CN112415953B - Scheduling method and device of elevator - Google Patents
Scheduling method and device of elevator Download PDFInfo
- Publication number
- CN112415953B CN112415953B CN201910782563.3A CN201910782563A CN112415953B CN 112415953 B CN112415953 B CN 112415953B CN 201910782563 A CN201910782563 A CN 201910782563A CN 112415953 B CN112415953 B CN 112415953B
- Authority
- CN
- China
- Prior art keywords
- executed
- task
- target
- tasks
- elevator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
Abstract
The embodiment of the invention provides a scheduling method and device of a lifter, wherein the method comprises the following steps: when receiving a to-be-executed instruction comprising a plurality of to-be-executed tasks and the starting position of each to-be-executed task in the plurality of to-be-executed tasks, determining a target to-be-executed task from the plurality of to-be-executed tasks according to the starting position of each to-be-executed task and the current position of the lifting machine; therefore, when the plurality of tasks to be executed are executed, the scheduling operation is not executed directly according to the sequence received by each task to be executed, but the target task to be executed is executed first, and then other tasks to be executed except the target task to be executed in the plurality of tasks to be executed are executed, so that the scheduling flexibility is improved.
Description
Technical Field
The invention relates to the technical field of storage and access, in particular to a scheduling method and device of a lifter.
Background
The AGV, that is, the automatic navigation vehicle, is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, and is capable of traveling along a predetermined guidance path. AGV carts are typically adapted for handling medium and large pallet stored items and support multiple levels of storage. In the practical application process, the elevator can be used for carrying out layer-changing lifting operation on the AGV trolley and layer-changing lifting operation on the tray, so that the operations of delivering, warehousing, checking and the like of commodities are completed.
However, in the prior art, when performing the layer change lifting operation on the AGV trolley and the layer change lifting operation on the pallet, it is necessary to set up respective corresponding lifts for the AGV trolley and the pallet in advance, and perform the layer change lifting operation by the respective corresponding lifts. And when the layer-changing lifting operation is executed by the corresponding elevator, the layer-changing lifting operation is executed according to the sequence of the tasks to be executed received by the elevator, and the scheduling mode is single.
Disclosure of Invention
The embodiment of the invention provides a scheduling method and a scheduling device for a lifter, which improve the scheduling flexibility when the layer-changing lifting operation is executed by the lifter.
The embodiment of the invention provides a scheduling method of a lifter, which comprises the following steps:
receiving an instruction to be executed, wherein the instruction to be executed comprises a plurality of tasks to be executed and a starting position of each task to be executed in the plurality of tasks to be executed;
determining a target task to be executed from the plurality of tasks to be executed according to the starting position of each task to be executed and the current position of the elevator;
and executing the target task to be executed first, and then executing other tasks to be executed except the target task to be executed in the plurality of tasks to be executed.
In one possible implementation manner, the determining, according to the starting position of each task to be performed and the current position of the elevator, the target task to be performed from the multiple tasks to be performed includes:
judging whether the starting position of each task to be executed is the same as the current position of the elevator or not;
and if the first starting position of the first task to be executed is the same as the current position of the elevator, determining the first task to be executed as the target task to be executed.
In one possible implementation manner, the determining the first task to be executed as the target task to be executed includes:
if the second starting position of the second task to be executed is the same as the current position of the elevator, the type priority of the first task to be executed and the type priority of the second task to be executed are respectively obtained;
and if the type priority of the first task to be executed is higher than the type priority of the second task to be executed, determining the first task to be executed as the target task to be executed.
In one possible implementation manner, the determining the first task to be executed as the target task to be executed includes:
If the second starting position of the second task to be executed is the same as the current position of the elevator, respectively acquiring the first receiving time of the first task to be executed and the second receiving time of the second task to be executed;
and if the first receiving time is earlier than the second receiving time, determining the first task to be executed as the target task to be executed.
In one possible implementation, the method further includes:
if the starting position of each task to be executed is different from the current position of the elevator, acquiring the receiving time of each task to be executed;
calculating the target score corresponding to each task to be executed according to the starting position, the receiving time and the current position of the elevator of each task to be executed;
and determining the task to be executed with the highest target score as the target task to be executed.
In one possible implementation manner, for a third task to be executed in any one of multiple tasks to be executed, calculating a target score corresponding to the third task to be executed according to a starting position, a receiving time and a current position of a lifter of the third task to be executed, including:
Acquiring a weight score corresponding to the third task to be executed;
and calculating a target score corresponding to the third task to be executed according to the weight score corresponding to the third task to be executed, the starting position of the third task to be executed, the current position of the elevator and the receiving time of the third task to be executed.
In one possible implementation manner, if the task to be executed with the highest target score includes a fourth task to be executed and a fifth task to be executed, determining the task to be executed with the highest target score as the target task to be executed includes:
respectively acquiring the type priority of the fourth task to be executed and the type priority of the fifth task to be executed;
and if the type priority of the fourth task to be executed is higher than the type priority of the fifth task to be executed, determining the fourth task to be executed as the target task to be executed.
In one possible implementation, the types of tasks to be performed include: any one of a pallet delivery task type, a trolley layer-changing task type, a pallet delivery task type, a pallet checking and trolley layer-changing task type, a pallet checking task type and a trolley layer-changing task type; the type priority of the task to be executed is sequentially reduced according to the tray delivery and trolley layer-changing task types, the tray delivery task types, the tray checking and trolley layer-changing task types, the tray checking task types and the trolley layer-changing task types.
In a second aspect, an embodiment of the present invention further provides a scheduling device for a lifter, where the device includes:
the device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving an instruction to be executed, and the instruction to be executed comprises a plurality of tasks to be executed and a starting position of each task to be executed in the plurality of tasks to be executed;
the processing unit is used for determining a target task to be executed from the plurality of tasks to be executed according to the starting position of each task to be executed and the current position of the elevator;
the execution unit is used for executing the target task to be executed first and then executing other tasks to be executed except the target task to be executed in the plurality of tasks to be executed.
In one possible implementation manner, the processing unit is specifically configured to determine whether the starting position of each task to be executed is the same as the current position of the elevator; and if the first starting position of the first task to be executed is the same as the current position of the elevator, determining the first task to be executed as the target task to be executed.
In one possible implementation manner, the processing unit is specifically configured to obtain, if a second starting position of the second task to be executed is the same as a current position of the elevator, a type priority of the first task to be executed and a type priority of the second task to be executed, respectively; and if the type priority of the first task to be executed is higher than the type priority of the second task to be executed, determining the first task to be executed as the target task to be executed.
In one possible implementation manner, the processing unit is specifically configured to obtain, if a second starting position of the second task to be executed is the same as a current position of the elevator, a first receiving time of the first task to be executed and a second receiving time of the second task to be executed, respectively; and if the first receiving time is earlier than the second receiving time, determining the first task to be executed as the target task to be executed.
In one possible implementation manner, the processing unit is further configured to obtain a receiving time of each task to be executed if the starting position of each task to be executed is different from the current position of the elevator; calculating the target score corresponding to each task to be executed according to the starting position, the receiving time and the current position of the elevator of each task to be executed; and determining the task to be executed with the highest target score as the target task to be executed.
In one possible implementation manner, for any third task to be executed in the plurality of tasks to be executed, the processing unit is specifically configured to obtain a weight score corresponding to the third task to be executed; and calculating a target score corresponding to the third task to be executed according to the weight score corresponding to the third task to be executed, the starting position of the third task to be executed, the current position of the elevator and the receiving time of the third task to be executed.
In one possible implementation manner, if the task to be executed with the highest target score includes a fourth task to be executed and a fifth task to be executed, the processing unit is specifically configured to obtain a type priority of the fourth task to be executed and a type priority of the fifth task to be executed respectively; and if the type priority of the fourth task to be executed is higher than the type priority of the fifth task to be executed, determining the fourth task to be executed as the target task to be executed.
In one possible implementation, the types of tasks to be performed include: any one of a pallet delivery task type, a trolley layer-changing task type, a pallet delivery task type, a pallet checking and trolley layer-changing task type, a pallet checking task type and a trolley layer-changing task type; the type priority of the task to be executed is sequentially reduced according to the tray delivery and trolley layer-changing task types, the tray delivery task types, the tray checking and trolley layer-changing task types, the tray checking task types and the trolley layer-changing task types.
In a third aspect, an embodiment of the present invention further provides a scheduling apparatus, including a processor and a memory, where,
The memory is used for storing program instructions;
the processor is configured to read the program instruction in the memory, and execute the scheduling method of the elevator according to any one of the first aspect according to the program instruction in the memory.
In a fourth aspect, an embodiment of the present invention further provides a computer storage medium, including instructions that, when executed by one or more processors, cause a scheduling apparatus to perform the scheduling method of the elevator according to any one of the first aspect.
When receiving a to-be-executed instruction comprising a plurality of to-be-executed tasks and a starting position of each to-be-executed task in the plurality of to-be-executed tasks, the scheduling method and the scheduling device for the elevator determine a target to-be-executed task from the plurality of to-be-executed tasks according to the starting position of each to-be-executed task and the current position of the elevator; therefore, when the plurality of tasks to be executed are executed, the scheduling operation is not executed directly according to the sequence received by each task to be executed, but the target task to be executed is executed first, and then other tasks to be executed except the target task to be executed in the plurality of tasks to be executed are executed, so that the scheduling flexibility is improved.
Drawings
Fig. 1 is a flow chart of a scheduling method of a lifter according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of determining a target task to be executed from a plurality of tasks to be executed according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a scheduling device of a lifter according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In embodiments of the present invention, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In the text description of the present invention, the character "/" generally indicates that the front-rear associated object is an or relationship.
In order to improve scheduling flexibility when a layer-changing lifting operation is performed by a lifting machine, the embodiment of the invention provides a scheduling method of the lifting machine, which is applied to the lifting machine, and when a to-be-performed instruction comprising a plurality of to-be-performed tasks and a starting position of each to-be-performed task in the plurality of to-be-performed tasks is received, a target to-be-performed task is determined from the plurality of to-be-performed tasks according to the starting position of each to-be-performed task and the current position of the lifting machine; therefore, when the plurality of tasks to be executed are executed, the scheduling operation is not executed directly according to the sequence received by each task to be executed, but the target task to be executed is executed first, and then other tasks to be executed except the target task to be executed in the plurality of tasks to be executed are executed, so that the scheduling flexibility is improved. It should be noted that, in the embodiment of the present invention, executing the task to be executed may be understood as executing the layer change lifting operation.
It can be appreciated that in the embodiment of the present invention, the types of tasks to be performed may be divided into two major categories, namely, a binning task type and a non-binning task type. Typically, the type priority of the non-binned task types is higher than the type priority of the binned task types. The non-warehouse-in task type can comprise any one of a tray warehouse-out task type, a trolley warehouse-out task type, a tray checking task type, a trolley layer-changing task type, a tray checking task type and a trolley layer-changing task type, and the type priority of the task to be executed is sequentially reduced according to the sequence of the tray warehouse-out task type, the trolley layer-changing task type, the tray warehouse-out task type, the tray checking task type, the trolley layer-changing task type, the tray checking task type and the trolley layer-changing task type. It can be seen that the type priority of the out-of-stock task is higher than the type priority of the inventory task. For the type of the warehousing task, the warehousing tasks are 1 layer to the corresponding layer, so that the dispatching elevator automatically dispatches to one layer for waiting after each time of executing the task to be executed so as to execute the next task to be executed. Therefore, in the embodiment of the present invention, a detailed description will be given of the type of task to be performed as a non-binning task type, but the embodiment of the present invention is not limited thereto.
In the embodiment of the invention, when the scheduling system simultaneously generates the tray checking task and the trolley layer-changing task, the scheduling system can combine the tray checking task and the trolley layer-changing task, add the trolley for carrying the tray as the layer-changing trolley, and simultaneously convert the two tasks to be executed into a new task to be executed, namely the tray checking task and the trolley layer-changing task. Similarly, when the scheduling system simultaneously generates the tray delivery task and the trolley layer-changing task, the scheduling system can combine the tray delivery task with the trolley layer-changing task, add the trolley for carrying the tray as the layer-changing trolley, and simultaneously convert the two tasks to be executed into a new task to be executed, namely the tray delivery task and the trolley layer-changing task.
In addition, it should be noted that, in the embodiment of the present invention, the elevator may support not only the exchange of the AGV trolley but also the exchange of the pallet, and of course, may also support both the exchange of the AGV trolley and the exchange of the pallet.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 is a flow chart of a scheduling method of a lifter, which is provided by an embodiment of the present invention, and is applied to a lifter, where the scheduling method of the lifter may be performed by a software and/or hardware device, for example, the hardware device may be a scheduling device of the lifter, and the scheduling device of the lifter may be disposed in the lifter. For example, referring to fig. 1, the scheduling method of the elevator may include:
s101, receiving an instruction to be executed, wherein the instruction to be executed comprises a plurality of tasks to be executed and a starting position of each task to be executed in the plurality of tasks to be executed.
For example, the number of the instructions to be executed may be one or more. When the number of the instructions to be executed is one, that is, the plurality of tasks to be executed can be sent to the dispatching device of the elevator through one instruction to be executed. When the number of the instructions to be executed is multiple, that is, the multiple tasks to be executed can be sent to the dispatching device of the elevator through the multiple instructions to be executed. Further, when the number of the plurality of tasks to be executed is greater than the number of the plurality of instructions to be executed, the plurality of tasks to be executed may be equally distributed to the plurality of instructions to be executed, or may not be equally distributed to the plurality of instructions to be executed, that is, the number of tasks to be executed included in each instruction to be executed may be the same, or may not be the same, and may be specifically set according to actual needs.
For each of the plurality of tasks to be executed, the starting position of the task to be executed may be understood as the starting layer where the task to be executed is located in the process of executing the layer change lifting operation. For example, if a certain task a to be executed is a trolley layer-changing task, changing layers from 2 layers to 1 layer, the type of the task a to be executed is a trolley layer-changing task type, and the starting position of the task to be executed is 2 layers. And a certain task B to be executed is a pallet ex-warehouse and trolley layer-changing task, and the type of the task B to be executed is a pallet ex-warehouse and trolley layer-changing task type from 3 layers to 1 layer, and the starting position of the task B to be executed is 2 layers, so that the starting position of each task to be executed in a plurality of tasks to be executed is obtained.
It can be seen that, in the embodiment of the present invention, after receiving a plurality of tasks to be executed, unlike in the prior art, when executing a plurality of tasks to be executed, the embodiment of the present invention executes the plurality of tasks to be executed, not directly according to the time sequence received by each of the plurality of tasks to be executed, but first executes the following S102: according to the starting position of each task to be executed in the plurality of tasks to be executed and the current position of the elevator, the target task to be executed is determined from the plurality of tasks to be executed, so that when the plurality of tasks to be executed are executed, the target task to be executed is executed first, and then other tasks to be executed except the target task to be executed in the plurality of tasks to be executed are executed, and therefore scheduling flexibility is improved.
S102, determining a target task to be executed from a plurality of tasks to be executed according to the starting position of each task to be executed and the current position of the elevator.
The current position of the elevator can be understood as the layer where the elevator is currently located.
It should be noted that, the current position of the elevator is not unchanged, but may change with the execution of the task to be executed, that is, the ending position of the task to be executed is the current position of the elevator after each execution of the task to be executed. For example, after the task A trolley to be executed is executed and the task A trolley to be executed is changed from the layer 2 to the layer 1, the current position of the elevator is 1 layer, and after the task C trolley to be executed is executed and the task C trolley to be executed is changed from the layer 3 to the layer 5, the current position of the elevator is 5 layers.
After determining the target task to be performed from the plurality of tasks to be performed according to the starting position of each task to be performed and the current position of the elevator, the following S103 may be performed:
s103, executing the target task to be executed, and then executing other tasks to be executed except the target task to be executed in the multiple tasks to be executed.
It may be understood that after determining the target task to be executed, when executing other tasks to be executed except the target task to be executed among the plurality of tasks to be executed, the steps S102 and S103 may be executed in a circulating manner, determining a next target task to be executed from the plurality of tasks to be executed according to the starting position of each task to be executed among the other tasks to be executed and the current position of the elevator, and then executing the next target task to be executed first, and then executing other tasks to be executed except the next target task to be executed among the other tasks to be executed until all the tasks to be executed are executed. Notably, when determining the next target task to be performed, the current position of the elevator is not the position of the elevator when performing the first task to be performed, but the ending position of the target task to be performed;
When receiving a to-be-executed instruction comprising a plurality of to-be-executed tasks and a starting position of each to-be-executed task in the plurality of to-be-executed tasks, the scheduling method of the elevator firstly determines a target to-be-executed task from the plurality of to-be-executed tasks according to the starting position of each to-be-executed task and the current position of the elevator; therefore, when the plurality of tasks to be executed are executed, the scheduling operation is not executed directly according to the sequence received by each task to be executed, but the target task to be executed is executed first, and then other tasks to be executed except the target task to be executed in the plurality of tasks to be executed are executed, so that the scheduling flexibility is improved.
Based on the embodiment shown in fig. 1, in S102, when determining the target task to be performed from the plurality of tasks to be performed according to the starting position of each task to be performed and the current position of the elevator, it may be determined whether the starting position of each task to be performed is the same as the current position of the elevator, and the target task to be performed is determined from the plurality of tasks to be performed according to the determination result, so as to determine the execution sequence of the tasks to be performed. For example, when determining a target task to be executed from a plurality of tasks to be executed according to a determination result, two different scenarios may be classified. In one scenario, the starting position of at least one task to be executed in the plurality of tasks to be executed is the same as the current position of the elevator; in another scenario, the starting position of each of the plurality of tasks to be performed is different from the current position of the hoist. In the following, it will be described in detail how a target task to be executed is determined from a plurality of tasks to be executed in two different scenarios.
In one scenario, when the starting position of at least one task to be executed in the plurality of tasks to be executed is the same as the current position of the elevator, determining the target task to be executed from the plurality of tasks to be executed according to the judgment result may be divided into two different cases.
Under one condition, when only one first starting position of a plurality of tasks to be executed is the same as the current position of the elevator, the first task to be executed is directly determined to be a target task to be executed, so that the elevator can directly execute the target task to be executed at the current position without performing unnecessary layer change operation when executing the target task to be executed, thereby saving the power consumption of the elevator and improving the execution efficiency of the task to be executed.
In this case, the current position of the elevator includes a task a to be executed, a task B to be executed, and a task C to be executed in 2 layers, where the task a to be executed is a trolley layer-changing task, from 2 layers to 1 layer, and the task B to be executed is a pallet warehouse-out and trolley layer-changing task, from 3 layers to 1 layer, and the task C to be executed is a trolley layer-changing task, from 3 layers to 5 layers. Because the starting position of the task A to be executed is 2 layers, the starting position of the task B to be executed is 3 layers, and the starting position of the task C to be executed is 3 layers, it can be seen that, in the three tasks to be executed, only the starting position of the task A to be executed is the same as the current position of the elevator, in order to save the power consumption of the elevator and improve the execution efficiency of the task A to be executed, the task A to be executed can be used as a target task A to be executed, and thus the elevator does not need to execute unnecessary layer-changing operation first, but can directly execute the task A trolley to be executed in the current position to change layers from 2 layers to 1 layer, thereby saving the power consumption of the elevator and improving the execution efficiency of the task to be executed.
In another case, when the starting positions of at least two tasks to be executed (for example, the first task to be executed and the second task to be executed) in the plurality of tasks to be executed are the same as the current position of the elevator, the target task to be executed may be determined through at least two possible implementation manners, which are specifically as follows:
in one possible implementation manner, the type priority of the first task to be executed and the type priority of the second task to be executed may be acquired respectively; and judging whether the type priority of the first task to be executed is higher than the type priority of the second task to be executed, if the type priority of the first task to be executed is higher than the type priority of the second task to be executed, determining the first task to be executed as a target task to be executed, so that the task to be executed can be executed according to the type priority of the task to be executed under the condition that the power consumption of the elevator is saved and the execution efficiency of the task to be executed is improved, and the task to be executed with higher type priority is guaranteed.
In this case, the current position of the elevator includes a task a to be executed, a task B to be executed, and a task D to be executed in 2 layers, where the task a to be executed is a trolley layer-changing task, from 2 layers to 1 layer, and the task B to be executed is a pallet warehouse-out and trolley layer-changing task, from 3 layers to 1 layer, and the task D to be executed is a pallet warehouse-out task, from 2 layers to 1 layer. Since the starting position of the task a to be executed is 2 layers and the starting position of the task B to be executed is 3 layers, the starting position of the task D to be executed is 2 layers, and it can be seen that, among the three tasks to be executed, the starting position of the task a to be executed and the starting position of the task D to be executed are the same as the current position of the elevator, in order to save the power consumption of the elevator and improve the execution efficiency of the task to be executed, the task D to be executed with the starting position of 2 layers can be executed first, since the starting position of the task a to be executed and the starting position of the task D to be executed are both 2 layers, the task D to be executed with the higher type priority can be determined as the target task to be executed, and the task D to be executed with the higher type priority can be ensured to be executed with the higher type priority can be acquired.
In another possible implementation manner, a first receiving time of the first task to be executed and a second receiving time of the second task to be executed may be acquired respectively; and judging whether the first receiving time is earlier than the second receiving time, if the first receiving time is earlier than the second receiving time, determining the first task to be executed as a target task to be executed, so that the task to be executed can be executed according to the receiving time of the task to be executed under the condition that the power consumption of the elevator is saved and the execution efficiency of the task to be executed is improved, and the task to be executed with earlier receiving time can be guaranteed to be executed preferentially.
In this case, the current position of the elevator includes a task a to be executed, a task B to be executed, and a task D to be executed in 2 layers, where the task a to be executed is a trolley layer-changing task, and from 2 layers to 1 layer, 10:01 receives the task A to be executed, wherein the task B to be executed is a pallet warehouse-out and trolley layer-changing task, and the task A to be executed is changed from 3 layers to 1 layer, and 10:02 receiving the task B to be executed, wherein the task D to be executed is a pallet delivery task, and the task D to be executed is changed from 2 layers to 1 layer, and 10:03 receives the task D to be performed. Since the starting position of the task a to be executed is 2 layers and the starting position of the task B to be executed is 3 layers, the starting position of the task D to be executed is 2 layers, it can be seen that, among the three tasks to be executed, the starting position of the task a to be executed and the starting position of the task D to be executed are the same as the current position of the elevator, in order to save the power consumption of the elevator and improve the execution efficiency of the task to be executed, the task a to be executed with the starting position of 2 layers can be executed first, since the starting position of the task a to be executed and the starting position of the task D to be executed are both 2 layers, the target task a to be executed cannot be determined in the starting position of the task a to be executed and the task D to be executed only according to whether the starting position of the task a to be executed is the same as the current position of the elevator, at this moment, the receiving time of the task a to be executed and the receiving time of the task D to be executed can be acquired, and since the receiving time of the task a to be executed is earlier than the receiving time of the task D to be executed can be determined as the target task a to be executed, and the task a to be executed with earlier receiving time can be ensured.
It may be understood that, in the embodiment of the present invention, when the starting positions of at least two tasks to be executed in the plurality of tasks to be executed are the same as the current position of the elevator, only the two possible implementations are described as examples, and of course, if the type priority and the receiving time of the tasks to be executed are not considered, one task to be executed may be arbitrarily selected from the first task to be executed and the second task to be executed as a target task, and may be specifically set according to actual needs, where the embodiment of the present invention is not limited specifically.
After describing in detail how to determine a technical scheme of a target task to be performed from among the plurality of tasks to be performed according to a judgment result when a starting position of at least one task to be performed among the plurality of tasks to be performed is the same as a current position of the elevator, in another scenario, how to determine a technical scheme of a target task to be performed from among the plurality of tasks to be performed according to a judgment result when a starting position of each task to be performed among the plurality of tasks to be performed is different from a current position of the elevator. For example, referring to fig. 2, fig. 2 is a schematic flow chart of determining a target task to be executed from a plurality of tasks to be executed according to an embodiment of the present invention, where the method may include:
S201, acquiring the receiving time of each task to be executed.
The time of receiving the task to be performed may be understood as the time of receiving the task to be performed.
S202, calculating the target score corresponding to each task to be executed according to the starting position, the receiving time and the current position of the elevator.
Optionally, taking a third task to be executed of any one of the plurality of tasks to be executed as an example, calculating a target score corresponding to the third task to be executed according to a starting position, a receiving time and a current position of the elevator of the third task to be executed, and acquiring a weight score corresponding to the third task to be executed; and calculating a target score corresponding to the third task to be executed according to the weight score corresponding to the third task to be executed, the starting position of the third task to be executed, the current position of the elevator and the receiving time of the third task to be executed.
It may be appreciated that, before the weight score corresponding to the third task to be executed is obtained, the weight score corresponding to each task to be executed may be set in advance. When setting the weight score corresponding to each task to be executed, the setting may be performed according to the actual situation of the scheduling site, where the embodiment of the present invention is not limited specifically. For example, the weight score corresponding to the tray ex-warehouse task and the trolley layering task may be 30 points, the weight score corresponding to the tray ex-warehouse task may be 20 points, the weight score corresponding to the tray inventory task and the trolley layering task may be 15 points, the weight score corresponding to the tray inventory task may be 10 points, and the weight score corresponding to the trolley layering task may be 12 points.
After the weight score corresponding to the third task to be executed is obtained, the following formula may be adopted: and calculating a target score corresponding to the third task to be executed according to the weight score corresponding to the third task to be executed/(the starting position of the third task to be executed-the current position of the elevator) + (the current time-the receiving time of the third task to be executed).
For example, taking an example that the current position of the elevator includes a task B to be executed and a task E to be executed in 2 layers and a plurality of tasks to be executed, wherein the task B to be executed is a pallet ex-warehouse and trolley layer-changing task, and the layer is changed from 3 layers to 1 layer, and 10:02 receiving the task B to be executed, wherein the task E to be executed is a pallet delivery task, and the task E to be executed is changed from 4 layers to 1 layer, and 10:03 receives the task E to be executed. Because the starting position of the task B to be executed and the starting position of the task E to be executed are different from the current position of the elevator, the target task B to be executed can not be determined in the task B to be executed and the task E to be executed according to the starting position, and therefore the target scores of the task B to be executed and the task E to be executed can be calculated respectively according to the formula. The target score of the task B to be executed is as follows: the weight score 30/(the starting position 3 of the task B to be executed-the current position 2 of the elevator) + (the current time 10:05-the receiving time 10:02 of the task B to be executed) =33 corresponding to the task B to be executed; the target scores of the task E to be executed are as follows: the weight score 20 corresponding to the task E to be executed/(the starting position 4 of the task E to be executed-the current position 2 of the elevator) + (the current time 10:05-the receiving time 10:03 of the task E to be executed) =12), so that the target scores corresponding to the task B to be executed and the task E to be executed are calculated. It will be appreciated that, in this calculation process, for convenience of calculation, the difference between the current time 10:05 and the receiving time 10:02 of the task B to be executed may be calculated in units of minutes, and the difference between the current time 10:05 and the receiving time 10:02 of the task B to be executed may be 3, and similarly, the difference between the current time 10:05 and the receiving time 10:03 of the task E to be executed may be 2.
In this way, after calculating the target score corresponding to each task to be executed according to the starting position, receiving time and current position of the elevator, the task to be executed with the highest target score can be determined as the target task to be executed, that is, the following S203 is executed:
s203, determining the task to be executed with the highest target score as a target task to be executed.
After calculating the respective target score of each task to be executed according to the starting position, receiving time and current position of the elevator, the task to be executed with the highest target can be determined as the task to be executed with the highest target, and thus the task to be executed with the highest target can be determined in a plurality of tasks to be executed according to the three factors of the starting position, the type priority and the receiving time of the task to be executed, and the execution sequence of the task to be executed is determined preferably.
For example, in combination with the description in S202, after the target scores corresponding to the task B to be executed and the task E to be executed are obtained respectively, since the target score 33 of the task B to be executed is greater than the target score 12 of the task E to be executed, the task B to be executed with a greater target score may be determined as the target task to be executed, so that the target task to be executed may be determined in the task B to be executed and the task E to be executed according to three factors including the starting position, the type priority and the receiving time of the task B to be executed, thereby determining the preferred execution order of the tasks to be executed.
In addition, it should be noted that, if the task to be executed with the highest target score includes at least two tasks to be executed, taking the at least two tasks to be executed as a fourth task to be executed and a fifth task to be executed as examples, that is, the target scores of the fourth task to be executed and the fifth task to be executed are the same, and when the target score is the highest, the type priority of the fourth task to be executed and the type priority of the fifth task to be executed may be respectively obtained; and judging whether the type priority of the fourth to-be-executed task is higher than the type priority of the fifth to-be-executed task, if the type priority of the fourth to-be-executed task is higher than the type priority of the fifth to-be-executed task, determining the fourth to-be-executed task as a target to-be-executed task, thereby ensuring that the to-be-executed task with higher type priority is executed first.
For example, in combination with the description in S202, if the plurality of tasks to be executed further includes a task F to be executed, after the calculation according to the formula, the target score of the task F to be executed is equal to the target score 33 of the task B to be executed, the target task to be executed cannot be determined in the task F to be executed and the task B to be executed according to the target score of the task F to be executed, at this time, the determination may be further performed according to the type priority of the task F to be executed and the type priority of the task B to be executed, since the task B to be executed is a tray ex-warehouse task and the trolley layer-changing task, and the type priority of the task B to be executed is higher than the type priority of the task E to be executed, the task B to be executed may be determined as the target task B to be executed, thereby ensuring that the type priority of the task B to be executed is higher.
It may be understood that, in the embodiment of the present invention, when the task to be executed with the highest target score includes at least two tasks to be executed, in addition to determining the target task to be executed in the at least two tasks to be executed according to the type priority of each task to be executed in the at least two tasks to be executed, the target task to be executed may be determined in the at least two tasks to be executed according to the sequence of the receiving time of each task to be executed, and of course, one task to be executed may be arbitrarily selected in the at least two tasks to be executed, and the task to be executed may be determined as the target task to be executed, which may be specifically referred to when the starting position of at least one task to be executed in the plurality of tasks to be executed is the same as the current position of the elevator, and the relevant description of the target task to be executed is determined from the plurality of tasks to be executed according to the judging result.
Therefore, in the embodiment of the invention, when executing the plurality of tasks to be executed, the scheduling operation is not directly executed according to the sequence received by each task to be executed, but the target task to be executed is executed first, and then other tasks to be executed except the target task to be executed in the plurality of tasks to be executed are executed, so that the scheduling flexibility is improved.
Fig. 3 is a schematic structural diagram of a scheduling device 30 for a lifter according to an embodiment of the present invention, which is applied to a lifter, for example, referring to fig. 3, the scheduling device 30 for a lifter may include:
the receiving unit 301 is configured to receive an instruction to be executed, where the instruction to be executed includes a plurality of tasks to be executed, and a start position of each of the plurality of tasks to be executed.
And the processing unit 302 is configured to determine a target task to be executed from a plurality of tasks to be executed according to the starting position of each task to be executed and the current position of the elevator.
The execution unit 303 is configured to execute a target task to be executed first, and then execute other tasks to be executed other than the target task to be executed in the plurality of tasks to be executed.
Optionally, the processing unit 302 is specifically configured to determine whether the starting position of each task to be executed is the same as the current position of the elevator; if the first starting position of the first task to be executed is the same as the current position of the elevator, the first task to be executed is determined to be the target task to be executed.
Optionally, the processing unit 302 is specifically configured to, if the second starting position of the second task to be executed is the same as the current position of the elevator, respectively obtain a type priority of the first task to be executed and a type priority of the second task to be executed; and if the type priority of the first task to be executed is higher than the type priority of the second task to be executed, determining the first task to be executed as a target task to be executed.
Optionally, the processing unit 302 is specifically configured to obtain, if the second starting position of the second task to be executed is the same as the current position of the elevator, a first receiving time of the first task to be executed and a second receiving time of the second task to be executed respectively; and if the first receiving time is earlier than the second receiving time, determining the first task to be executed as a target task to be executed.
Optionally, the processing unit 302 is further configured to obtain a receiving time of each task to be executed if the starting position of each task to be executed is different from the current position of the elevator; calculating the target score corresponding to each task to be executed according to the starting position, the receiving time and the current position of the elevator; and determining the task to be executed with the highest target score as the target task to be executed.
Optionally, for any third task to be executed among the plurality of tasks to be executed, the processing unit 302 is specifically configured to obtain a weight score corresponding to the third task to be executed; and calculating a target score corresponding to the third task to be executed according to the weight score corresponding to the third task to be executed, the starting position of the third task to be executed, the current position of the elevator and the receiving time of the third task to be executed.
Optionally, if the task to be executed with the highest target score includes a fourth task to be executed and a fifth task to be executed, the processing unit 302 is specifically configured to obtain a type priority of the fourth task to be executed and a type priority of the fifth task to be executed, respectively; and if the type priority of the fourth task to be executed is higher than the type priority of the fifth task to be executed, determining the fourth task to be executed as a target task to be executed.
Optionally, the types of tasks to be performed include: any one of a pallet delivery task type, a trolley layer-changing task type, a pallet delivery task type, a pallet checking and trolley layer-changing task type, a pallet checking task type and a trolley layer-changing task type; the type priority of the task to be executed is sequentially reduced according to the tray delivery and trolley layer-changing task type, the tray delivery task type, the tray checking and trolley layer-changing task type, the tray checking task type and the trolley layer-changing task type.
The scheduling device 30 for the elevator according to the embodiment of the present invention may execute the technical scheme of the scheduling method for the elevator in any embodiment shown in the foregoing drawings, and the implementation principle and the beneficial effects of the scheduling method for the elevator are similar to those of the scheduling method for the elevator, and will not be described in detail herein.
Fig. 4 is a schematic structural diagram of a scheduling apparatus 40 according to an embodiment of the present invention, for example, referring to fig. 4, the scheduling apparatus 40 may include a processor 401 and a memory 402, where,
the memory 402 is used for storing program instructions;
the processor 401 is configured to read the program instruction in the memory 402, and execute the technical scheme of the scheduling method of the elevator according to any one of the foregoing embodiments according to the program instruction in the memory 402, and the implementation principle and the beneficial effects are similar to those of the scheduling method of the elevator, and are not repeated herein.
The embodiment of the invention also provides a computer storage medium, which comprises instructions, when the instructions are run by one or more processors, the scheduling device executes the technical scheme of the scheduling method of the elevator according to any of the above embodiments, and the implementation principle and the beneficial effects of the scheduling method of the elevator are similar to those of the scheduling method of the elevator, and are not repeated here.
The embodiment of the invention also provides a chip, on which a computer program is stored, and when the computer program is executed by a processor, the technical scheme of the scheduling method of the elevator described in any of the above embodiments is executed, and the implementation principle and the beneficial effects of the method are similar to those of the scheduling method of the elevator, and are not repeated here.
The processor in the above embodiments may be a general purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a memory medium well known in the art such as random access memory (random access memory, RAM), flash memory, read-only memory (ROM), programmable read-only memory, or electrically erasable programmable memory, registers, and the like. The storage medium is located in a memory, and the processor reads instructions from the memory and, in combination with its hardware, performs the steps of the method described above.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. A method of scheduling a hoist, the method comprising:
receiving an instruction to be executed, wherein the instruction to be executed comprises a plurality of tasks to be executed and a starting position of each task to be executed in the plurality of tasks to be executed;
Judging whether the starting position of each task to be executed is the same as the current position of the elevator or not;
if the first starting position of the first task to be executed is the same as the current position of the elevator, determining the first task to be executed as a target task to be executed, so that the elevator does not need to execute layer changing operation when executing the target task to be executed;
executing the target task to be executed firstly, and then executing other tasks to be executed except the target task to be executed in the plurality of tasks to be executed;
the determining the first task to be executed as the target task to be executed includes:
if the second starting position of the second task to be executed is the same as the current position of the elevator, the type priority of the first task to be executed and the type priority of the second task to be executed are respectively obtained;
if the type priority of the first task to be executed is higher than the type priority of the second task to be executed, determining the first task to be executed as the target task to be executed;
the types of tasks to be performed include: any one of a pallet delivery task type, a trolley layer-changing task type, a pallet delivery task type, a pallet checking and trolley layer-changing task type, a pallet checking task type and a trolley layer-changing task type; the type priority of the task to be executed is sequentially reduced according to the tray delivery and trolley layer-changing task types, the tray delivery task types, the tray checking and trolley layer-changing task types, the tray checking task types and the trolley layer-changing task types.
2. The method of claim 1, wherein the determining the first task to be performed as a target task to be performed comprises:
if the second starting position of the second task to be executed is the same as the current position of the elevator, respectively acquiring the first receiving time of the first task to be executed and the second receiving time of the second task to be executed;
and if the first receiving time is earlier than the second receiving time, determining the first task to be executed as the target task to be executed.
3. The method according to claim 1, wherein the method further comprises:
if the starting position of each task to be executed is different from the current position of the elevator, acquiring the receiving time of each task to be executed;
calculating the target score corresponding to each task to be executed according to the starting position, the receiving time and the current position of the elevator;
and determining the task to be executed with the highest target score as the target task to be executed.
4. The method of claim 3, wherein for a third task to be performed among the plurality of tasks to be performed, calculating a target score corresponding to the third task to be performed according to a starting position, a receiving time, and a current position of a hoist of the third task to be performed, comprises:
Acquiring a weight score corresponding to the third task to be executed;
and calculating a target score corresponding to the third task to be executed according to the weight score corresponding to the third task to be executed, the starting position of the third task to be executed, the current position of the lifting machine and the receiving time of the third task to be executed.
5. A method according to claim 3, wherein if the task to be executed with the highest target score includes a fourth task to be executed and a fifth task to be executed, determining the task to be executed with the highest target score as the target task to be executed includes:
respectively acquiring the type priority of the fourth task to be executed and the type priority of the fifth task to be executed;
and if the type priority of the fourth task to be executed is higher than the type priority of the fifth task to be executed, determining the fourth task to be executed as the target task to be executed.
6. A scheduling device for a hoist, the device comprising:
the device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving an instruction to be executed, and the instruction to be executed comprises a plurality of tasks to be executed and a starting position of each task to be executed in the plurality of tasks to be executed;
The processing unit is used for judging whether the starting position of each task to be executed is the same as the current position of the elevator or not; if the first starting position of the first task to be executed is the same as the current position of the elevator, determining the first task to be executed as a target task to be executed, so that the elevator does not need to execute layer changing operation when executing the target task to be executed;
the execution unit is used for executing the target task to be executed first and then executing other tasks to be executed except the target task to be executed in the plurality of tasks to be executed;
the processing unit is specifically configured to, if a second starting position of the second task to be executed is the same as a current position of the elevator, respectively obtain a type priority of the first task to be executed and a type priority of the second task to be executed; if the type priority of the first task to be executed is higher than the type priority of the second task to be executed, determining the first task to be executed as the target task to be executed;
the types of tasks to be performed include: any one of a pallet delivery task type, a trolley layer-changing task type, a pallet delivery task type, a pallet checking and trolley layer-changing task type, a pallet checking task type and a trolley layer-changing task type; the type priority of the task to be executed is sequentially reduced according to the tray delivery and trolley layer-changing task types, the tray delivery task types, the tray checking and trolley layer-changing task types, the tray checking task types and the trolley layer-changing task types.
7. A scheduling apparatus comprising a processor and a memory, wherein,
the memory is used for storing program instructions;
the processor is configured to read the program instructions in the memory and execute the scheduling method of the elevator according to the program instructions in the memory according to any one of the above claims 1-5.
8. A computer storage medium comprising instructions, wherein,
the instructions, when executed by one or more processors, cause the scheduling means to perform the scheduling method of the hoisting machine of any one of the preceding claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910782563.3A CN112415953B (en) | 2019-08-23 | 2019-08-23 | Scheduling method and device of elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910782563.3A CN112415953B (en) | 2019-08-23 | 2019-08-23 | Scheduling method and device of elevator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112415953A CN112415953A (en) | 2021-02-26 |
| CN112415953B true CN112415953B (en) | 2023-08-04 |
Family
ID=74779594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910782563.3A Active CN112415953B (en) | 2019-08-23 | 2019-08-23 | Scheduling method and device of elevator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112415953B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050574B (en) * | 2021-03-26 | 2022-09-09 | 北京云迹科技股份有限公司 | Robot scheduling method and device |
| CN113159611A (en) * | 2021-05-07 | 2021-07-23 | 湖北普罗劳格科技股份有限公司 | Elevator dispatching method, device and equipment based on prediction model and storage medium |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0597205A (en) * | 1991-10-02 | 1993-04-20 | Hitachi Metals Ltd | Warehousing of automated storage and retrieval system |
| US20070031218A1 (en) * | 1999-07-30 | 2007-02-08 | Gerhard Haag | A system and method for automated goods storage and retrieval |
| US7912574B2 (en) * | 2006-06-19 | 2011-03-22 | Kiva Systems, Inc. | System and method for transporting inventory items |
| CN103870952B (en) * | 2014-04-10 | 2017-05-10 | 厦门烟草工业有限责任公司 | Dynamic priority scheduling method and device for logistics system, and logistics system |
| CN107727099A (en) * | 2017-09-29 | 2018-02-23 | 山东大学 | The more AGV scheduling of material transportation and paths planning method in a kind of factory |
| CN109048952A (en) * | 2018-09-12 | 2018-12-21 | 北京极智嘉科技有限公司 | A kind of robot control system and method calculate equipment and storage medium |
| CN109353736A (en) * | 2018-10-29 | 2019-02-19 | 珠海格力智能装备有限公司 | Stereo storehouse warehouse-in method and device, stereo garage |
| WO2020100220A1 (en) * | 2018-11-13 | 2020-05-22 | 日本電気株式会社 | Conveyance work control device, system, method, and computer-readable medium |
| CN111985860A (en) * | 2019-05-21 | 2020-11-24 | 北京京东乾石科技有限公司 | Task processing method and device |
| CN110489217A (en) * | 2019-07-11 | 2019-11-22 | 新华三大数据技术有限公司 | A kind of method for scheduling task and system |
| CN113554373A (en) * | 2020-04-23 | 2021-10-26 | 北京京东乾石科技有限公司 | Method and device for managing ex-warehouse of three-dimensional warehouse |
| CN114021885A (en) * | 2021-09-29 | 2022-02-08 | 北京邮电大学 | Elevator dispatching method and device of tray four-way shuttle system |
-
2019
- 2019-08-23 CN CN201910782563.3A patent/CN112415953B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112415953A (en) | 2021-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112723052B (en) | Elevator dispatching method and device | |
| CN109656243A (en) | A kind of AGV control method, control system, electronic equipment and storage medium | |
| CN112415953B (en) | Scheduling method and device of elevator | |
| CN110371548B (en) | Goods warehousing method and device | |
| CN110963378B (en) | Multi-elevator scheduling method | |
| Kress et al. | Straddle carrier routing at seaport container terminals in the presence of short term quay crane buffer areas | |
| EP2775429A1 (en) | Scheduling work orders between automated stacking cranes | |
| CN114415610B (en) | Scheduling method and device for robot, electronic equipment and storage medium | |
| CN112193953A (en) | Elevator resource scheduling method and device | |
| CN116957299B (en) | Optimized scheduling method, system, equipment and medium for composite orders of automated warehouse | |
| CN112434875B (en) | Equipment path management method, system and server for intelligent warehousing | |
| CN112633587A (en) | Logistics information processing method and device | |
| JP2011100277A (en) | Multiprocessor system | |
| WO2023116573A1 (en) | Scheduling method and apparatus, electronic device, and readable storage medium | |
| US20230376863A1 (en) | Route planning method and device, equipment and storage medium | |
| CN110994719B (en) | Charging management method and device for automation equipment | |
| KR20020061293A (en) | Method for dispatching a transporter of a port container terminal | |
| CN115908621A (en) | Petri network-based container terminal ship operation rehearsal method and device and readable medium | |
| CN112036685B (en) | Underground metal mine trackless transportation system scheduling simulation method and device | |
| CN113104683A (en) | Elevator dispatching method and device based on multiple robots | |
| CN111678530A (en) | Carpooling path determination method and device | |
| CN112529237A (en) | Scheduling system setting method and device, scheduling method and device, medium and equipment | |
| CN113159611A (en) | Elevator dispatching method, device and equipment based on prediction model and storage medium | |
| JP3849836B2 (en) | Stocker operation management method | |
| CN110626689A (en) | Empty box processing method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |