing to return
Business；For controlling the transporting equipment and being moved to position of readiness when storage equipment to be returned is not present.
From the above it can be seen that device provided in this embodiment transports storage equipment in transporting equipment because using
After transporting to outbound pipeline, outbound is executed using outbound pipeline and is transported, and transporting equipment may exit off storage equipment to execute
The technical solution of other tasks solves prior art transporting equipment needs in outbound process and mutually binds with storage equipment,
So as to cause the technical problem that the transporting equipment waiting time is too long, reach the utilization rate for improving transporting equipment, promotes storage system
The technical effect for outbound efficiency of uniting.
In some alternative embodiments, the return control module 603 is also used to:
Judge whether the storage equipment to be returned has stored cargo；
If storage has cargo, the transporting equipment is controlled for the storage equipment to be returned according to the category of the cargo
It transports to corresponding storage space；
If not storing cargo, controls the transporting equipment and transport the storage equipment to be returned to buffer zone.
In some alternative embodiments, the return control module 603 is also used to:
Obtain the category information for the cargo stored in the storage equipment to be returned；
Inquire storage space corresponding with the category information；
The storage space of depth in selecting most in the corresponding storage space controls the transporting equipment for the storage to be returned
Object equipment conveying to it is described most in depth storage space.
In some alternative embodiments, the buffer zone includes elevator cache bit and concentration buffer area；It is described to return
Control module 603 is returned to be also used to:
Judge whether there is empty elevator cache bit；
If it exists, then the transporting equipment is controlled to transport the storage equipment to be returned to the elevator caching of the sky
Position；
If it does not exist, then the transporting equipment is controlled to transport the storage equipment to be returned to the concentration buffer area.
In some alternative embodiments, the return control module 603 is also used to that storage equipment to be returned is being not present
When, the transporting equipment is set to idle transporting equipment；
Described device 600 further include:
Scheduler module 604, for determining in current mobile and target position is the number of the transporting equipment of outbound pipeline
Amount and the sum of the quantity of transporting equipment for being located at outbound pipeline, less than the storage equipment to be returned on whole outbound pipelines
When the sum of quantity, idle transporting equipment is dispatched to outbound pipeline.
In some alternative embodiments, the scheduler module 604 is also used to:
The position of the position of each storage equipment to be returned and each idle transporting equipment on each outbound pipeline is obtained, to divide
The distance between each storage equipment to be returned and each idle transporting equipment are not calculated；
Each storage equipment to be returned is matched with each idle transporting equipment, so that matching result is met following condition: complete
Portion's storage equipment to be returned or all idle transporting equipment has matched, and after matching each idle transporting equipment to corresponding wait return
The total distance for returning storage equipment is minimum；
The outbound pipeline being dispatched to idle transporting equipment according to matching result where corresponding storage equipment to be returned.
In some alternative embodiments, the outbound pipeline along outbound direction is disposed with outbound cache bit, picks
Bit selecting and time banked cache position；The channel mobile for transporting equipment is provided with below the outbound pipeline；
The outbound control module 601 is also used to:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline, and by the storage equipment to be sorted
It is placed on the outbound cache bit of outbound pipeline；
Release the binding relationship of the transporting equipment Yu the storage equipment to be sorted；
The return control module 603 is also used to:
It controls the transporting equipment and is moved to the storage equipment position to be returned along the channel；
Described device 600 further include:
Pipeline control module 605 delays the storage equipment to be sorted from the outbound for controlling the pipeline
Position is deposited to transport to sorting position progress picking, to obtain storage equipment to be returned；And the control pipeline will it is described to
Storage equipment is returned to transport from the sorting position to described time banked cache position.
Fig. 7 is shown can be using the exemplary of the device of the method or storage scheduling of the storage scheduling of the embodiment of the present invention
System architecture 700.
As shown in fig. 7, system architecture 700 may include terminal device 701,702,703, network 704 and server 705.
Network 704 between terminal device 701,702,703 and server 705 to provide the medium of communication link.Network 704 can be with
Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 701,702,703 and be interacted by network 704 with server 705, to receive or send out
Send message etc..Terminal device 701,702,703 can be the various equipment in storage, such as transporting equipment, pipeline equipment, pick
Optional equipment etc..
Server 705 can be to provide the server of various services, such as the method for operation of terminal device 701,702,703
The background process server being scheduled.
It should be noted that the method for storage scheduling provided by the embodiment of the present invention is generally executed by server 705, phase
Ying Di, the device for scheduling of storing in a warehouse are generally positioned in server 705.
It should be understood that the number of terminal device, network and server in Fig. 7 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.
According to an embodiment of the invention, the present invention also provides a kind of electronic equipment and a kind of readable storage medium storing program for executing.
Fig. 8 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present invention
Figure.
Below with reference to Fig. 8, it illustrates the computer systems 800 for the terminal device for being suitable for being used to realize the embodiment of the present invention
Structural schematic diagram.Terminal device shown in Fig. 8 is only an example, function to the embodiment of the present invention and should not use model
Shroud carrys out any restrictions.
As shown in figure 8, computer system 800 includes central processing unit (CPU) 801, it can be read-only according to being stored in
Program in memory (ROM) 802 or be loaded into the program in random access storage device (RAM) 803 from storage section 808 and
Execute various movements appropriate and processing.In RAM 803, also it is stored with system 800 and operates required various programs and data.
CPU 801, ROM 802 and RAM 803 are connected with each other by bus 804.Input/output (I/O) interface 805 is also connected to always
Line 804.
I/O interface 805 is connected to lower component: the importation 806 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 808 including hard disk etc.；
And the communications portion 809 of the network interface card including LAN card, modem etc..Communications portion 809 via such as because
The network of spy's net executes communication process.Driver 810 is also connected to I/O interface 805 as needed.Detachable media 811, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 810, in order to read from thereon
Computer program be mounted into storage section 808 as needed.
Particularly, according to an embodiment of the invention, the process of the schematic diagram description of key step may be implemented as above
Computer software programs.For example, the embodiment of the present invention includes a kind of computer program product comprising being carried on computer can
The computer program on medium is read, which includes the program for executing method shown in the schematic diagram of key step
Code.In such embodiments, which can be downloaded and installed from network by communications portion 809, and/
Or it is mounted from detachable media 811.When the computer program is executed by central processing unit (CPU) 801, the present invention is executed
System in the above-mentioned function that limits.
It should be noted that computer-readable medium shown in the present invention can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the present invention, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In invention, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Being described in module involved in the embodiment of the present invention can be realized by way of software, can also be by hard
The mode of part is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor packet
It includes library control module, judgment module, return to control module, scheduler module and pipeline control module.Wherein, these modules
Title does not constitute the restriction to the module itself under certain conditions, for example, scheduler module is also described as " being used for
Determine that in current movement and target position is that the quantity of the transporting equipment of outbound pipeline is set with the transport for being located at outbound pipeline
The sum of standby quantity, less than the storage equipment to be returned on whole outbound pipelines the sum of quantity when, by idle transporting equipment
It is dispatched to the module of outbound pipeline ".
As on the other hand, the present invention also provides a kind of computer-readable medium, which be can be
Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating
Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes
Obtaining the equipment includes:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline；
Judge on the outbound pipeline with the presence or absence of storage equipment to be returned；
If it exists, then it controls after the transporting equipment is moved to the storage equipment position to be returned, by the fortune
Transfer device and the storage equipment to be returned are bound, to execute return task；If it does not exist, then it is mobile to control the transporting equipment
To position of readiness.
Technical solution according to an embodiment of the present invention because use storage equipment transported in transporting equipment it is defeated to outbound
After line sending, outbound is executed using outbound pipeline and is transported, and transporting equipment may exit off storage equipment to execute other tasks
Technical solution solves prior art transporting equipment needs in outbound process and mutually binds with storage equipment, so as to cause fortune
Transfer device waiting time too long technical problem has reached the utilization rate for improving transporting equipment, promotes warehousing system outbound efficiency
Technical effect.
Above-mentioned specific embodiment, does not constitute a limitation on the scope of protection of the present invention.Those skilled in the art should be bright
It is white, design requirement and other factors are depended on, various modifications, combination, sub-portfolio and substitution can occur.It is any
Made modifications, equivalent substitutions and improvements etc. within the spirit and principles in the present invention, should be included in the scope of the present invention
Within.
Claims (16)
1. a kind of method of storage scheduling characterized by comprising
Control transporting equipment transports storage equipment to be sorted to outbound pipeline；
Judge on the outbound pipeline with the presence or absence of storage equipment to be returned；
If it exists, then it controls after the transporting equipment is moved to the storage equipment position to be returned, the transport is set
It is standby to be bound with the storage equipment to be returned, to execute return task；If it does not exist, then control the transporting equipment be moved to
It sets seat in the plane.
2. the method according to claim 1, wherein the step of executing return task includes:
Judge whether the storage equipment to be returned has stored cargo；
If storage has cargo, the transporting equipment is controlled according to the category of the cargo and transports the storage equipment to be returned
To corresponding storage space；
If not storing cargo, controls the transporting equipment and transport the storage equipment to be returned to buffer zone.
3. according to the method described in claim 2, it is characterized in that, will according to the category of the cargo control transporting equipment
The storage equipment to be returned, which was transported to the step of corresponding storage space, includes:
Obtain the category information for the cargo stored in the storage equipment to be returned；
Inquire storage space corresponding with the category information；
The storage space of depth in selecting most in the corresponding storage space controls the transporting equipment and sets the storing to be returned
Received shipment transport to it is described most in depth storage space.
4. according to the method described in claim 2, it is characterized in that, the buffer zone includes elevator cache bit and concentrates slow
Deposit area；It controls the transporting equipment and transports the storage equipment to be returned to the step of buffer zone and include:
Judge whether there is empty elevator cache bit；
If it exists, then the transporting equipment is controlled to transport the storage equipment to be returned to the elevator cache bit of the sky；
If it does not exist, then the transporting equipment is controlled to transport the storage equipment to be returned to the concentration buffer area.
5. the method according to claim 1, wherein whether there is storing to be returned on judging the pipeline
After the step of equipment, further includes:
If it does not exist, then the transporting equipment is set to idle transporting equipment；
The method also includes:
If it is determined that currently in movement and target position is for the quantity of the transporting equipment of outbound pipeline and positioned at outbound pipeline
The sum of quantity of transporting equipment then transports the free time less than the sum of the quantity of the storage equipment to be returned on whole outbound pipelines
Transfer device is dispatched to outbound pipeline.
6. according to the method described in claim 5, it is characterized in that, idle transporting equipment to be dispatched to the step of outbound pipeline
Suddenly include:
The position of the position of each storage equipment to be returned and each idle transporting equipment on each outbound pipeline is obtained, to count respectively
Calculate the distance between each storage equipment to be returned and each idle transporting equipment；
Each storage equipment to be returned is matched with each idle transporting equipment, matching result is made to meet following condition: all to
Return to storage equipment or all idle transporting equipment matched, and after matching each idle transporting equipment to corresponding storage to be returned
The total distance of object equipment is minimum；
The outbound pipeline being dispatched to idle transporting equipment according to matching result where corresponding storage equipment to be returned.
7. the method according to claim 1, wherein the outbound pipeline is disposed with out along outbound direction
Banked cache position sorts position and goes back to banked cache position；The channel mobile for transporting equipment is provided with below the outbound pipeline；
Control transporting equipment will storage equipment be sorted the step of transporting to outbound pipeline, comprising:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline, and the storage equipment to be sorted is placed
On the outbound cache bit of outbound pipeline；
Release the binding relationship of the transporting equipment Yu the storage equipment to be sorted；
Control transporting equipment will storage equipment be sorted transport to outbound pipeline the step of after, further includes:
It controls the pipeline and transports the storage equipment to be sorted to the sorting position from the outbound cache bit and pick
Goods, to obtain storage equipment to be returned；
It controls the pipeline and transports the storage equipment to be returned to described time banked cache position from the sorting position；
Controlling the step of transporting equipment is moved to the storage equipment position to be returned includes:
It controls the transporting equipment and is moved to the storage equipment position to be returned along the channel.
8. a kind of device of storage scheduling characterized by comprising
Outbound control module transports storage equipment to be sorted to outbound pipeline for controlling transporting equipment；
Judgment module, for judging on the outbound pipeline with the presence or absence of storage equipment to be returned；
Return control module, for when there are storage equipment to be returned, control the transporting equipment be moved to it is described to be returned
Behind storage equipment position, the transporting equipment and the storage equipment to be returned are bound, to execute return task；For
When storage equipment to be returned is not present, controls the transporting equipment and be moved to position of readiness.
9. device according to claim 8, which is characterized in that the return control module is also used to:
Judge whether the storage equipment to be returned has stored cargo；
If storage has cargo, the transporting equipment is controlled according to the category of the cargo and transports the storage equipment to be returned
To corresponding storage space；
If not storing cargo, controls the transporting equipment and transport the storage equipment to be returned to buffer zone.
10. device according to claim 9, which is characterized in that the return control module is also used to:
Obtain the category information for the cargo stored in the storage equipment to be returned；
Inquire storage space corresponding with the category information；
The storage space of depth in selecting most in the corresponding storage space controls the transporting equipment and sets the storing to be returned
Received shipment transport to it is described most in depth storage space.
11. device according to claim 9, which is characterized in that the buffer zone includes elevator cache bit and concentration
Buffer area；The return control module is also used to:
Judge whether there is empty elevator cache bit；
If it exists, then the transporting equipment is controlled to transport the storage equipment to be returned to the elevator cache bit of the sky；
If it does not exist, then the transporting equipment is controlled to transport the storage equipment to be returned to the concentration buffer area.
12. device according to claim 8, which is characterized in that the return control module is also used to be not present wait return
When returning storage equipment, the transporting equipment is set to idle transporting equipment；
Described device further include:
Scheduler module, for determining quantity that in current mobile and target position is the transporting equipment of outbound pipeline and being located at
The sum of the quantity of transporting equipment of outbound pipeline, less than the sum of the quantity of the storage equipment to be returned on whole outbound pipelines
When, idle transporting equipment is dispatched to outbound pipeline.
13. device according to claim 12, which is characterized in that the scheduler module is also used to:
The position of the position of each storage equipment to be returned and each idle transporting equipment on each outbound pipeline is obtained, to count respectively
Calculate the distance between each storage equipment to be returned and each idle transporting equipment；
Each storage equipment to be returned is matched with each idle transporting equipment, matching result is made to meet following condition: all to
Return to storage equipment or all idle transporting equipment matched, and after matching each idle transporting equipment to corresponding storage to be returned
The total distance of object equipment is minimum；
The outbound pipeline being dispatched to idle transporting equipment according to matching result where corresponding storage equipment to be returned.
14. device according to claim 8, which is characterized in that the outbound pipeline is disposed with along outbound direction
Outbound cache bit sorts position and goes back to banked cache position；The channel mobile for transporting equipment is provided with below the outbound pipeline；
The outbound control module is also used to:
Control transporting equipment transports storage equipment to be sorted to outbound pipeline, and the storage equipment to be sorted is placed
On the outbound cache bit of outbound pipeline；
Release the binding relationship of the transporting equipment Yu the storage equipment to be sorted；
The return control module is also used to:
It controls the transporting equipment and is moved to the storage equipment position to be returned along the channel；
Described device further include:
Pipeline control module transports the storage equipment to be sorted from the outbound cache bit for controlling the pipeline
Picking is carried out to the sorting position, to obtain storage equipment to be returned；And the pipeline is controlled by the storing to be returned
Equipment is transported from the sorting position to described time banked cache position.
15. a kind of electronic equipment for scheduling of storing in a warehouse characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in any in claim 1-7.
16. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
The method as described in any in claim 1-7 is realized when row.
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| CN201810150278.5A CN110147970A (en) | 2018-02-13 | 2018-02-13 | A kind of method and apparatus of storage scheduling |
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| CN201810150278.5A CN110147970A (en) | 2018-02-13 | 2018-02-13 | A kind of method and apparatus of storage scheduling |
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