CN111724015A - Method, device and equipment for switching carrying tasks and storage medium - Google Patents
Method, device and equipment for switching carrying tasks and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for switching a carrying task, wherein the method comprises the following steps: acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a goods taking position in the carrying task currently; determining a first carrying cost between the first transport vehicle and the goods taking position and a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position, the current first position and the current second position in the carrying task; and if the first carrying cost is less than the second carrying cost, switching the carrying task which is executed by the second transport vehicle into the first transport vehicle so as to enable the first transport vehicle to execute the carrying task. Through the technical scheme of the embodiment of the invention, the carrying tasks can be reasonably distributed, the carrying cost of the transport vehicle is reduced, and the carrying efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to computer technology, in particular to a method, a device, equipment and a storage medium for switching a carrying task.
Background
Along with the rapid development of scientific technology, more and more automation equipment are applied to in the storage field to realize the intelligent transport of goods, improve handling speed.
Generally, when transporting goods with a transport vehicle such as an unmanned forklift agv (automated Guided vehicle), the transport vehicle may execute instructions for picking up, placing, and walking based on a delivered transporting task. Each transport vehicle can only carry one transport task at the same time, so that a plurality of transport vehicles need to be operated simultaneously so as to execute a plurality of transport tasks simultaneously.
Fig. 1 shows a schematic view of a transportation vehicle carrying goods. In fig. 1, the transport vehicle a is in an idle state. The transport vehicle B is in the transport state, that is, the transport task T1 performed by the transport vehicle B is: the cargo in position 2 is carried into position 3 and the transport vehicle B has been moved to the vicinity of position 3. If the system obtains a new transfer task T2: when the cargo in the position 4 is transported to the position 1, since each transport vehicle can only perform one transport task at the same time, the transport task T2 is issued to the transport vehicle a in the idle state in the prior art, so that the transport vehicle a performs the transport task T2.
However, in the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
when tasks are allocated to the transport vehicles, only the factor of the transport state of the transport vehicles is considered, and when the tasks are not allocated reasonably, the transport cost of the transport vehicles is increased, so that the resource waste is caused, and the transport efficiency is reduced.
Disclosure of Invention
The embodiment of the invention provides a carrying task switching method, a carrying task switching device, carrying task switching equipment and a storage medium, so that carrying tasks are reasonably distributed, the carrying cost of a transport vehicle is reduced, and the carrying efficiency is improved.
In a first aspect, an embodiment of the present invention provides a method for switching a transport task, including:
acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a pickup position in the carrying task currently;
determining a first carrying cost between the first transport vehicle and the goods taking position and a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position, the current first position and the current second position in the carrying task;
if the first carrying cost is less than the second carrying cost, the carrying task which is being executed by the second transport vehicle is switched to the first transport vehicle, so that the first transport vehicle executes the carrying task.
In a second aspect, an embodiment of the present invention further provides a device for switching a handling task, including:
the position acquisition module is used for acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a goods taking position in the carrying task currently;
a carrying cost determination module, configured to determine, according to a pickup position, the current first position, and the current second position in the carrying task, a first carrying cost between the first transport vehicle and the pickup position, and a second carrying cost between the second transport vehicle and the pickup position;
and the carrying task switching module is used for switching the carrying task which is executed by the second transport vehicle into the first transport vehicle if the first carrying cost is less than the second carrying cost, so that the first transport vehicle executes the carrying task.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for switching the handling task according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the transportation task switching method according to any embodiment of the present invention.
The embodiment of the invention has the following advantages or beneficial effects:
after the current first position of the first transport vehicle in an idle state is acquired in real time, the current second position of the second transport vehicle in a carrying state and not reaching the picking position in the corresponding carrying task is acquired in real time, the first carrying cost required by the first transport vehicle to reach the picking position is determined based on the current first position and the picking position in the carrying task, the second carrying cost required by the second transport vehicle to reach the picking position is determined based on the current second position and the picking position in the carrying task, when the first carrying cost is detected to be smaller than the second carrying cost, the task allocation of the second transport vehicle is unreasonable, the carrying task currently executed by the second transport vehicle is switched to the first transport vehicle so as to enable the first transport vehicle to execute the carrying task, and therefore the carrying task is switched under the condition that the task allocation is unreasonable, the reasonable distribution of the carrying tasks is realized, the carrying cost of the transport vehicle is reduced, and the carrying efficiency is improved.
Drawings
FIG. 1 is a schematic view of a transport vehicle carrying cargo;
fig. 2 is a flowchart of a method for switching a handling task according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for switching a handling task according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a conveying task switching device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying 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 further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 2 is a flowchart of a method for switching a transportation task according to an embodiment of the present invention, which can be applied to a situation where a transportation vehicle in a transportation state and not yet reaching a pickup position is switched to reduce transportation cost, and is particularly applicable to a scenario where the transportation vehicle shown in fig. 1 transports goods. The method can be executed by a transport task switching device, which can be implemented by software and/or hardware, and integrated into a device with data processing function, such as a computer, and the like. As shown in fig. 2, the method specifically includes the following steps:
s110, acquiring a current first position of the first transport vehicle in an idle state, and a current second position and a transport task of the second transport vehicle in a transport state, wherein the second transport vehicle does not reach a pickup position in the transport task currently.
The transport vehicle can be, but is not limited to, an automatic transport vehicle such as an intelligent unmanned forklift AGV. The transportation task in this embodiment may refer to transporting the goods located at the first preset position to the second preset position, where the first preset position corresponds to a goods picking position, and the second preset position corresponds to a goods delivering position. The first transport vehicle may be a transport vehicle currently in an idle state, that is, a transport vehicle that has not received the delivered transport task currently, or a transport vehicle that has already executed the delivered transport task and has not received a new transport task currently. The second vehicle may refer to a vehicle currently in a carrying state, that is, a vehicle currently performing a carrying task. And the second vehicle has not yet reached the pick-up position in the carrying task being performed, i.e. the second vehicle has not yet picked up the goods. Each transport vehicle and each carrying task in the embodiment can correspond to a unique identifier so as to distinguish different transport vehicles and different carrying tasks.
Specifically, in this embodiment, positioning devices such as a GPS (global positioning System) may be installed on the first transportation vehicle and the second transportation vehicle in advance, so that the current first position of the first transportation vehicle and the current second position of the second transportation vehicle may be obtained in real time through the positioning devices on the first transportation vehicle and the second transportation vehicle. The present embodiment can obtain the carrying task being performed by the second carriage from the task assigning system.
S120, determining a first carrying cost between the first transport vehicle and the goods taking position and a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position, the current first position and the current second position in the carrying task.
The handling costs may be referred to as the cost of travel or the time required to reach the transport vehicle from one location to another. The first transportation cost refers to a transportation cost required for the first transport vehicle to reach the pickup position in the transportation task being performed by the second transport vehicle from the current first position. The second transportation cost refers to a transportation cost required for the second transport vehicle to reach the pickup position in the transportation task being performed from the current second position.
Specifically, the present embodiment may lay out a transportation vehicle walking route according to each preset position in advance based on a business scenario, so that the transportation vehicle may reach each preset position based on the walking route to perform picking and placing operations. In this embodiment, a first traveling route between the first transportation vehicle and the pickup position may be determined according to the current first position of the first transportation vehicle and the pickup position in the transportation task, and a corresponding first transportation cost may be determined according to the first traveling route, for example, a length of a path corresponding to the first traveling route may be determined as the first transportation cost, or a traveling time of the transportation vehicle corresponding to the first traveling route may also be determined as the first transportation cost. Similarly, a second walking route between the second transport vehicle and the goods taking position can be determined according to the current second position of the second transport vehicle and the goods taking position in the carrying task, and the corresponding second carrying cost can be determined according to the second walking route.
For example, if there are a plurality of first travel routes or a plurality of second travel routes, the shortest first travel route or the shortest second travel route can be determined based on a directional regulation for each travel route, such as a directional dijkstra algorithm, and the corresponding transport cost can be determined from the shortest travel route, and the first transport cost or the second transport cost determined at this time is the transport cost corresponding to the shortest travel route. The embodiment may further determine the traveling route corresponding to the shortest traveling time based on the directive dijkstra algorithm and the traveling speed corresponding to each traveling route, where the determined first transportation cost or the determined second transportation cost is the transportation cost corresponding to the shortest traveling time, so that the smallest first transportation cost and the smallest second transportation cost may be obtained for subsequent reasonable comparison.
And S130, if the first carrying cost is less than the second carrying cost, switching the carrying task which is executed by the second transport vehicle into the first transport vehicle so that the first transport vehicle executes the carrying task.
Specifically, whether the distribution of the carrying tasks is reasonable or not is determined by detecting whether a first carrying cost corresponding to the first transport vehicle is smaller than a second carrying cost corresponding to the second transport vehicle or not. If the first carrying cost is detected to be smaller than the second carrying cost, the carrying cost consumed when the first transport vehicle reaches the goods taking position in the carrying task is lower than the carrying cost consumed when the second transport vehicle reaches the goods taking position in the carrying task, namely the carrying task of the second transport vehicle is not reasonably distributed, at the moment, the carrying task which is being executed by the second transport vehicle can be cancelled according to the task identification corresponding to the carrying task and the transport vehicle identification corresponding to the second transport vehicle, and the carrying task is issued to the first transport vehicle, so that the first transport vehicle executes the carrying task, and the carrying task is switched from the second transport vehicle to the first transport vehicle. This embodiment is through carrying out the transport task and not yet reaching the overhead traveling crane of getting goods position department and getting goods and in time carrying out the task and switching to can realize the rational distribution of transport task, and reduce handling cost, improve handling efficiency.
According to the technical scheme of the embodiment, the current first position of the first transport vehicle in the idle state is obtained in real time, the current second position of the second transport vehicle which is in the carrying state and does not reach the pickup position in the corresponding carrying task is obtained in real time, the first carrying cost required by the first transport vehicle to reach the pickup position is determined based on the current first position and the pickup position in the carrying task, the second carrying cost required by the second transport vehicle to reach the pickup position is determined based on the current second position and the pickup position in the carrying task, when the first carrying cost is detected to be smaller than the second carrying cost, the task allocation of the second transport vehicle is unreasonable, the carrying task which is being executed by the second transport vehicle is switched to the first transport vehicle at the moment, so that the first transport vehicle executes the carrying task, and the carrying task is switched under the condition that the task allocation is unreasonable, the reasonable distribution of the carrying tasks is realized, the carrying cost of the transport vehicle is reduced, and the carrying efficiency is improved.
On the basis of the above technical solution, in this embodiment, when the first transportation cost is less than the second transportation cost, it may be detected whether a difference between the first transportation cost and the second transportation cost is greater than a preset switching cost, if so, it indicates that the difference between the first transportation cost and the second transportation cost is greater, and at this time, the transportation task being executed by the second transport vehicle may be switched to the first transport vehicle, so that the first transport vehicle executes the transportation task, and thus, more transportation costs may be saved by switching the transportation task. If the difference between the first carrying cost and the second carrying cost is less than or equal to the preset switching cost, it indicates that the difference between the first carrying cost and the second carrying cost is small, that is, almost equal, and at this time, switching of carrying tasks may not be required, so as to save system resources.
On the basis of the foregoing technical solution, the step of "acquiring the current first position of the first transportation vehicle in the idle state" in S110 may include: and when the first transport vehicle finishes executing the corresponding transport task, taking the delivery position in the finished transport task as the current first position of the first transport vehicle.
Specifically, when the first transport vehicle executes the issued transportation task and ends, that is, when the first transport vehicle places the goods at the stocking position in the transportation task, it indicates that the state of the first transport vehicle is immediately converted from the transportation state to the idle state, and at this time, the stocking position in the transportation task after the execution is taken as the current first position of the first transport vehicle, and the switching process of the transportation task in this embodiment is timely triggered, so that the first transport vehicle can quickly execute the switched transportation task, and the first transport vehicle in the idle state is prevented from executing the warehouse returning operation, thereby further reducing the transportation cost.
On the basis of the above technical solution, S120 may include: determining a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position and the current second position in the carrying task; and if the second carrying cost is greater than or equal to the preset vehicle changing cost threshold value, determining a first carrying cost between the first transport vehicle and the goods taking position according to the goods taking position and the current first position in the carrying task.
The preset vehicle change cost threshold value may be a minimum transport cost corresponding to the transport vehicle when the transport task being executed by the transport vehicle is changed, and may be preset according to a service scenario and an actual transport situation.
Specifically, the present embodiment may determine whether to perform a vehicle change operation on the transportation task being executed by the second transportation vehicle by determining a second transportation cost required for the second transportation vehicle to reach the acquisition position according to the pickup position and the current second position in the transportation task, and by detecting whether the second transportation cost is greater than or equal to a preset vehicle change cost threshold. If the second carrying cost is detected to be larger than or equal to the preset vehicle changing cost threshold value, the second carrying cost required by the second transport vehicle to reach the goods taking position in the carrying task is larger, at the moment, whether an idle transport vehicle with smaller carrying cost exists can be detected, so that the carrying cost is reduced, namely, the first carrying cost between the first transport vehicle and the goods taking position is determined according to the goods taking position in the carrying task and the current first position of the first transport vehicle, so that the carrying cost is compared. If the second carrying cost is detected to be smaller than the preset vehicle changing cost threshold value, it is indicated that the second carrying cost required by the second transport vehicle to reach the goods taking position in the carrying task is smaller, namely the second transport vehicle is closer to the goods taking position or the second transport vehicle can reach the goods taking position quickly, at the moment, the vehicle changing operation is not required to be carried out on the carrying task, and the first carrying cost between the first transport vehicle and the goods taking position is not required to be determined, so that the unlimited vehicle changing is avoided, the system running resources can be saved, and the system running speed is improved.
On the basis of the above technical solution, determining a second transportation cost between the second transportation vehicle and the pickup position according to the pickup position and the current second position in the transportation task may include: determining the running time of the transport vehicle corresponding to each sectional route according to the path length of each sectional route in the preset total layout route and the running speed of the preset transport vehicle corresponding to the sectional route; and determining the shortest running time between the current second position and the goods taking position according to the running direction and the running time of the transport vehicle corresponding to each segmented route, and determining the shortest running time as the second carrying cost between the second transport vehicle and the goods taking position.
The preset general layout route may be a general route for the transportation vehicle to travel according to a service scenario, so that the transportation vehicle can reach each preset position to perform the picking and placing operations. The preset overall layout route may include a plurality of segment routes. In this embodiment, a suitable transportation vehicle running speed corresponding to each segmented route may be set according to the position of each segmented route, for example, if a certain segmented route is a transportation vehicle reversing road section or a turning road section, a lower transportation vehicle running speed may be set for the segmented route to avoid collision with goods or other transportation vehicles. For example, for the operation scenario of the unmanned transport vehicle in fig. 1, the transport vehicle may travel on an annular route according to a set direction, the vehicle head is a forward direction, if the transport vehicle thinks that the preset position 1 is reached, the transport vehicle may first travel on the annular route at an annular route position 1 'corresponding to the preset position 1, reverse the vehicle at the annular route position 1' to reach the preset position 1, and then travel forward to leave the preset position 1 after picking or putting goods at the preset position 1. In fig. 1, the preset general layout route includes segment routes that may be, but are not limited to: a route between location 1 to location 1 ', a route between location 2 to location 2', a route between location 3 to location 3 ', a route between location 4 to location 4', a route between location 4 'to location 2', a route between location 2 'to location 1', a route between location 1 'to location 3', and a route between location 3 'to location 4'.
Each sectional course in this embodiment corresponds to a certain driving direction, for example, the driving direction corresponding to the course from the position 1 to the position 1 ' in fig. 1 is bidirectional, and the driving direction corresponding to the course from the position 3 ' to the position 4 ' is unidirectional, that is, the transportation vehicle can travel from the position 3 ' to the position 4 ' along the course from the position 3 ' to the position 4 ', but cannot travel from the position 4 ' to the position 3 ' along the course from the position 3 ' to the position 4 '. It should be noted that, in the present embodiment, the preset transportation vehicle driving speeds corresponding to each segment route are often different, so that the driving path corresponding to the shortest driving time between two locations is often not the shortest driving path between the two locations.
Specifically, for each segment route in the preset total layout route, the path length corresponding to the segment route may be divided by the preset vehicle traveling speed corresponding to the segment route, and the obtained calculation result may be determined as the vehicle traveling time required for the vehicle to travel the segment route. The present embodiment may calculate, based on, but not limited to, a directional dijkstra algorithm with directionality, each optional travel path and corresponding travel time of the second transportation vehicle from the current second location to the pickup location according to the travel direction and travel time of the transportation vehicle corresponding to each segmented route, and determine the shortest travel time of the second transportation vehicle (i.e., the shortest travel time between the current second location and the pickup location) as the second transportation cost required for the second transportation vehicle to reach the pickup location. Similarly, when determining the first transportation cost between the first transportation vehicle and the pickup position, the shortest travel time between the current first position and the pickup position may also be determined according to the transportation vehicle travel direction and the transportation vehicle travel time corresponding to each segment route based on, but not limited to, the digitslera algorithm, and the shortest travel time may be determined as the first transportation cost required for the first transportation vehicle to reach the pickup position. The first transportation cost and the second transportation cost are calculated to be the minimum transportation cost, so that the first transport vehicle and the second transport vehicle can reach the goods taking position in the transportation task based on the corresponding running path corresponding to the minimum transportation cost, and the transportation cost is further reduced.
On the basis of the above technical solution, before the first transportation vehicle performs the transportation task, the method may further include: calculating the shortest carrying time between the goods taking position and the goods placing position in the carrying task according to the driving direction and the driving time of the transport vehicle corresponding to each sectional route; and issuing the target carrying path corresponding to the shortest carrying time to the first transport vehicle so that the first transport vehicle executes a carrying task based on the target carrying path.
Specifically, before the first transportation vehicle performs the transportation task, in this embodiment, based on, but not limited to, a digitslera algorithm, according to the transportation vehicle traveling direction and the transportation vehicle traveling time corresponding to each segment route, the transportation time corresponding to each selectable transportation path corresponding to the pick-up position to the put-off position in the transportation task is calculated, and the target transportation path corresponding to the shortest transportation time is obtained and issued to the first transportation vehicle, so that after the first transportation vehicle picks up goods from the pick-up position, the first transportation vehicle can reach the put-off position more quickly based on the target transportation path, so that the first transportation vehicle completes the transportation task more quickly, thereby further reducing the transportation cost and improving the transportation efficiency.
Example two
Fig. 3 is a flowchart of a method for switching a transportation task according to a second embodiment of the present invention, where on the basis of the second embodiment, a detailed description is given to a process of switching a transportation task when the number of the second transportation vehicles in a transportation state is at least two. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
Referring to fig. 3, the method for switching the handling task provided by this embodiment includes the following steps:
s210, acquiring a current first position of the first transport vehicle in an idle state, and current second positions and transport tasks of at least two second transport vehicles in a transport state, wherein each second transport vehicle does not reach a pickup position in the transport tasks currently.
In this embodiment, the number of the second transportation vehicles in the transportation state is at least two, and each second transportation vehicle corresponds to one transportation task, that is, the number of the transportation tasks is also at least two. In this embodiment, there may be one or more first transportation vehicles in the idle state, and when there are a plurality of first transportation vehicles, the operations of steps S210 to S260 may be performed on each first transportation vehicle.
S220, determining a first carrying cost between the first transport vehicle and each goods taking position and a second carrying cost between the second transport vehicle and each goods taking position according to the goods taking position, the current first position and the current second position in each carrying task.
Specifically, for the carrying task corresponding to each second transport vehicle, according to the pickup position, the current first position and the current second position in the carrying task, a first carrying cost between the first transport vehicle and the pickup position and a second carrying cost between the second transport vehicle and the pickup position are determined.
And S230, arranging the conveying tasks in an ascending order according to the first conveying cost between the goods taking positions in the conveying tasks corresponding to the first conveying vehicle and each second conveying vehicle, and taking the arranged first conveying task as the current conveying task.
Specifically, in this embodiment, the transportation tasks corresponding to each second transport vehicle correspond to one first transportation cost and one second transportation cost, so that when the transportation tasks are sorted, the transportation tasks can be sorted in an ascending order based on the corresponding first transportation costs, that is, the first transportation costs corresponding to the sorted transportation tasks gradually increase. The first arranged transporting task is the transporting cost with the lowest first transporting cost in all the transporting tasks, namely the transporting cost required by the first transport vehicle to reach the goods taking position in the first arranged transporting task is the lowest. In the embodiment, the first arranged carrying task is used as the current carrying task to perform the subsequent operation, so that the first transport vehicle can perform the switched carrying task with the lowest carrying cost, thereby further improving the carrying efficiency of the transport vehicle.
Before the ascending order of the respective conveying tasks, the method may further include: and screening the carrying tasks corresponding to the second carrying cost which is greater than or equal to the preset vehicle change cost threshold value according to the second carrying cost corresponding to each carrying task and the preset vehicle change cost threshold value, so that the screened carrying tasks are arranged in an ascending order according to the first carrying cost corresponding to the screened carrying tasks. By means of the preset vehicle changing cost threshold value, some carrying tasks which do not need to be switched can be removed, so that system operation resources are saved, and system operation speed is improved.
S240, detecting whether the first carrying cost corresponding to the current carrying task is smaller than the second carrying cost corresponding to the current carrying task; if yes, go to step S250; if not, go to step S260.
Specifically, whether the current carrying task needs to be subjected to the vehicle changing operation is determined by detecting whether a first carrying cost corresponding to the current carrying task is smaller than a second carrying cost corresponding to the current carrying task, so that the carrying cost is reduced.
And S250, switching the current carrying task to the first transport vehicle so that the first transport vehicle executes the current carrying task.
Specifically, if the first carrying cost corresponding to the current carrying task is less than the second carrying cost corresponding to the current carrying task, it indicates that the carrying cost consumed by the first transport vehicle to reach the pickup position in the current carrying task is lower than the carrying cost consumed by the current second transport vehicle to reach the pickup position in the current carrying task, that is, the distribution of the current carrying task of the current second transport vehicle is not reasonable, and at this time, the current carrying task currently being executed by the current second transport vehicle can be cancelled, and the current carrying task is issued to the first transport vehicle, so that the current carrying task is executed by the first transport vehicle, and therefore, the current carrying task is switched from the second transport vehicle to the first transport vehicle.
S260, updating the next transport job of the current transport job to the current transport job according to the arranged transport jobs, and returning to execute the operation of S240.
Specifically, if the first transportation cost corresponding to the current transportation task is greater than or equal to the second transportation cost corresponding to the current transportation task, it is indicated that the current transportation task of the current second transport vehicle is reasonably allocated, and task switching is not required for the current transportation task, and at this time, according to each arranged transportation task, the next transportation task of the current transportation task may be updated to the current transportation task, so that whether allocation of the next transportation task is reasonable may be detected, and the operation of steps S240 to S260 may be returned to.
According to the technical scheme of the embodiment, when the number of the second transport vehicles in the transport state is at least two, the transport tasks are arranged in an ascending order according to the first transport cost between the goods taking positions in the transport tasks corresponding to the first transport vehicle and each second transport vehicle, and the arranged transport tasks are subjected to traversal detection to detect whether task switching is needed or not, so that the transport tasks with lower first transport cost can be preferentially switched, the first transport vehicle can execute the corresponding switched transport tasks with lower transport cost, and the transport efficiency of the transport vehicles is further improved.
On the basis of the above technical solution, when the number of the first transportation vehicles in the idle state is at least two, in the transportation task switching process, "if the first transportation cost is less than the second transportation cost, the transportation task being executed by the second transportation vehicle is switched to the first transportation vehicle so that the first transportation vehicle executes the transportation task" may further include:
according to a first carrying cost between a current first position of each first carrier vehicle and a goods taking position in a carrying task corresponding to the second carrier vehicle, carrying out ascending sequence arrangement on the first carrier vehicles, and taking the first arranged first carrier vehicle as a target first carrier vehicle; detecting whether a first carrying cost corresponding to the target first transport vehicle is smaller than a second carrying cost corresponding to the carrying task; if so, the conveying task which is executed by the second transport vehicle is switched to the target first transport vehicle, so that the target first transport vehicle executes the conveying task.
When the number of the first transport vehicles in the idle state is at least two, the number of the second transport vehicles in the carrying state may be one or more, and if there are a plurality of second transport vehicles, the task switching operation may be performed on each second transport vehicle.
Specifically, for each first vehicle, a first transfer cost between a current first position of each first vehicle and a pickup position in a transfer task corresponding to the second vehicle is determined. And according to the first carrying cost corresponding to each first transport vehicle, performing ascending arrangement on each first transport vehicle, and taking the arranged first transport vehicle as a target first transport vehicle, wherein the target first transport vehicle is the first transport vehicle with the lowest first carrying cost in all the first transport vehicles, namely the carrying cost required by the target first transport vehicle to reach the goods taking position in the carrying task corresponding to the second transport vehicle is the lowest. Whether the task allocation of the second transport vehicle is reasonable or not is determined by detecting whether the first carrying cost corresponding to the target first transport vehicle is smaller than the second carrying cost corresponding to the carrying task or not. If the first carrying cost corresponding to the target first transport vehicle is less than the second carrying cost, the task allocation of the second transport vehicle is not reasonable, and at the moment, the carrying task currently executed by the second transport vehicle can be directly switched to the target first transport vehicle, so that the carrying task is executed by using the target first transport vehicle with the lowest first carrying cost, the carrying task is allocated to the best first transport vehicle for execution, and the carrying cost is further reduced. If the first carrying cost corresponding to the target first transport vehicle is greater than or equal to the second carrying cost, the first carrying cost corresponding to the target first transport vehicle is the lowest of the first carrying costs corresponding to all the first transport vehicles, so that when the first carrying cost corresponding to the target first transport vehicle is greater than or equal to the second carrying cost, the first carrying costs corresponding to all the first transport vehicles are greater than or equal to the second carrying cost, the task allocation of the second transport vehicle can be determined to be reasonable, and the carrying tasks of the second transport vehicle do not need to be switched.
In this embodiment, when the number of the first transportation vehicles in the idle state is at least two, according to the first transportation task corresponding to each first transportation vehicle, the first transportation vehicles are sorted in an ascending order to obtain a target first transportation vehicle with the lowest first transportation, and when the first transportation cost corresponding to the target first transportation vehicle is smaller than the second transportation cost corresponding to the second transportation vehicle, the transportation task being executed by the second transportation vehicle is switched to the target first transportation vehicle, so that the transportation task is executed by the target first transportation vehicle with the lowest first transportation cost, and thus the transportation task is allocated to the best first transportation vehicle for execution, and the transportation cost is further reduced.
The following is an embodiment of a transport task switching device provided in an embodiment of the present invention, which belongs to the same inventive concept as the transport task switching methods in the above embodiments, and reference may be made to the above embodiment of the transport task switching method for details that are not described in detail in the embodiment of the transport task switching device.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a transportation task switching device according to a third embodiment of the present invention, which is applicable to switching a transportation task of a transportation vehicle in a transportation state and not yet reaching a pickup position to reduce transportation cost. The device specifically structurally comprises: a location acquisition module 310, a handling cost determination module 320, and a handling task switching module 330.
The position acquiring module 310 is configured to acquire a current first position of the first transport vehicle in an idle state, and a current second position and a carrying task of the second transport vehicle in a carrying state, where the second transport vehicle does not reach a pickup position in the carrying task currently; the transportation cost determination module 320 is configured to determine a first transportation cost between the first transportation vehicle and the pickup position and a second transportation cost between the second transportation vehicle and the pickup position according to the pickup position, the current first position and the current second position in the transportation task; the transportation task switching module 330 is configured to switch the transportation task being executed by the second transport vehicle to the first transport vehicle if the first transportation cost is less than the second transportation cost, so that the first transport vehicle executes the transportation task.
Optionally, the location acquiring module 310 includes: the current first position obtaining unit is specifically configured to: and when the first transport vehicle finishes executing the corresponding transport task, taking the delivery position in the finished transport task as the current first position of the first transport vehicle.
Optionally, a handling cost determination module 320. The method comprises the following steps:
the second transportation cost determination unit is used for determining second transportation cost between the second transport vehicle and the goods taking position according to the goods taking position in the transportation task and the current second position;
and the first carrying cost determining unit is used for determining the first carrying cost between the first transport vehicle and the goods taking position according to the goods taking position and the current first position in the carrying task if the second carrying cost is greater than or equal to the preset vehicle changing cost threshold value.
Optionally, the second transportation cost determination unit is specifically configured to: determining the running time of the transport vehicle corresponding to each sectional route according to the path length of each sectional route in the preset total layout route and the running speed of the preset transport vehicle corresponding to the sectional route; and determining the shortest running time between the current second position and the goods taking position according to the running direction and the running time of the transport vehicle corresponding to each segmented route, and determining the shortest running time as the second carrying cost between the second transport vehicle and the goods taking position.
Optionally, the apparatus further comprises: the target carrying path determining module is used for calculating the shortest carrying time between the goods taking position and the goods placing position in the carrying task according to the carrying direction and the carrying time of the carrying vehicle corresponding to each segmented route before the first carrying vehicle executes the carrying task; and issuing the target carrying path corresponding to the shortest carrying time to the first transport vehicle so that the first transport vehicle executes a carrying task based on the target carrying path.
Optionally, the number of the second transportation vehicles in the transportation state is at least two; correspondingly, the carrying task switching module 330 is specifically configured to: according to a first carrying cost between the goods taking positions in the carrying tasks corresponding to the first transport vehicle and each second transport vehicle, carrying out ascending arrangement on the carrying tasks, and taking the arranged first carrying task as a current carrying task; detecting whether a first carrying cost corresponding to the current carrying task is smaller than a second carrying cost corresponding to the current carrying task; if so, switching the current carrying task to the first transport vehicle so that the first transport vehicle executes the current carrying task; if not, updating the next conveying task of the current conveying task to the current conveying task according to the arranged conveying tasks, and returning to execute the operation of detecting whether the first conveying cost is smaller than the second conveying cost corresponding to the current conveying task.
Optionally, the number of first transport vehicles in the idle state is at least two; correspondingly, the carrying task switching module 330 is specifically configured to: according to a first carrying cost between a current first position of each first carrier vehicle and a goods taking position in a carrying task corresponding to the second carrier vehicle, carrying out ascending sequence arrangement on the first carrier vehicles, and taking the first arranged first carrier vehicle as a target first carrier vehicle; detecting whether a first carrying cost corresponding to the target first transport vehicle is smaller than a second carrying cost corresponding to the carrying task; if so, the conveying task which is executed by the second transport vehicle is switched to the target first transport vehicle, so that the target first transport vehicle executes the conveying task.
The transport task switching device provided by the embodiment of the invention can execute the transport task switching method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the transport task switching method.
Example four
Fig. 5 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. Fig. 5 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 5 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 5, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement a method for switching a transport task provided in the embodiment of the present invention, the method including:
acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a goods taking position in the carrying task currently;
determining a first carrying cost between the first transport vehicle and the goods taking position and a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position, the current first position and the current second position in the carrying task;
and if the first carrying cost is less than the second carrying cost, switching the carrying task which is executed by the second transport vehicle into the first transport vehicle so as to enable the first transport vehicle to execute the carrying task.
Of course, those skilled in the art can understand that the processor can also implement the technical solution of the method for switching the handling task provided in any embodiment of the present invention.
EXAMPLE five
This fifth embodiment provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for switching between transport tasks according to any of the embodiments of the present invention, where the method includes:
acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a goods taking position in the carrying task currently;
determining a first carrying cost between the first transport vehicle and the goods taking position and a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position, the current first position and the current second position in the carrying task;
and if the first carrying cost is less than the second carrying cost, switching the carrying task which is executed by the second transport vehicle into the first transport vehicle so as to enable the first transport vehicle to execute the carrying task.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: 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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. 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.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for switching a transport task, comprising:
acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a pickup position in the carrying task currently;
determining a first carrying cost between the first transport vehicle and the goods taking position and a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position, the current first position and the current second position in the carrying task;
if the first carrying cost is less than the second carrying cost, the carrying task which is being executed by the second transport vehicle is switched to the first transport vehicle, so that the first transport vehicle executes the carrying task.
2. The method of claim 1, wherein obtaining the current first position of the first vehicle in an idle state comprises:
and when the first transport vehicle finishes executing the corresponding carrying task, taking the stocking position in the finished carrying task as the current first position of the first transport vehicle.
3. The method of claim 1, wherein determining a first handling cost between the first vehicle and the pickup location and a second handling cost between the second vehicle and the pickup location based on a pickup location, the current first location and the current second location in the handling task comprises:
determining a second carrying cost between the second transport vehicle and the goods taking position according to the goods taking position in the carrying task and the current second position;
and if the second carrying cost is larger than or equal to a preset vehicle changing cost threshold value, determining a first carrying cost between the first transport vehicle and the goods taking position according to the goods taking position in the carrying task and the current first position.
4. The method of claim 3, wherein determining a second handling cost between the second vehicle and the pickup location based on the pickup location and the current second location in the handling task comprises:
determining the running time of a transport vehicle corresponding to each subsection route according to the path length of each subsection route in a preset total layout route and the running speed of a preset transport vehicle corresponding to the subsection route;
and determining the shortest running time between the current second position and the goods taking position according to the running direction of the transport vehicle and the running time of the transport vehicle corresponding to each segmented route, and determining the shortest running time as the second carrying cost between the second transport vehicle and the goods taking position.
5. The method of claim 4, further comprising, prior to the first vehicle performing the handling task:
calculating the shortest carrying time between the goods taking position and the goods placing position in the carrying task according to the driving direction of the transport vehicle corresponding to each segmented route and the driving time of the transport vehicle;
and issuing the target carrying path corresponding to the shortest carrying time to the first transport vehicle so that the first transport vehicle executes the carrying task based on the target carrying path.
6. Method according to any of claims 1-5, characterized in that the number of said second carriages in the handling position is at least two;
correspondingly, if the first transportation cost is less than the second transportation cost, switching the transportation task being performed by the second transport vehicle into the first transport vehicle so that the first transport vehicle performs the transportation task includes:
according to a first carrying cost between the first transport vehicle and a goods taking position in the carrying task corresponding to each second transport vehicle, carrying out ascending arrangement on each carrying task, and taking the arranged first carrying task as a current carrying task;
detecting whether a first carrying cost corresponding to the current carrying task is smaller than a second carrying cost corresponding to the current carrying task;
if so, switching the current carrying task to the first transport vehicle so as to enable the first transport vehicle to execute the current carrying task;
if not, updating the next conveying task of the current conveying task to the current conveying task according to the arranged conveying tasks, and returning to execute the operation of detecting whether the first conveying cost is smaller than the second conveying cost corresponding to the current conveying task.
7. Method according to any of claims 1-5, characterized in that the number of first carriages in idle state is at least two;
correspondingly, if the first transportation cost is less than the second transportation cost, switching the transportation task being performed by the second transport vehicle into the first transport vehicle so that the first transport vehicle performs the transportation task includes:
according to a first carrying cost between a current first position of each first carrier vehicle and a goods taking position in a carrying task corresponding to the second carrier vehicle, arranging the first carrier vehicles in an ascending order, and taking the first arranged first carrier vehicle as a target first carrier vehicle;
detecting whether a first carrying cost corresponding to the target first transport vehicle is smaller than a second carrying cost corresponding to the carrying task or not;
if so, switching the carrying task which is being executed by the second transport vehicle to the target first transport vehicle so as to enable the target first transport vehicle to execute the carrying task.
8. A conveyance task switching device, comprising:
the position acquisition module is used for acquiring a current first position of a first transport vehicle in an idle state, and a current second position and a carrying task of a second transport vehicle in a carrying state, wherein the second transport vehicle does not reach a goods taking position in the carrying task currently;
a carrying cost determination module, configured to determine, according to a pickup position, the current first position, and the current second position in the carrying task, a first carrying cost between the first transport vehicle and the pickup position, and a second carrying cost between the second transport vehicle and the pickup position;
and the carrying task switching module is used for switching the carrying task which is executed by the second transport vehicle into the first transport vehicle if the first carrying cost is less than the second carrying cost, so that the first transport vehicle executes the carrying task.
9. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the transfer task switching method of any one of claims 1-7.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the conveyance task switching method according to any one of claims 1 to 7.
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