CN112486050B

CN112486050B - Scheduling method and device for shelf surface replacement, electronic equipment and computer readable medium

Info

Publication number: CN112486050B
Application number: CN201910864365.1A
Authority: CN
Inventors: 李保萍; 郎元辉
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-09-12
Filing date: 2019-09-12
Publication date: 2023-09-26
Anticipated expiration: 2039-09-12
Also published as: CN112486050A

Abstract

The disclosure relates to a scheduling method and device for shelf surface replacement, electronic equipment and a computer readable medium, and belongs to the technical field of intelligent transport of robot shelves. The method comprises the following steps: when the goods shelf has a face changing task, setting a picking point as a first face changing point so that the goods shelf changes faces at the first face changing point, and judging whether the goods shelf changes faces successfully or not; if the goods shelf fails to change the surface of the first surface changing point, the idle proportion of the work station buffer area and the task number of the work station fixed surface changing point are analyzed to determine the second surface changing point arranged in the work station buffer area, the work station fixed surface changing point or the third surface changing point arranged on a path near the work station to change the surface. According to the method, the optimal surface changing mode can be determined according to the task of the trolley and the busy and idle conditions of traffic, the surface changing efficiency and the field utilization rate are improved, and the influence on the traffic conditions around the surface changing point is reduced.

Description

Scheduling method and device for shelf surface replacement, electronic equipment and computer readable medium

Technical Field

The disclosure relates to the technical field of intelligent transportation of robot shelves, in particular to a shelf surface changing scheduling method, a shelf surface changing scheduling device, electronic equipment and a computer readable medium.

Background

Along with the gradual development of factory automation and computer integrated manufacturing system technology and the improvement of production efficiency, the application range and the technical level of the transfer robot are rapidly developed.

When the carrier robot carries the goods shelf in the warehouse, the direction of the goods shelf is always unchanged, and when the workstation needs to pick goods on other sides, the surface needs to be replaced, and at the moment, the carrier robot can carry the goods shelf to replace the surface at the appointed position.

The conventional goods shelf surface changing mode is a five-point surface changing mode, the surface changing place is a workstation fixed surface changing point, however, the five-point surface changing mode needs to occupy 3×3 position space, each workstation is provided with a fixed surface changing point, then 5×5 position space is needed, the field utilization rate is reduced, and a large number of surface changing tasks can cause traffic jams near the workstation and at intersections in a warehouse, so that the picking efficiency is affected.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The disclosure aims to provide a scheduling method for shelf replacement, a scheduling device for shelf replacement, electronic equipment and a computer readable medium, so as to overcome the problems that the utilization rate of a place is low due to the limitation of the conventional scheduling method for shelf replacement, the picking efficiency is affected due to traffic jam and the like at least to a certain extent.

According to a first aspect of the present disclosure, there is provided a method for scheduling a shelf replacement surface, including:

when the goods shelf has a face changing task, setting a picking point as a first face changing point so that the goods shelf changes faces at the first face changing point, and judging whether the goods shelf changes faces successfully or not;

if the goods shelf fails to change the surface of the first surface changing point, the idle proportion of the work station buffer area and the task number of the work station fixed surface changing point are analyzed to determine the second surface changing point arranged in the work station buffer area, the work station fixed surface changing point or the third surface changing point arranged on a path near the work station to change the surface.

In an exemplary embodiment of the disclosure, analyzing the idle proportion of the workstation buffer area and the task number of the workstation fixed change point if the shelf fails to change the surface at the first change point, to determine a second change point set in the workstation buffer area, the workstation fixed change point, or a third change point set in a path near the workstation, includes:

If the face of the goods shelf is failed to be changed at the first face changing point, when the idle proportion of the buffer area of the work station is larger than or equal to the preset idle proportion, setting a second face changing point in the buffer area of the work station, so that the face of the goods shelf is changed at the second face changing point, and judging whether the face of the goods shelf is changed successfully or not;

if the goods shelf fails to change the surface at the second surface changing point or the idle proportion of the buffer area of the working station is smaller than the preset idle proportion, judging whether the task number of the fixed surface changing point of the working station is larger than the preset task number;

if the task number of the workstation fixed surface changing points is smaller than or equal to the preset task number, the shelf is enabled to change the surface at the workstation fixed surface changing points;

if the task number of the fixed surface changing points of the workstation is larger than the preset task number, setting a third surface changing point on a path near the workstation so that the surface of the goods shelf is changed at the third surface changing point, and judging whether the surface of the goods shelf is changed successfully or not; and if the shelf fails to change the surface at the third surface changing point, returning to the workstation to fix the surface changing point for surface changing.

In an exemplary embodiment of the present disclosure, the determining whether the face change of the shelf is successful includes determining whether the lock point of the shelf is successful; the judging whether the locking point of the goods shelf is successful comprises the following steps:

Judging whether the distance between the goods shelf and the face changing point is smaller than or equal to a first preset distance or not, and judging whether the number of other goods shelves in the position points in a first preset range around the face changing point is smaller than or equal to a first preset idle proportion or not;

if the distance between the goods shelf and the face changing point is smaller than or equal to a first preset distance and the number of other goods shelves in the position points in a first preset range around the face changing point is smaller than or equal to a first preset idle proportion, judging whether the face changing point and the four position points appointed around the face changing point can be locked or not;

and if the surface changing point and the four designated position points around the surface changing point can be locked, the shelf is successfully locked at the surface changing point.

In an exemplary embodiment of the present disclosure, the setting the picking point as the first surface changing point, so that the shelf changes the surface at the first surface changing point, and determining whether the surface of the shelf is changed successfully includes:

when the goods shelf reaches the picking point, setting the picking point as the first surface changing point, and judging whether the first surface changing point can be locked successfully or not;

if the first surface changing point locking point is successful, the surface of the goods shelf is changed at the first surface changing point by taking half of the original speed as the surface changing speed, and whether the surface of the goods shelf is changed successfully is judged.

In one exemplary embodiment of the present disclosure, the workstation buffer area includes a first buffer area and a second buffer area; setting a second surface changing point in the workstation cache area, so that the goods shelf changes the surface at the second surface changing point, and judging whether the goods shelf changes the surface successfully comprises:

sequentially sequencing a plurality of idle cache bits in the second cache region, setting the cache bits as second preset surface changing points according to sequencing sequence, and sequentially judging whether the second preset surface changing points can be locked successfully or not;

if the second preset surface changing point lock point is successful, taking the second preset surface changing point as the second surface changing point, enabling the goods shelf to change the surface at the second surface changing point, and judging whether the goods shelf is successful in surface changing or not;

if the second preset face changing point lock point fails, judging whether the next second preset face changing point can be locked successfully according to the sequence of the sequence;

if the next second preset surface changing point lock point is successful, taking the next second preset surface changing point as the second surface changing point, enabling the goods shelf to change the surface at the second surface changing point, and judging whether the goods shelf is successful in surface changing or not.

In one exemplary embodiment of the present disclosure, the workstation fixed handoff point is common to two adjacent workstations; the workstation fixed surface changing point is shared by two adjacent workstations; said causing the shelf to change sides at the workstation fixed change points comprises:

sequentially sequencing the shelves in the two adjacent workstations according to the successful order of the locking points;

and enabling the goods shelf to change the surface at the fixed surface changing point of the workstation according to the successful sequence of the locking points.

In an exemplary embodiment of the present disclosure, the setting a third surface changing point on the path near the workstation, so that the shelf changes the surface at the third surface changing point, and determining whether the surface of the shelf is changed successfully includes:

determining a target path of the goods shelf on a path near the workstation, determining a plurality of third preset surface changing points which are sequenced in sequence on the target path, and judging whether the third preset surface changing points can be successfully locked or not according to the sequencing sequence;

if the third preset surface changing point lock point is successful, taking the third preset surface changing point as the third surface changing point, enabling the goods shelf to change the surface at the third surface changing point, and judging whether the goods shelf is successful in surface changing or not;

If the third preset face changing point lock point fails, judging whether the next third preset face changing point can be locked successfully according to the sequence of the sequence;

if the lock point of the next third preset surface changing point is successful, the next third preset surface changing point is used as the third surface changing point, so that the goods shelf can change the surface at the third surface changing point, and whether the goods shelf changes the surface successfully is judged.

In an exemplary embodiment of the disclosure, the determining a target path of the shelf on a path near the workstation, determining a plurality of third preset surface points ordered in sequence on the target path includes:

judging whether a path turning point exists on the target path, if so, determining the path turning point as the third preset surface changing point;

if no path turning point exists on the target path, judging whether the number of other shelves in the position points in a second preset range with the distance from the position point of the shelf being smaller than or equal to a second preset distance is smaller than or equal to a second preset idle proportion;

if the number of other shelves in the position points in the second preset range is smaller than or equal to a second preset idle proportion, sequentially ordering the plurality of idle position points in the second preset range, and setting the position points as the third preset surface changing points according to the ordering sequence;

And if the number of other shelves in the position points in the second preset range is larger than a second preset idle proportion, randomly determining one position point as the third preset surface changing point in idle position points on a path near the workstation.

According to a second aspect of the present disclosure, there is provided a scheduling device for shelf replacement, comprising:

the first surface changing point surface changing module is used for setting a picking point as a first surface changing point when the surface changing task exists on the goods shelf, so that the goods shelf can change the surface at the first surface changing point, and judging whether the surface of the goods shelf is changed successfully or not;

and the other face changing module is used for analyzing the idle proportion of the work station buffer area and the task number of the work station fixed face changing points if the face changing of the shelf at the first face changing point fails, so as to determine the second face changing point arranged in the work station buffer area, the work station fixed face changing point or the third face changing point arranged on a path nearby the work station for face changing.

According to a third aspect of the present disclosure, there is provided an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the method of scheduling a shelf replacement surface of any one of the above via execution of the executable instructions.

According to a fourth aspect of the present disclosure, there is provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements the method of scheduling a pallet change of any one of the above.

Exemplary embodiments of the present disclosure may have the following advantageous effects:

according to the method for scheduling the surface change of the goods shelf in the exemplary embodiment of the disclosure, a new surface change mode and an intelligent surface change scheduling strategy are provided, so that on one hand, the dynamic surface change of the robot goods shelf at each point of a whole bin can be realized, the surface change is not required to be performed only at fixed surface change points, the dynamic surface change at the selection points, the surface change at the cache position or near a workstation can be selected according to conditions and needs, various surface change scenes are solved, and the surface change efficiency is improved; on the other hand, the optimal surface changing mode can be determined according to the task of the trolley, the busy and idle condition of the whole-cabin traffic and the abnormal condition, the surface changing efficiency is improved, the time for reaching the working station after surface changing is shortened, and the influence on traffic conditions around the surface changing point and nearby the working station is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

FIG. 1 schematically illustrates a layout control logic diagram of a workstation fixed change point;

FIG. 2 schematically illustrates a layout control logic diagram of an in-library intersection swap;

FIG. 3 illustrates a flow diagram of a method of scheduling pallet changes according to an example embodiment of the present disclosure;

FIG. 4 schematically illustrates a schematic diagram of a new workstation layout control logic;

FIG. 5 illustrates a flow diagram of analyzing other location-selected facet points according to an example embodiment of the present disclosure;

FIG. 6 illustrates a flow diagram of determining whether a change point is capable of locking a point success in accordance with an example embodiment of the present disclosure;

FIG. 7 illustrates a flow diagram of a sort point face change of an exemplary embodiment of the present disclosure;

FIG. 8 illustrates a flow diagram of a workstation cache area swap of an example embodiment of the present disclosure;

FIG. 9 illustrates a flow diagram of workstation fixed change point change of face in accordance with an example embodiment of the present disclosure;

FIG. 10 illustrates a flow diagram of a near-workstation path handoff in accordance with an example embodiment of the present disclosure;

FIG. 11 illustrates a flow diagram of determining a third preset handoff point in accordance with an example embodiment of the present disclosure;

FIG. 12 illustrates a block diagram of a scheduling device for shelf replacement according to an example embodiment of the present disclosure;

fig. 13 shows a schematic diagram of a computer system suitable for use in implementing embodiments of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.

In some related embodiments, the shelf change points can only be workstation fixed change point locations or in-warehouse intersection locations, as shown in fig. 1 and 2.

Fig. 1 schematically illustrates a layout control logic diagram of a workstation fixed handoff point. As shown in fig. 1, the shelf 101 can be divided into four sides a/B/C/D at most according to the use situation, and the direction of the shelf 101 is kept unchanged when the shelf 101 is transported in the warehouse, but when the workstation needs to pick other side products, the shelf 101 needs to be replaced, and at this time, the carrier will transport the shelf 101 to replace the side at the designated position. The position of the pallet 101 for surface change is called a surface change point 102, and the sweeping radius of the pallet 101 when the surface change is rotated is usually larger than the length and width of the pallet, so that the pallet 101 collides with other adjacent position pallets when the surface change is performed, therefore, when the surface change point 102 changes the surface, the adjacent four positions need to be locked at the same time, the locked position is called a lock point 103, and the position does not allow other carrying carts or the pallet to pass or stay. The above-mentioned surface changing method commonly used at present can be called as a five-point surface changing method.

In a related embodiment as shown in fig. 1, the workstation includes a fixed swap point 102 and a cache area 106, the cache area 106 including cache bits 1 through 7, where cache bit 7 104 is the entrance to the workstation shelf cache bit and cache bit 1 is the location where shelf 101 picks items, i.e., pick point 105. The position of the fixed face changing point 102 of the workstation is arranged on the outer side of the field, when the shelf 101 has a face changing task, after 5 coordinate positions of the fixed face changing point 102 and the locking point 103 are locked, the shelf 101 starts to select face changing, after face changing is completed, four coordinate positions of the locking point 103 are released immediately, and the trolley carries the shelf to enter the buffer area 106 for queuing, and reaches the sorting point 105 for sorting.

Fig. 2 schematically illustrates a layout control logic diagram of the intersection swap in a library. As shown in fig. 2, the face changing point 107 of the shelf 101 at the intersection in the warehouse is the position of the intersection in the warehouse, the face can be changed at the intersection on the way of the trolley carrying shelf 101 to the workstation, the trolley can lock 4 lock points 103 adjacent to the face changing point 107 and the face changing point, the robot shelf starts to select the face changing, and after the face changing is completed, the four coordinate positions of the lock points 103 are released immediately, and the trolley carrying shelf reaches the workstation.

When the carrier of the carrying trolley carries the goods shelf which needs to be changed in the face reaches any crossroad, the face changing task can be automatically triggered, the face changing mode adopts the principle of five-point face changing, namely, whether the four lock points 103 pass by the trolley or not is detected, whether other trolley passes by the current crossroad or not in the required face changing time is detected, if the current crossroad passes by the trolley do not pass by the trolley, the face changing task is immediately executed. After the surface replacement is completed, the lock point 103 is unlocked immediately, and the trolley carries the goods shelf to the workstation to execute tasks;

if the above condition of changing the surface is not satisfied, that is, four lock points 103 in the five-point surface changing have the trolley pass the surface changing point 107 or the lock points 103 in the predicted surface changing time, the trolley continues to walk, when the trolley reaches another 'crossroad', the surface changing can be performed continuously, if the condition allows, the surface changing condition can not be triggered all the time, and finally the fixed surface changing point 102 of the workstation is reached to change the surface.

As can be seen from the above related embodiments, the existing surface changing method is that the carrier reaches the surface changing point, the surface changing point is requested to lock 4 adjacent points, and if the surface changing point is requested to fail, the surface changing fails. According to the existing surface changing mode, the surface changing task occupies 3×3 position space, each workstation is provided with a fixed surface changing point, then 5×5 position space is occupied, and the utilization rate of the field is not high. In addition, the surface changing points of the goods shelves can only be the positions of the intersections in the warehouse or the positions of the surface changing points are fixed by the working stations, a large number of surface changing tasks cause the blockage of the intersections near the working stations and in the warehouse, and the traffic in the main road and the warehouse of the working stations is affected, so that the picking efficiency is affected. On the other hand, the existing workstation buffer memory bit is L-shaped, when the buffer memory bit quantity is set too much, the trolley occupies all buffer memory bits, so that the main road of the workstation is blocked, the traffic of the trolley going to other workstations on the main road is influenced, tasks such as warehouse-out, warehouse-in and inventory are currently operated in a warehouse, if picking tasks are available on both sides of a shelf A, B, the fixed surface of the workstation is required to be replaced, and the surface of the workstation cannot be directly replaced at a station point, so that the task efficiency is influenced.

In order to solve the problems of the above-mentioned face changing method, the present exemplary embodiment first provides a method for scheduling face changing of a shelf. Referring to fig. 3, the method for scheduling the shelf surface change may include the following steps:

and S310, setting the picking point as a first surface changing point when the surface changing task exists on the goods shelf, so that the goods shelf can change the surface at the first surface changing point, and judging whether the surface of the goods shelf is changed successfully or not.

Before reaching a workstation picking point, if the two sides of the goods shelf have picking tasks, the trolley receives a delivery carrying task, reaches a storage position, lifts the goods shelf, reports a goods shelf number and a goods shelf surface to a control console, and if the goods shelf number and the goods shelf surface are consistent with the picking surfaces required by the workstation, the control console checks whether the reporting surfaces are consistent with the picking surfaces required by the workstation, and if so, the trolley requests a path planning for the picking point from the destination point; if the two types of the storage racks are inconsistent, the storage racks need to be replaced. When the goods shelf needs to be changed, the trolley requests the destination point to be a workstation sorting point, and the passing point is a path planning of the workstation fixed face changing point. And the console issues a face changing task to the trolley, if the optimal path returned by the request contains the face changing point in the library, the face changing is carried out at the position containing the face changing point in the library in the path, after the face changing point is reached, the map is requested to lock the point, and whether the locking point is successful or not is judged. If the lock point is successful, the in-library surface change is carried out at the point, then the path planning is requested again, and the destination point is the workstation selection point. If the lock point fails, the lock point is directly connected to the workstation to fix the face changing point for queuing and changing the face.

When the trolley reaches the picking point, and after the picking point is picked, the console issues a task for the trolley to leave the picking point, and the destination point is a leaving temporary storage position of the workstation. The control console judges whether the goods shelf has a face changing task or not, if the goods shelf does not have the face changing task, the control console requests a path to plan a warehouse returning path while leaving a picking point, the starting point is a leaving temporary storage position, and the end point is a warehouse returning storage position. After the trolley arrives at the leaving temporary storage position, judging whether the returning task is successfully issued, if the trolley returns to the warehouse, returning to the warehouse according to the planned path, and modifying the goods shelf state from the pre-completion of delivery to the returning and carrying, wherein the picking task can be added to the goods shelf. And after the trolley arrives at the leaving temporary storage position, if the returning task is not accepted successfully, the trolley sends the returning task under the waiting control platform of the leaving temporary storage position, and then requests the path planning to return to the warehouse.

If the goods shelf has a face changing task and the workstation configuration allows the face changing of the picking points, the map automatically configures the picking points to be face changing points, the trolley preferably changes the face at the picking points, and whether face changing at the picking points is successful or not is judged. If the surface change is successful at the selection point, the storage position and the path planning of the purpose of the scheduling and the returning are directly requested, and the logic is the same as that of the surface change task.

S320, if the shelf fails to change the surface at the first surface changing point, analyzing the idle proportion of the buffer area of the work station and the task number of the fixed surface changing point of the work station to determine the second surface changing point set in the buffer area of the work station, the fixed surface changing point of the work station or the third surface changing point set in the path near the work station for surface changing.

As shown in fig. 4, the layout control logic of the workstation in this exemplary embodiment is schematically shown, where two adjacent workstations with symmetrical layout share one surface changing point 401, and the surface changing manner is five-point surface changing. There are two rows of buffer bits 402 for each workstation, 8 in total, respectively, the order bits 403, 2, 3, 4, 5, 6, 7, 8. After the trolley arrives at the workstation, the system judges the busy condition of the workstation buffer memory bit 402, and if the buffer memory bit 402 does not have the trolley, the system can directly insert the queue. For example, the trolley for carrying the goods shelf enters the workstation from the buffer position 6, and the buffer positions 2 and 6 are not queued, so that the trolley path can be directly inserted into the buffer position 2 from the buffer position 6 and then enter the operation station picking position.

In this example embodiment, the off-scratch bits are added, and the map configuration interface adds the off-scratch bit configuration coordinates. After the picking point of the trolley is picked, the console directly issues a leaving task to the trolley, and the destination point is a leaving temporary storage position.

If the shelf fails to change the surface at the sorting point, other positions can be analyzed, and the dynamic surface change in the buffer storage area of the work station, the fixed surface change point of the work station or the vicinity of the work station can be selected according to conditions and needs. For example, if the free proportion of the workstation cache area is higher, searching a face changing point in the workstation cache area to change the face of the goods shelf; if the free proportion of the workstation buffer area is lower, but the task number of the workstation fixed surface changing point is smaller, the surface changing is carried out from the goods shelf to the workstation fixed surface changing point; if the task number of the fixed surface changing points of the work station is also relatively large, the shelf searches for idle position points on the path near the work station to change the surface.

According to the novel intelligent face-changing scheduling strategy for the goods shelf, an optimal face-changing mode can be determined according to tasks of the trolley, traffic busy and idle of the whole warehouse and abnormal conditions, face-changing efficiency is improved, the time for reaching a workstation after face changing is shortened, and influence on traffic conditions around face-changing points is reduced. Meanwhile, a new surface changing mode is also provided, the trolley can realize dynamic surface changing of all points in the whole bin, such as surface changing of a selection point, surface changing of a buffer position and the like, and multiple surface changing scenes can be realized without surface changing at a fixed surface changing point, so that the efficiency is improved. In addition, a new layout of the workstation cache bit and the face changing point is provided, the common L-shaped cache bit is changed into two rows of parallel cache bits, and the two workstations share one face changing point, so that the field utilization rate is improved.

Next, the above steps of the present exemplary embodiment will be described in more detail with reference to fig. 5 to 11.

In step S320, referring to fig. 5, if the shelf fails to change the surface at the first surface changing point, analyzing the idle proportion of the workstation buffer area and the task number of the workstation fixed surface changing point to determine the second surface changing point, the workstation fixed surface changing point or the third surface changing point set in the workstation buffer area, or the path near the workstation, may include the following steps:

s510, if the surface change of the shelf at the first surface change point fails, setting a second surface change point in the buffer area of the workstation when the idle proportion of the buffer area of the workstation is greater than or equal to the preset idle proportion, so that the shelf can change the surface at the second surface change point, and judging whether the surface change of the shelf is successful

If the face replacement at the selection point fails, the face replacement is carried out by selecting a dynamic face replacement mode of the buffer memory bit of the workstation preferentially, and the request map judges whether the face replacement can be carried out in the buffer memory bit of the workstation according to the idle degree of the buffer memory bit in the workstation. For example, when the buffer bit idle proportion is greater than or equal to 75%, selecting a workstation buffer bit dynamic surface changing mode to change the surface. The idle ratio may take other values, such as 62.5%, etc., and is not particularly limited herein.

S520, if the shelf fails to change the surface at the second surface change point or the idle proportion of the buffer area of the workstation is smaller than the preset idle proportion, judging whether the task number of the fixed surface change point of the workstation is larger than the preset task number.

If the trolley fails to dynamically change the face lock point at the buffer memory position of the workstation, judging whether the face change can be carried out at the fixed face change point of the workstation preferentially according to the task number of the fixed face change point of the workstation. For example, if the free proportion of workstation buffer bits is less than 75%, it is determined whether the number of tasks to a workstation fixed handoff point (including trolley tasks passing the handoff point) exceeds 3. The number of tasks may be other, such as 4 or 5, and is not particularly limited herein.

And S530, if the task number of the workstation fixed surface changing point is smaller than or equal to the preset task number, enabling the shelf to change the surface at the workstation fixed surface changing point.

For example, if the number of tasks reaching the face-changing point is less than or equal to 3, arranging the trolley to preferentially go to the workstation to fixedly change the face-changing point and queue to change the face, requesting the map to plan the path by the trolley, wherein the destination point is a sorting point, and the passing point is the workstation to fixedly change the face-point.

S540, if the task number of the fixed surface changing points of the workstation is larger than the preset task number, setting a third surface changing point on a path near the workstation so that the shelf can change the surface at the third surface changing point, and judging whether the surface of the shelf is changed successfully or not; if the shelf fails to change the surface at the third surface changing point, returning to the workstation to fix the surface changing point for surface changing.

And if the number of the tasks of the fixed surface changing points of the workstation is larger than the preset number of the tasks, selecting the dynamic surface changing of the path near the workstation. For example, if the number of tasks of the fixed surface changing point of the workstation is greater than 3, the console requests the path planning to give the optimal path, the destination point is the sorting point, and the passing point is the fixed surface changing point. In the path reaching the picking point, the trolley always locks the point, if the locking point is successful, the five-point surface change is directly performed, and if the locking point fails, the surface change is performed by fixing the surface change point to the workstation.

Referring to fig. 6, before judging whether the surface of the shelf is changed successfully, judging whether the lock point of the shelf is successful or not, and judging whether the lock point of the shelf is successful or not may specifically include the following steps:

and S610, judging whether the distance between the shelf and the face changing point is smaller than or equal to a first preset distance, and judging whether the number of other shelves in the position points in a first preset range around the face changing point is smaller than or equal to a first preset idle proportion.

After receiving the face changing task, the console judges the distance between the face changing point and the current position point and the busy and idle conditions of traffic around the face changing point. For example, if the current location point of the cart is more than 5 code points away from the face-changing point, the face-changing point is not locked from 4 points adjacent to the face-changing point. If the number of the trolleys in the range of two circles outside the face change point exceeds 40%, the trolley is busy; if the number of the trolleys is less than 40%, the trolleys are idle.

And S620, judging whether the surface change point and four position points appointed around the surface change point can be locked or not if the distance between the surface change point and the shelf is smaller than or equal to a first preset distance and the number of other shelves in the position points in a first preset range around the surface change point is smaller than or equal to a first preset idle proportion.

If the distance between the goods shelf and the face changing point is within a certain distance range and the traffic around the face changing point is idle, judging whether the face changing point can be locked in advance. For example, if the current location point is less than 5 code points from the face-changing point, and the number of carts for two circles around the face-changing point is 40% less, the console requests to lock the face-changing point and 4 points adjacent to the face-changing point in advance.

And S630, if the face changing point and four position points appointed around the face changing point can be locked, the shelf is successfully locked at the face changing point.

If the face changing point and 4 adjacent face changing points can be locked in advance, the fact that the trolley reaches the face changing point and can directly change the face is ensured, and then the goods shelf is successfully locked at the face changing point. If the pre-locking point fails in advance, the trolley reaches a face changing point and then requests the locking point to change the face.

The pre-locking face-changing point mechanism provided in the present exemplary embodiment may improve face-changing efficiency by locking the face-changing point and the adjacent 4 points around in advance.

In step S310, referring to fig. 7, setting the picking point as the first surface changing point, so that the surface of the shelf is changed at the first surface changing point, and determining whether the surface of the shelf is changed successfully may specifically include the following steps:

and S710, setting the picking point as a first surface changing point when the goods shelf reaches the picking point, and judging whether the first surface changing point can be locked successfully or not.

When the trolley reaches the picking, and the picking task of the shelf surface is completed, requesting the map to lock 3 points around, requesting only once, and judging whether the locking point is successful. If the lock point fails, the console issues the task of changing the surface again, and requests whether the map can dynamically change the surface of the buffer bit of the workstation or not, and the concrete process is that the buffer bit of the workstation dynamically changes the surface.

And S720, if the locking point of the first surface changing point is successful, the surface of the goods shelf is changed at the first surface changing point by taking half of the original speed as the surface changing speed, and whether the surface of the goods shelf is changed successfully is judged.

If the locking point is successful, the workstation is informed to prepare for surface replacement, the workstation is informed to the console, the console issues a surface replacement task to the trolley, the trolley starts surface replacement, and the surface replacement speed is reduced to half of the current speed. The user clicks a cancel button, and the workstation informs the console of the selection point face change cancellation, and the console requests whether the map can be face changed at the cache position in the workstation.

If the trolley is abnormal during surface changing, after the abnormality is processed normally, the picking point recovery task continues to change the surface, and the workstation interface needs to pop up the surface changing prompt again. And after the surface replacement of the trolley is completed, notifying a workstation to refresh and display the task to be picked. After the trolley surface-changing picking is completed, the trolley leaves the picking point, requests to return to the storage destination and the path planning, and has the same logic as the leaving picking point.

In step S510, if the shelf fails to change the surface at the first surface change point, when the idle proportion of the workstation buffer area is greater than or equal to the preset idle proportion, referring to fig. 8, setting a second surface change point in the workstation buffer area to enable the shelf to change the surface at the second surface change point, and determining whether the shelf is successful or not may specifically include the following steps:

step S810, sequentially ordering a plurality of idle cache bits in the second cache region, setting the cache bits as second preset surface changing points according to the ordered sequence, and sequentially judging whether the second preset surface changing points can lock the points successfully or not.

The applicable scene of the buffer bit surface replacement of the workstation is a surface replacement task when the surface replacement of the picking point fails, or the surface replacement task added to the workstation after the completion of the picking and leaving the temporary storage bit. The control console requests whether the map can change the surface in the buffer position of the workstation, and the map judges whether the map can change the surface in the buffer position of the workstation according to the idle degree of the buffer position in the workstation.

Referring to fig. 4, the number of the workstation buffer bits is two, 8, namely, the number of the buffer bits is selected from the group consisting of 2, 3, 4, 5, 6, 7 and 8. The first buffer area comprises buffer bits 2, 3 and 4, and the second buffer area comprises buffer bits 5, 6, 7 and 8.

The selection rule of the workstation buffer memory bit dynamic surface changing point is idle buffer memory bit, and buffer memory bits parallel to the selection bit cannot be selected as possible dynamic surface changing points, and only buffer memory bits 5, 6, 7 and 8 in the second buffer memory area can be selected as possible dynamic surface changing points.

When the trolley arrives at a possible face change point in the walking process, four points around the map are requested to be locked, the locking point is only requested once, and whether the locking point can be successfully locked is judged.

And S820, if the second preset surface changing point locking point is successful, taking the second preset surface changing point as a second surface changing point, enabling the goods shelf to change the surface at the second surface changing point, and judging whether the goods shelf is successful in surface changing or not.

If the lock point is successful, the face is changed at the face changing point, and if the cache bit is idle after the face is changed successfully, the queue can be directly inserted to the sorting point. If the queue fails, the route is re-requested, and the destination point is the picking point.

And S830, if the second preset surface change point locking point fails, judging whether the next second preset surface change point can be locked successfully according to the sequence of the sequence.

If the current face-changing point lock point fails, whether the next face-changing point can be locked successfully is tried.

Step S840, if the lock point of the next second preset surface changing point is successful, taking the next second preset surface changing point as the second surface changing point, enabling the goods shelf to change the surface at the second surface changing point, and judging whether the goods shelf is successful in surface changing.

If the lock point is successful, the face is changed at the face changing point, and if the cache bit is idle after the face is changed successfully, the queue can be directly inserted to the sorting point. If the queue fails, the route is re-requested, and the destination point is the picking point. If all the surface changing points fail to be locked, the trolley queues to the fixed surface changing points for surface changing.

After determining whether the task number of the workstation fixed face changing point is greater than the preset task number, in step S530, if the task number of the workstation fixed face changing point is less than or equal to the preset task number, referring to fig. 9, the step of making the shelf change faces at the workstation fixed face changing point may include the following steps:

and S910, sequentially sequencing the shelves in the two adjacent workstations according to the successful locking order.

The applicable scene of the fixed face changing point face changing of the workstation is a task with face changing failure in a library, a task with face changing failure of a selection point or a task with face changing failure of a workstation cache bit dynamic. If the fixed surface change point to the workstation is required, the passing point is the fixed surface change point in the path planning of the sorting point of the workstation.

Referring to fig. 4, a workstation fixed handoff point is common to two adjacent workstations. If both work stations have the face changing task of fixing the face changing point, the face of the trolley which is successfully locked in the two work stations is changed first, and other trolleys which need to be changed are queued up.

And S920, enabling the goods shelf to change the surface at the fixed surface changing point of the workstation according to the successful sequence of the locking points.

The carts with successful locking points in the two work stations firstly change faces, and the carts with the faces needing to be changed are sequentially queued up. After the face change of the fixed face change point is successful, the trolley is inserted into the buffer position for queuing (the priority of the trolley for face change at the fixed face change point is higher than that of the trolley already queued at the buffer position), and the face change point is released to allow the trolley queued at the later stage to enter for face change.

In step S540, if the number of tasks of the workstation for fixing the face changing points is greater than the preset number of tasks, referring to fig. 10, a third face changing point is set on a path near the workstation, so that the shelf can change faces at the third face changing point, and the step of determining whether the shelf has a face changing success may specifically include the following steps:

s1010, determining a target path of the shelf on a path near the workstation, determining a plurality of third preset surface changing points sequentially ordered on the target path, and judging whether the third preset surface changing points can be successfully locked according to the ordered order.

The applicable scene of dynamic surface changing near the workstation is that the task of surface changing which needs to be carried out is selected, or the task of surface changing which fails in surface changing of the cache position and the fixed point of the workstation is completed.

When the trolley picks points, the control console requests the path planning to give the optimal path, the destination point is the picking point, and the passing point is the fixed face changing point. In the path to the pick point, the trolley always performs the lock point.

And S1020, if the locking point of the third preset surface changing point is successful, taking the third preset surface changing point as the third surface changing point, enabling the goods shelf to change the surface at the third surface changing point, and judging whether the goods shelf is successful in surface changing or not.

In the path reaching the picking point, if the trolley can lock the point successfully, the trolley directly performs five-point surface changing, and after the surface changing is successful, the path planning to the picking point is requested again, and the fixed surface changing point is not needed.

Step S1030, if the third preset face changing point lock point fails, judging whether the next third preset face changing point can be locked successfully according to the sequence of the sequence.

S1040, if the lock point of the next third preset surface changing point is successful, taking the next third preset surface changing point as the third surface changing point, enabling the goods shelf to change the surface at the third surface changing point, and judging whether the goods shelf is successful in surface changing.

If the lock point is successful, the face is changed at the face changing point, and after the face is changed successfully, the path planning to the picking point is requested again, and the face changing point does not need to be fixed. If the locking point fails, the trolley changes the surface to the fixed surface changing point corresponding to the workstation.

In step S1010, referring to fig. 11, determining a target path of the shelf on a path near the workstation, and determining a plurality of third preset surface change points sequentially ordered on the target path may specifically include the following steps:

and S1110, judging whether a path turning point exists on the target path, and if the path turning point exists, determining the path turning point as a third preset surface changing point.

When the dynamic surface changing points on the paths near the work station are selected, if the path turning points exist, the path turning points are preferentially selected as the surface changing points, and the trolley can finish the task of surface changing in the course of turning, so that the surface changing efficiency is improved.

And S1120, if no path turning point exists on the target path, judging whether the number of other shelves in the position points in a second preset range with the distance from the position point of the shelf being smaller than or equal to a second preset distance is smaller than or equal to a second preset idle proportion.

If no path turning point exists on the target path, path planning monitors traffic conditions of the whole warehouse through a trolley snapshot and a hot spot map, and picks an idle area with a relatively short distance from the current position point.

And S1130, if the number of other shelves in the position points in the second preset range is smaller than or equal to a second preset idle proportion, sequentially ordering the plurality of idle position points in the second preset range, and setting the position points as third preset surface changing points according to the ordered sequence.

And after selecting an idle area with a relatively close distance with the current position point, the dispatching trolley goes to the area to search for the face changing point for face changing.

Step S1140, if the number of other shelves in the position points in the second preset range is greater than the second preset idle proportion, randomly determining one position point as a third preset surface change point in idle position points on a path near the workstation.

If the conditions are not met, the trolley selects any position point on the path near the workstation to change the surface, and if the map is requested to succeed in locking 4 points around the surface changing point, the point is set as the surface changing point to change the surface.

It should be noted that although the steps of the methods in the present disclosure are depicted in the accompanying drawings in a particular order, this does not require or imply that the steps must be performed in that particular order, or that all illustrated steps be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

Further, the disclosure also provides a scheduling device for surface replacement of the goods shelf. Referring to fig. 12, the scheduling device for shelf surface replacement may include a first surface replacement point surface replacement module 1210 and other surface replacement point surface replacement modules 1220, where:

the first face changing module 1210 may be configured to set the picking point to be the first face changing point when the shelf has a face changing task, so that the shelf can change the face at the first face changing point, and determine whether the face of the shelf is changed successfully.

Other face-changing module 1220 may be used to analyze the idle proportion of the workstation buffer area and the task number of the workstation fixed face-changing point if the shelf fails to change face at the first face-changing point, so as to determine the second face-changing point set in the workstation buffer area, the workstation fixed face-changing point or the third face-changing point set in the path near the workstation.

In some exemplary embodiments of the present disclosure, the other face-changing-point face-changing modules 1220 may include a second face-changing-point face-changing module, a task-number determination module, a workstation-fixed face-changing module, and a third face-changing-point face-changing module. Wherein:

the second surface changing module may be configured to set a second surface changing point in the workstation buffer area when the idle proportion of the workstation buffer area is greater than or equal to the preset idle proportion if the surface changing of the shelf at the first surface changing point fails, so that the shelf performs surface changing at the second surface changing point, and determine whether the surface changing of the shelf is successful.

The task number judging module may be configured to judge whether the task number of the fixed face changing point of the workstation is greater than the preset task number if the face changing of the shelf at the second face changing point fails, or if the idle proportion of the buffer area of the workstation is less than the preset idle proportion.

The workstation fixed surface changing module can be used for enabling the shelf to change the surface at the workstation fixed surface changing point if the task number of the workstation fixed surface changing point is smaller than or equal to the preset task number.

The third surface changing point surface changing module can be used for setting the third surface changing point on a path near the workstation if the task number of the fixed surface changing points of the workstation is larger than the preset task number, so that the shelf can change the surface at the third surface changing point, and judging whether the surface of the shelf is changed successfully or not.

In some exemplary embodiments of the present disclosure, the scheduling apparatus for shelf replacement may further include a distance and idle proportion determination module, a location point locking module, and a lock point success determination module. Wherein:

the distance and idle proportion judging module can be used for judging whether the distance between the shelf and the face changing point is smaller than or equal to a first preset distance or not and judging whether the number of other shelves in the position points in a first preset range around the face changing point is smaller than or equal to a first preset idle proportion or not.

The location point locking module may be configured to determine whether the face change point and four location points specified around the face change point can be locked if a distance between the shelf and the face change point is equal to or less than a first preset distance and the number of other shelves in the location points within a first preset range around the face change point is equal to or less than a first preset idle proportion.

The lock point success judging module can be used for successfully locking the shelf at the face change point if the face change point and four position points appointed around the face change point can be locked.

In some exemplary embodiments of the present disclosure, the first face-changing-point face-changing module 1210 may include a picking-point lock-point unit and a picking-point face-changing unit. Wherein:

the picking point locking unit may be configured to set the picking point as a first change point when the shelf reaches the picking point, and determine whether the first change point is able to lock successfully.

The selecting point surface changing unit can successfully lock the surface by using Yu Redi surface changing point, then the surface of the goods shelf is changed at the first surface changing point by taking half of the original speed as the surface changing speed, and whether the surface of the goods shelf is changed successfully is judged.

In some exemplary embodiments of the present disclosure, the second swap point swap module may include a first cache bit lock point unit, a first cache bit swap unit, a second cache bit lock point unit, and a second cache bit swap unit. Wherein:

The first cache bit locking point unit may be configured to sequentially sort a plurality of idle cache bits in the second cache region, set the cache bits as a second preset surface change point according to the sorting sequence, and sequentially determine whether the second preset surface change point can successfully lock the lock point.

The first cache bit surface changing unit can use Yu Redi two preset surface changing point lock points to succeed, and then the second preset surface changing point is used as a second surface changing point, so that the goods shelf can change the surface at the second surface changing point, and whether the goods shelf changes the surface successfully is judged.

The second cache bit lock point unit may be configured to determine, according to the order of the ordering, whether the next second preset change point can be successfully locked if the second preset change point fails.

The second cache bit surface changing unit may be configured to take the next second preset surface changing point as a second surface changing point if the next second preset surface changing point is successful, so that the shelf performs surface changing at the second surface changing point, and determine whether the surface changing of the shelf is successful.

In some exemplary embodiments of the present disclosure, the workstation fixed face changing module may include a shelf ordering unit and a fixed face changing unit. Wherein:

the shelf sorting unit may be configured to sort the shelves in two adjacent workstations sequentially in order of successful locking.

The fixed point surface changing unit can be used for enabling the shelf to change surfaces at the fixed surface changing points of the workstation according to the sequence of successful locking points.

In some exemplary embodiments of the present disclosure, the third face-changing-point face-changing module may include a first-path-point lock-point unit, a first-path-point face-changing unit, a second-path-point lock-point unit, and a second-path-point face-changing unit. Wherein:

the first path point sorting unit can be used for determining a target path of the shelf on a path near the workstation, determining a plurality of third preset surface changing points sequentially sorted on the target path, and judging whether the third preset surface changing points can be successfully locked according to the sorting order.

The first path point surface changing unit can use Yu Redi three preset surface changing point lock points to succeed, and then the third preset surface changing point is used as a third surface changing point, so that the goods shelf can change the surface at the third surface changing point, and whether the goods shelf changes the surface successfully is judged.

The second path point lock point unit may be configured to determine, according to the order of the order, whether the next third preset change point can be successfully locked if the third preset change point fails.

The second path point surface changing unit may be configured to take the next third preset surface changing point as a third surface changing point if the next third preset surface changing point is successful, so that the shelf performs surface changing at the third surface changing point, and determine whether surface changing of the shelf is successful.

In some exemplary embodiments of the present disclosure, the first path point ranking unit may include a curve point judging unit, a shelf number judging unit, a free position point ranking unit, and a random position point determining unit. Wherein:

the turning point judging unit may be configured to judge whether a path turning point exists on the target path, and if the path turning point exists, determine the path turning point as a third preset surface change point.

The shelf number judging unit may be configured to judge whether the number of other shelves in the location points within the second preset range, where the distance from the location point where the shelf is located is less than or equal to the second preset distance, is less than or equal to a second preset idle proportion if there is no path turning point on the target path.

The idle position point sorting unit may sort the plurality of idle position points in the second preset range in sequence by using the number of other shelves in the position points in the second preset range of Yu Redi being less than or equal to the second preset idle proportion, and set the position points as the third preset surface change points according to the sorting sequence.

The random position point determining unit may be configured to randomly determine, if the number of other shelves in the position points within the second preset range is greater than the second preset idle proportion, one position point from among the idle position points on the path near the workstation as the third preset surface change point.

The specific details of each module in the scheduling device for shelf surface replacement are described in detail in the corresponding method embodiment section, and are not repeated here.

Fig. 13 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.

It should be noted that, the computer system 1300 of the electronic device shown in fig. 13 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present invention.

As shown in fig. 13, the computer system 1300 includes a Central Processing Unit (CPU) 1301, which can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1302 or a program loaded from a storage section 1308 into a Random Access Memory (RAM) 1303. In the RAM 1303, various programs and data required for the system operation are also stored. The CPU 1301, ROM 1302, and RAM 1303 are connected to each other through a bus 1304. An input/output (I/O) interface 1305 is also connected to bus 1304.

The following components are connected to the I/O interface 1305: an input section 1306 including a keyboard, a mouse, and the like; an output portion 1307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker, and the like; a storage portion 1308 including a hard disk or the like; and a communication section 1309 including a network interface card such as a LAN card, a modem, or the like. The communication section 1309 performs a communication process via a network such as the internet. The drive 1310 is also connected to the I/O interface 1305 as needed. Removable media 1311, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memory, and the like, is installed as needed on drive 1310 so that a computer program read therefrom is installed as needed into storage portion 1308.

In particular, according to embodiments of the present application, the processes described below with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via the communication portion 1309 and/or installed from the removable medium 1311. When executed by a Central Processing Unit (CPU) 1301, performs various functions defined in the system of the present application.

It should be noted that the computer readable medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs which, when executed by one of the electronic devices, cause the electronic device to implement the methods described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 1.

It should be noted that although in the above detailed description several modules of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules described above may be embodied in one module in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module described above may be further divided into a plurality of modules to be embodied.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for scheduling a pallet change, comprising:

if the goods shelf fails to change the surface at the first surface changing point, analyzing the idle proportion of the buffer area of the working station;

when the idle proportion of the workstation cache area is greater than or equal to a preset idle proportion, setting a second surface changing point in the workstation cache area so as to enable the goods shelf to change the surface at the second surface changing point, and judging whether the goods shelf is successful in surface changing or not;

if the goods shelf fails to change the surface at the second surface changing point or the idle proportion of the buffer area of the workstation is smaller than the preset idle proportion, judging whether the task number of the fixed surface changing point of the workstation is larger than the preset task number;

if the task number of the fixed surface changing points of the workstation is larger than the preset task number, setting a third surface changing point on a path near the workstation so that the surface of the goods shelf is changed at the third surface changing point, and judging whether the surface of the goods shelf is changed successfully or not;

And if the shelf fails to change the surface at the third surface changing point, returning to the workstation to fix the surface changing point for surface changing.

2. The method of claim 1, wherein determining whether the pallet has been successfully locked comprises determining whether the pallet has been successfully locked; the judging whether the locking point of the goods shelf is successful comprises the following steps:

3. The method for scheduling surface replacement of a shelf according to claim 2, wherein the setting the picking point as the first surface replacement point to enable the shelf to perform surface replacement at the first surface replacement point, and determining whether surface replacement of the shelf is successful, includes:

4. The method for scheduling a shelf change according to claim 2, wherein the workstation buffer area comprises a first buffer area and a second buffer area; setting a second surface changing point in the workstation cache area, so that the goods shelf changes the surface at the second surface changing point, and judging whether the goods shelf changes the surface successfully or not, including:

5. The method of claim 2, wherein the workstation fixed change points are common to two adjacent workstations; the step of enabling the shelf to change the surface at the workstation fixed surface changing point comprises the following steps:

6. The method of claim 2, wherein setting a third change point on a path near the workstation to cause the shelf to change a face at the third change point, and determining whether the shelf is successful comprises:

7. The method of claim 6, wherein determining a target path for the shelf on a path near the workstation, determining a plurality of third preset surface change points ordered in sequence on the target path, comprises:

8. A shelf surface change scheduling apparatus, comprising:

the buffer area analysis module is used for analyzing the idle proportion of the buffer area of the workstation if the shelf fails to change the surface at the first surface change point;

the second surface changing point surface changing module is used for setting a second surface changing point in the workstation cache area when the idle proportion of the workstation cache area is greater than or equal to the preset idle proportion, so that the goods shelf can change the surface at the second surface changing point, and judging whether the goods shelf is successful in surface changing or not;

The task number judging module is used for judging whether the task number of the fixed face changing point of the workstation is larger than the preset task number if the face changing of the shelf at the second face changing point fails or the idle proportion of the buffer area of the workstation is smaller than the preset idle proportion;

the fixed surface changing point surface changing module is used for enabling the shelf to change the surface at the fixed surface changing point of the workstation if the task number of the fixed surface changing point of the workstation is smaller than or equal to the preset task number;

the third surface changing point surface changing module is used for setting a third surface changing point on a path near the workstation if the task number of the fixed surface changing points of the workstation is larger than the preset task number, so that the shelf can change the surface at the third surface changing point, and judging whether the surface of the shelf is changed successfully or not; and if the shelf fails to change the surface at the third surface changing point, returning to the workstation to fix the surface changing point for surface changing.

9. An electronic device, comprising:

a processor; and

a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the shelf-change scheduling method of any of claims 1-7.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the scheduling method of pallet changing according to any one of claims 1 to 7.