CN113177699B - Distribution method and distribution system - Google Patents

Distribution method and distribution system Download PDF

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CN113177699B
CN113177699B CN202110399674.3A CN202110399674A CN113177699B CN 113177699 B CN113177699 B CN 113177699B CN 202110399674 A CN202110399674 A CN 202110399674A CN 113177699 B CN113177699 B CN 113177699B
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station
distribution
time
calling
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CN113177699A (en
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付玲
奉华
臧冰
毛青
周学全
吴强
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Zoomlion Heavy Industry Science and Technology Co Ltd
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    • G—PHYSICS
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods

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Abstract

The invention provides a distribution method and a distribution system, and belongs to the technical field of automatic control. The distribution method comprises the following steps: receiving a calling instruction sent by a calling station; in response to the calling instruction, determining an estimated delivery time of at least one delivery device, a maximum delivery time of the current calling station and an estimated calling time of each station in the rest stations except the current calling station; distributing a distribution device for the current calling station based on the estimated delivery time and the maximum distribution time; and distributing the distribution tasks for the distribution devices based on the estimated calling time of each station in the rest stations except the current calling station and the distribution capacity of the distribution devices, wherein the distribution tasks comprise the tasks distributed for the current calling station. Through the scheme, the material distribution efficiency can be improved while the working efficiency of the calling station is not influenced, and the automation degree is high.

Description

Distribution method and distribution system
Technical Field
The invention relates to the technical field of automatic control, in particular to a distribution method and a distribution system.
Background
In the production process, the staff usually need assemble materials such as spare part, therefore need set up the goods shelves that can place the material near the station, make things convenient for the staff to take the material at any time.
The dispatching system of the existing dispatching device for dispatching parts mostly adopts a fixed-point calling mode to dispatch, when assembly line personnel judge that materials are insufficient, a button or an industrial personal computer is used for calling the materials, after the dispatching device receives tasks through the dispatching system, the dispatching device judges the priority of the tasks and judges the number of the dispatching devices in an idle state, and timely dispatching is carried out according to the waiting time of the materials. However, the distribution method does not consider the field dynamic process after the materials are called, such as the consumption speed of parts and the prediction of path congestion, and therefore the problems of untimely distribution and low utilization rate of the distribution device are caused.
Disclosure of Invention
It is an object of embodiments of the present invention to provide a distribution method and a distribution system, which are used to solve one or more of the above technical problems.
In order to achieve the above object, the present invention provides a distribution method, including: receiving a calling instruction sent by a calling station; determining an estimated arrival time of at least one delivery device, a maximum delivery time of the currently called station and an estimated calling time of each station in the rest stations except the currently called station in response to the calling instruction; distributing a distribution device for the current calling station based on the estimated delivery time and the maximum distribution time; and distributing the distribution tasks for the distribution devices based on the estimated calling time of each station in the rest stations except the current calling station and the distribution capacity of the distribution devices, wherein the distribution tasks comprise the tasks distributed for the current calling station.
Optionally, determining the estimated delivery time of the delivery device includes: determining the waiting time of the distribution device and the walking time of the distribution device; determining the estimated delivery time based on the call time when the current call station sends a call instruction, the waiting time of the distribution device and the walking time of the distribution device; the allocating and distributing devices for the current calling station based on the estimated delivery time and the maximum distribution time comprises: selecting the distribution device with the minimum estimated delivery time as the current calling station for distribution in the distribution devices with the estimated delivery time not exceeding the maximum distribution time; and under the condition that the estimated delivery time of the plurality of delivery devices is the same, selecting the delivery device closest to the warehouse to deliver for the current calling station.
Optionally, the walking time of the distribution devices is determined according to the distance between the current calling station and the warehouse and the average speed of the distribution devices.
Optionally, the allocating the current distribution task to the distribution device based on the estimated call time of each of the remaining stations except the currently called station and the distribution capability of the distribution device includes: and distributing the distribution tasks to the distribution devices according to a preset distribution rule.
Optionally, the distribution capability of the distribution device includes a maximum distribution quantity, the distribution rule includes that after the distribution device reaches the current calling station, the distribution device performs distribution according to the predicted calling time of the remaining stations, and the distribution task of this time is distributed to the distribution device in the following manner: sequencing the time sequence of the calling time of the current calling station and the predicted calling time of the rest stations; and on the basis of the time sequence, under the condition that the estimated arrival time of the next workstation after the distribution device finishes the distribution task of the previous workstation in the time sequence is determined not to exceed the estimated calling time of the next workstation, the distribution task of the next workstation is included in the distribution task, wherein the number of the distribution tasks allocated to the distribution device does not exceed the maximum distribution number.
Optionally, the delivery capability of the delivery device includes a maximum delivery number, the delivery rule includes delivering according to a path sequence after the delivery device reaches the current call station, and the delivery task of this time is allocated to the delivery device in the following manner: sequencing the rest stations according to the path sequence; and on the basis of the path sequence, under the condition that the estimated arrival time of the delivery device reaching the next station after completing the delivery task of the previous station in the path sequence does not exceed the estimated calling time of the next station, including the delivery task of the next station in the delivery task, wherein the number of the delivery tasks allocated to the delivery device at this time does not exceed the maximum delivery number.
Optionally, the delivery capability of the delivery apparatus includes a maximum delivery number, the delivery rule includes delivery according to a path sequence, and the delivery apparatus is allocated with the delivery task this time by the following method: sequencing the stations according to the path sequence; and on the basis of the path sequence, under the condition that the time when the delivery device reaches the current calling station after completing the delivery task of the station before the current calling station does not exceed the maximum delivery time of the current calling station, including the delivery task of the station before the current calling station in the delivery tasks, and under the condition that the time when the delivery device reaches the station after the current calling station after completing the delivery task of the current calling station does not exceed the estimated call time of the station after the current calling station, including the delivery task of the station after the current calling station in the delivery tasks, wherein the number of the delivery tasks allocated to the delivery device does not exceed the maximum delivery number.
Optionally, the method further includes: screening the delivery tasks to obtain the screened delivery tasks: and distributing the selected delivery tasks to the delivery devices, wherein the selected delivery tasks are obtained in the following way: and based on the path sequence, under the condition that the estimated arrival time of the distribution device to the next station after the distribution device finishes the distribution task of the previous station in the distribution tasks exceeds the estimated calling time of the next station, removing the distribution tasks of the next station from the distribution tasks to obtain the screened distribution tasks, wherein the number of the screened distribution tasks does not exceed the maximum distribution number.
Optionally, the method further includes: and determining the estimated arrival time of the distribution device when the distribution device arrives at the next station from the previous station based on the estimated calling time of the previous station, the loading and unloading time of the material box and the path moving time required by the distribution device to arrive at the next station from the previous station.
Optionally, the maximum delivery time is determined by:
Figure GDA0003129816970000041
wherein, TxmaxAt the maximum delivery time, TCFor the call time, MxTo fill the bin mass, M0For empty bin mass, mxMass of a single component, nxThe number of the used parts is one unit, and T is the beat of the production line.
Optionally, the goods grid of the station shelf is provided with at least two material boxes, including at least one upper material box and one lower material box, and the predicted calling time is determined according to the quality change condition of the lower material box.
Optionally, the determining, according to the quality change condition of the lower bin, of the expected call time includes: and determining the time when the mass of the lower layer material box is changed into the mass of the material box body as the predicted calling moment.
Optionally, the determining, according to the quality change condition of the lower bin, of the predicted call time includes: is determined by:
Figure GDA0003129816970000042
wherein, TiminFor estimating the call time, TCFor the call time, MiFor the real-time mass of the lower bin, M0Is empty bin mass, miMass of a single component, niThe number of the used parts is one unit, and T is the beat of the production line.
In another aspect, the present invention provides a distribution system, including: the receiving unit is used for receiving a calling instruction sent by the current calling station; the calculation unit is used for responding to the calling instruction and determining the estimated delivery time of at least one delivery device, the maximum delivery time of the current calling station and the estimated calling time of each station in the rest stations except the current calling station; the distribution device distribution unit is used for distributing distribution devices to the current calling station based on the estimated delivery time and the maximum distribution time; and the task distribution unit is used for distributing the current distribution task for the distribution device based on the predicted calling time of each station in the rest stations except the current calling station and the distribution capacity of the distribution device, wherein the current distribution task comprises the task distributed for the current calling station.
Optionally, the computing unit is configured to determine the estimated delivery time by: determining the waiting time of a distribution device and the walking time of the distribution device, and determining the estimated delivery time based on the calling time when the current calling station sends a calling instruction, the waiting time of the distribution device and the walking time of the distribution device; the distribution device distribution unit, based on the estimated delivery time and the maximum distribution time, distributes the distribution devices to the current calling station, and comprises: selecting the distribution device with the minimum estimated delivery time as the current calling station for distribution in the distribution devices with the maximum estimated delivery time which is not beyond the maximum distribution time; and selecting the distribution device closest to the warehouse for distribution to the current calling station under the condition that the estimated delivery time of the plurality of distribution devices is the same.
Optionally, the allocating, by the task allocating unit, the present distribution task to the distribution device based on the predicted calling time of each of the remaining workstations except for the currently called workstation and the distribution capability of the distribution device includes: and distributing the distribution tasks to the distribution devices according to a preset distribution rule.
Optionally, the distribution capability of the distribution device includes a maximum distribution number, the distribution rule includes that the distribution device performs distribution according to the predicted calling time of the remaining stations after reaching the current calling station, and the task allocation unit allocates the current distribution task to the distribution device in the following manner: sequencing the time sequence of the calling time of the current calling station and the predicted calling time of the rest stations; and on the basis of the time sequence, under the condition that the estimated arrival time of the delivery device reaching the next station after completing the delivery task of the previous station in the time sequence is determined not to exceed the estimated calling time of the next station, including the delivery task of the next station in the delivery task, wherein the number of the delivery tasks allocated to the delivery device at this time does not exceed the maximum delivery number.
Optionally, the delivery capability of the delivery apparatus includes a maximum delivery number, the delivery rule includes that the delivery apparatus delivers the tasks according to a path sequence after reaching the current calling station, and the task allocation unit allocates the current delivery task to the delivery apparatus in the following manner: sequencing the rest stations according to the path sequence; and on the basis of the path sequence, under the condition that the estimated arrival time of the delivery device to the next station after the delivery device completes the delivery task of the previous station in the path sequence does not exceed the estimated calling time of the next station, including the delivery task of the next station in the delivery task, wherein the number of the delivery tasks allocated to the delivery device does not exceed the maximum delivery number.
Optionally, the delivery capability of the delivery apparatus includes a maximum delivery number, the delivery rule includes delivery according to a path sequence, and the task allocation unit allocates the delivery tasks to the delivery apparatus in the following manner: sequencing the stations according to the path sequence; and on the basis of the path sequence, under the condition that the time when the delivery device reaches the current calling station after completing the delivery task of the station before the current calling station does not exceed the maximum delivery time of the current calling station, including the delivery task of the station before the current calling station in the delivery tasks, and under the condition that the time when the delivery device reaches the station after the current calling station after completing the delivery task of the current calling station does not exceed the estimated call time of the station after the current calling station, including the delivery task of the station after the current calling station in the delivery tasks, wherein the number of the delivery tasks allocated to the delivery device does not exceed the maximum delivery number.
Optionally, the task allocation unit is further configured to: screening the delivery tasks to obtain the screened delivery tasks: and distributing the screened current distribution tasks to the distribution devices, wherein the task distribution unit is further configured to obtain the screened current distribution tasks in the following manner: based on the path sequence, under the condition that the estimated arrival time of the delivery device to the next station after the delivery task of the previous station in the delivery tasks is finished is determined to exceed the estimated calling time of the next station, the delivery tasks of the next station are removed from the delivery tasks to obtain the screened delivery tasks, wherein the number of the screened delivery tasks does not exceed the maximum delivery number.
Optionally, the computing unit is further configured to: and determining the estimated arrival time of the distribution device when the distribution device arrives at the next station from the previous station based on the estimated calling time of the previous station, the loading and unloading time of the material box and the path moving time required by the distribution device to arrive at the next station from the previous station.
In another aspect, the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform a method of distribution as described in any one of the above.
In another aspect, the invention provides a processor for executing a program which when executed is for performing a method of distribution as claimed in any one of the present applications.
Through the technical scheme, the problems of low automation degree, small single-time carrying quantity and low distribution efficiency of the conventional distribution method can be effectively solved. In addition, the technical scheme also comprehensively considers parameters such as material states of the distribution devices and the stations to reasonably distribute distribution tasks for the distribution devices, so that the distribution timeliness of the distribution devices can be ensured and the distribution efficiency of the distribution devices can be improved while the current work efficiency of calling the stations is not influenced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention. In the drawings:
fig. 1 is a schematic flow chart of a distribution method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a distribution method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram illustrating a distribution method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram illustrating a distribution method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a part of a workstation calling time sequence provided by an embodiment of the invention;
fig. 6 is a block diagram of a distribution system according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted at the outset that the terms "first," "second," and the like in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature and, where desired, the effect achieved by the feature may be substantially the same.
Fig. 1 is a schematic flow chart of a distribution method according to an embodiment of the present invention. As shown in fig. 1, the distribution method provided in the embodiment of the present invention includes steps S110 to S140.
In step S110, a call instruction sent by the current call station is received.
The material can be partial shipment in the workbin, and the workbin can be placed on the other goods shelves of station to the staff takes the material. When the material at a certain station is used up, a calling instruction for indicating that the material is used up is sent out, and the station is used as a current calling station. Based on different automation degrees of stations and shelves for placing materials, the calling instruction can be sent out in any one of the following modes: after the materials at the station are used up, a button or a switch with the function of sending a calling instruction is triggered manually; or the material state at the station is detected through a weight detection device or an image detection device, and when the material is judged to be used up or used up, a call instruction is automatically sent out.
The time when the current calling station sends the calling instruction can be used as the calling time of the current calling station. Considering that the data transmission delay is extremely low and the distribution effect of the data transmission delay on the distribution device is negligible, the time when the calling instruction sent by the calling station is received can be used as the calling moment of the current calling station.
Wherein, the material can be a standard material and can also be a non-standard material. Under the condition that the materials are nonstandard materials, the method provided by the embodiment of the invention can be adopted to estimate the material use-up time in the material box as long as the materials in the material box are the same type of materials.
In step S120, in response to the call instruction, an estimated arrival time of at least one delivery device, a latest delivery time of a currently called station, and an estimated call time of each of remaining stations other than the currently called station are determined.
Considering that a certain time is needed for the distribution device to distribute the material box to the current calling station after the current calling station sends out the calling instruction, in order to ensure the working efficiency, a spare material box can be simultaneously placed at the position of the goods shelf beside the station. In the process of waiting for the distribution of the distribution device after the materials in the current material box are used, the materials in the standby material box can be taken out firstly. After the dispensing device arrives at the current calling station, the bin conveyed by the dispensing device is placed on a shelf beside the station as a new standby bin.
Wherein, can only set up a reserve workbin on the goods shelves by the station, also can set up a plurality of reserve workbins, specifically aim at satisfying the production demand.
In the case of a spare bin, the dispensing device can fulfill the replenishment demand of the currently called station if all the material in the bin is used up, so that the time at which all the material in the shelf of the currently called station is used up can be used as the latest dispensing time of the currently called station. Taking the case that two material boxes are simultaneously placed on the shelf, when the material in the first material box is used up, the station sends a calling instruction and takes the current time as the calling time of the current calling station, a worker can take the second material box (namely, a standby material box) to work, and the time when the material in the second material box is used up is taken as the latest distribution time of the current calling station.
The latest delivery time may be specifically determined by:
Figure GDA0003129816970000091
wherein, TxmaxFor the latest delivery time, TCFor the call time, MxTo fill the hopper with mass, M0Is empty bin mass, mxIs the mass of a single material, nxThe number of the used materials is one, and T is the beat of the production line.
In a work site, a plurality of dispensers are generally provided, and can dispense for a plurality of stations at the same time, so that in order to improve the dispensing efficiency of the dispensers, it is necessary to select a proper dispenser and then assign a proper dispensing task to the selected dispenser.
In the case of a plurality of dispensers, it is necessary to determine the estimated arrival time of the dispenser, i.e., the time at which the dispenser finally arrives at the currently called workstation from the current position, starting from the call instruction issued from the currently called workstation.
In order to reduce the algorithm complexity, the estimated delivery time of the delivery devices can be determined according to the call time and the estimated delivery time only by determining the estimated delivery time of the delivery devices in the idle state and the delivery devices in the return state (namely the delivery devices which complete all delivery tasks).
Based on the difference in the status of the delivery devices, the estimated delivery time of the delivery devices may be determined by:
when the distribution device is in an idle state, the distribution device waits for the assembly of the workbin at the delivery port, so that the estimated delivery time length of the distribution device in the idle state only comprises the assembling time length of the workbin and the walking time length of the distribution device from the delivery port to the current calling station;
when the distribution device is in the return state, the empty box carried by the distribution device needs to be unloaded firstly and then waits for the assembly of the box from the delivery port, so the estimated delivery time of the distribution device in the return state comprises the walking time from the current position to the delivery port, the unloading time of the empty box, the assembly time of the box and the walking time from the delivery port to the current calling station.
Wherein the length of the delivery devices may be determined based on the distance of the current calling station from the warehouse and the average speed of the delivery devices.
Specifically, the estimated delivery time is determined by the following method:
Figure GDA0003129816970000101
wherein, TxdTo estimate the arrival time, TCFor the call time, LxV is the average speed of the distribution device, mu is an empirical coefficient, and the value range is 1.1 to 1.3, preferably 1.2, so as to improve the fault tolerance of the distribution method.
In some special cases, if there are no dispensers in an idle state and no dispensers in a return state in the current work site, it is necessary to determine an estimated delivery time period of the dispensers in a work state. The estimated delivery time length comprises the time length required by the delivery device to complete the current delivery task, the walking time length from the last station in the current delivery task to the delivery port, the unloading time length of an empty bin, the assembling time length of the bin and the walking time length from the delivery port to the current arrival calling station.
In a working site, a plurality of stations are generally arranged and are influenced by factors such as the working efficiency, the working starting time and the production line speed of workers at the stations, and the time of calling instructions sent out after materials at each station are used up is inconsistent. Therefore, after receiving a calling instruction sent by the current calling station, the expected calling time of each station in the remaining stations except the current calling station needs to be determined, so that the other stations to be called are prepared for distribution in advance in the process of distributing the current calling station through the distribution device, and the distribution efficiency of the distribution device is improved.
The expected calling time of the station refers to the material exhaustion time of the material in the material box corresponding to the station and being taken. If the station has a spare bin and a working bin, the expected call time is the time when the material in the bin being used at the station is exhausted.
The goods grid of the work station shelf is provided with at least two material boxes, including at least one upper material box and one lower material box, and the predicted calling time can be determined only according to the quality change condition of the lower material box. For example, the time when the mass of the lower bin becomes the bulk mass of the bin may be determined as the expected call moment.
Taking the example of two bins in a work station shelf at a work station, the expected call time for that work station can be determined in particular by:
Figure GDA0003129816970000111
wherein, TiminFor the predicted call time, TCFor the call time, MiFor the real-time mass of the lower bin, M0For empty bin mass, miIs the mass of a single material, niFor the number of single unit of material, T is flowThe pipeline beat.
In the embodiment of the invention, the determination sequence of the estimated delivery time of the delivery device, the latest delivery time of the current calling station and the estimated calling time of each station in the rest stations except the current calling station is not sequential or can be determined simultaneously.
In step S130, a delivery device is assigned to the current calling station based on the estimated delivery time and the latest delivery time.
For the current work station calling, if the dispensing device cannot complete the dispensing within the latest dispensing time, the worker is not provided with the materials, and the work efficiency is affected. Therefore, it is necessary to select a distribution device that receives the current distribution task from distribution devices whose estimated arrival time does not exceed the latest distribution time of the currently called workstation.
In some cases, there may be a plurality of dispensers whose estimated arrival time is the same, and the dispenser closest to the warehouse (i.e., the shipment port) may be selected for delivery to the currently called workstation.
In step S140, the present distribution task is assigned to the distribution devices based on the estimated call time of each of the remaining stations other than the currently called station and the distribution capability of the distribution devices.
After the delivery device is selected, a plurality of delivery tasks can be distributed to the selected delivery device, namely the delivery device can simultaneously deliver for a plurality of work stations on the way of delivering for the current calling work station, so that the repeated walking time of the delivery device is reduced, and the delivery efficiency is improved.
For the remaining stations other than the currently called station, it is possible to prepare in advance to replenish the bin for that station if the dispenser can arrive before the expected call time for that station, and if the dispenser cannot complete its delivery before the expected call time, that station will issue a new call instruction and will be assigned a new dispenser for delivery. Therefore, based on the rule and the delivery capability of the delivery device, the delivery tasks of other work stations can be continuously distributed to the selected delivery device and used as the current delivery task of the selected delivery device.
The dispensing capacity of the dispensing device according to the embodiment of the present invention includes the maximum dispensing number of the dispensing device, that is, the number of bins that can be loaded by the dispensing device at the same time. Therefore, the number of the present delivery jobs assigned to the delivery devices cannot exceed the maximum delivery number of the delivery devices.
According to the scheme provided by the embodiment of the invention, the distribution tasks are distributed for the distribution devices based on the estimated delivery time, the loading and unloading time of the material box, the estimated calling time and the distribution capacity of the distribution devices, so that the distribution efficiency of the distribution devices can be improved while the working efficiency of the current calling station is not influenced.
The distribution rule can be preset according to the planning and production requirements of the working site, and therefore the distribution task of the distribution device can be adjusted and distributed based on the preset distribution rule, and the method provided by the embodiment of the invention can be applied to different environments.
With reference to fig. 2, the distribution method provided in this embodiment of the present invention is explained in detail by taking an example that a preset distribution rule is used as a priority to distribute the current calling position and then distribute the current calling position according to the predicted calling time of the remaining positions except the current calling position.
In step S210, the time sequence of the calling time of the current calling position and the predicted calling time of the remaining positions is sorted.
In the case of a small number of workstations in the work site, the estimated call times of all the remaining workstations, except the currently called workstation, can be determined and sorted chronologically.
Under the condition that the number of the stations in the work site is large, the predicted calling time of the rest stations except the current calling station can be selectively determined and sequenced according to the time sequence, so that the response speed of calling instructions is improved.
For example, the workstations in which the expected arrival time of the distribution devices from the current position to the workstations exceeds the expected current calling time (the expected arrival time may only include the walking time of the distribution devices and may also include at least one loading and unloading time), the workstations in which the estimated arrival time of the distribution devices from the current position to the current calling workstations exceeds the expected calling time may be eliminated, or the workstations in which the time when the distribution devices complete the distribution of the current calling workstations exceeds the expected calling time may be eliminated.
In step S220, the present delivery task is assigned to the delivery devices based on the time sequence.
Specifically, after the delivery device completes the delivery task of the previous station in the time sequence, the delivery task of the next station is included in the delivery task of this time under the condition that the estimated arrival time of the next station does not exceed the estimated call time of the next station. The total number of the current distribution tasks allocated to the distribution devices cannot exceed the maximum distribution number of the distribution devices, and the calling time of the current workstation calling is taken as the first time point in the time sequence, so that the distribution tasks of the current workstation calling are also included in the current distribution tasks.
The pre-calculated time when the distribution device can reach the calling station is the estimated delivery time, and the time when the distribution device can reach the next station of the current calling station from the current calling station is the estimated arrival time. The estimated arrival time is based on the estimated delivery time, and the walking time and the one-time material loading and unloading time of the distribution device from the current calling station to the next station of the current calling station are added.
For the rest stations except the current station called in the time sequence, the estimated arrival time of the distribution device reaching the next station after completing the distribution task of the previous station is based on the estimated calling time of the previous station, and the walking time and the one-time loading and unloading time of the distribution device reaching the next station from the previous station.
With reference to fig. 3, the distribution method provided in this embodiment of the present invention is explained in detail by taking an example that a preset distribution rule is used as a priority to distribute the current calling station and then distribute the current calling station according to the route sequence of the remaining stations except the current calling station.
In step S310, the remaining stations are sorted according to the path sequence.
In step S320, the present delivery task is assigned to the delivery devices based on the route order.
Specifically, after the distribution device completes the distribution task of the previous station in the path sequence, the distribution task of the next station is included in the current distribution task under the condition that the predicted arrival time of the next station is not beyond the predicted calling time of the next station. Wherein, the total number of the tasks of this time distributed to the distribution devices cannot exceed the maximum distribution number of the distribution devices, and the current call station is used as the first distribution point in the path sequence, so the tasks of this time call station are also included in the tasks of this time distribution.
The estimated arrival time of the distribution device from the previous station to the next station is based on the estimated calling time of the previous station, and the walking time and one-time loading and unloading time of the distribution device from the previous station to the next station.
According to the scheme provided by the embodiment of the invention, after the distribution of the current calling station is finished preferentially, the distribution tasks are reasonably distributed for the distribution devices under the condition that the material shortage does not occur, the turn-back times of the distribution devices are reduced as far as possible, and the distribution efficiency of the distribution devices is improved.
The distribution method provided by the embodiment of the present invention is explained in detail by taking a preset distribution rule as an example of performing distribution according to the path sequence of all the stations with reference to fig. 4.
In step S410, the workstations are sorted in order of path.
The path sequence of the stations is generally preset, and can also be changed according to actual requirements.
In step S420, the present distribution job is assigned to the distribution apparatus based on the route order.
Because the solution provided in this embodiment does not preferentially deliver the currently called station, in order to not affect the working efficiency at the currently called station, it needs to be ensured that the material can be delivered to the currently called station in time after the delivery is completed for the station located before the currently called station in the path sequence, that is, the delivery task of the station before the currently called station is allocated to the delivery device as the current delivery task only when it is determined that the time when the delivery device reaches the currently called station after the delivery task of the station before the currently called station is completed does not exceed the latest delivery time of the currently called station.
After the work stations before the current calling work station are selected, if the number of the distribution tasks distributed to the distribution devices does not reach the maximum distribution number of the distribution devices, in order to improve the utilization rate of the distribution devices, the distribution tasks can be continuously selected from the work stations after the current calling work station.
Specifically, when the time when the delivery device reaches the workstation after the current workstation is called after completing the delivery task of the current workstation is not beyond the expected calling time of the workstation after the current workstation is called, the delivery task of the workstation after the current workstation is included in the delivery task.
In addition, if the stations following the currently called station are referred to as a preceding station and a succeeding station in the order of the path, the delivery task of the succeeding station may be also assigned to the delivery device when the estimated arrival time at the succeeding station after the delivery device completes the delivery task of the preceding station does not exceed the estimated call time of the succeeding station.
That is, the delivery tasks of the stations before the current calling station, the time of reaching the current calling station after the delivery devices complete the delivery tasks of the stations before the current calling station, and the time of reaching the stations after the current calling station after the delivery devices complete the delivery tasks of the current calling station, and the delivery tasks of the stations after the current calling station, the time of reaching the stations after the current calling station, and the time of reaching the stations after the current calling station, are not beyond the estimated calling time of the stations after the current calling station, may be included in the delivery tasks. And then further screening the distribution tasks to generate the screened distribution tasks. Based on the path sequence, the distribution tasks of the next station are retained in the screened distribution tasks of this time, wherein the estimated arrival time of the next station after the distribution tasks of the previous station in the distribution tasks of this time are completed by the distribution device and the estimated arrival time of the next station does not exceed the estimated calling time of the next station.
In this embodiment, it is considered that the delivery tasks of this time are screened, which may result in a small number of the delivery tasks of this time after screening. Therefore, in order to improve the delivery efficiency, the number of the delivery tasks before screening may not be limited, and only the number of the delivery tasks after screening does not exceed the maximum delivery number.
In the solution provided by the above embodiment of the present invention, the expected arrival time of the dispenser from the previous station to the next station is determined mainly based on the expected call time of the dispenser to the previous station, the loading and unloading time of the bin, and the path moving time required for the dispenser to arrive at the next station from the previous station.
The scheme provided by the embodiment of the invention can reasonably distribute the distribution tasks for the distribution devices, improves the distribution efficiency of the distribution devices, is suitable for different preset distribution rules, and has high automation degree, low failure rate and no need of human intervention in the process of distributing the distribution tasks for the distribution devices.
The dispensing method provided by the present invention will now be explained in detail with reference to some embodiments.
Fig. 5 is a schematic diagram of a part of a workstation calling time sequence provided by an embodiment of the invention.
The staff takes the material in the lower floor's workbin earlier at the working process, and after the lower floor's material in station 9 was used up, the staff can put into empty workbin recovery department with empty workbin, and former upper bin can automatic sliding into the position of preceding lower floor's workbin, and the position of former upper bin department is idle to can trigger the sensing signal when former upper bin moves, send the calling instruction, station 9 is exactly current calling station promptly.
After receiving the calling instruction, determining the estimated arrival time of each delivery device which is expected to arrive at the station 9, the latest delivery time corresponding to the station 9 and the estimated calling time of each station in the rest stations except the station 9 in response to the calling instruction. The determination sequence of the above parameters is not sequential and can be carried out simultaneously.
When a plurality of delivery devices can arrive at the station 9 within the latest delivery time, the delivery device with the smallest estimated delivery time is selected, and if the estimated delivery times of the plurality of delivery devices are the same, the delivery device closest to the warehouse can be selected.
After the station 9 sends out the calling instruction, the other stations do not generate the calling instruction temporarily, which indicates that materials are still in the lower-layer material boxes corresponding to the other stations at the moment. Since the number of stations that can be dispensed by the dispenser at a time is limited, to increase the availability of the dispenser, the dispenser may be loaded with a plurality of bins for dispensing a plurality of stations within the allowed dispensing time.
Taking the example of a dispenser that can simultaneously load 8 magazines, the dispenser can take up 7 more dispensing tasks in addition to dispensing for the currently called station 9.
If the selected distribution rule for the part of the station calling cases shown in fig. 5 is to distribute the currently called stations first and then distribute the stations according to the expected calling time of the rest of the stations, and the distribution device can load 8 bins at most simultaneously, the specific distribution process is as follows.
The stations are firstly sequenced according to the calling time sequence of each station, and the sequencing result is as follows: station 9-station 3-station 12-station 10-station 6-station 2-station 5-station 4.
Next, it is necessary to determine a comparison between an estimated arrival time of the delivery device when the previous station arrives at the next station and an estimated call time of the next station, and determine whether to include the delivery task of the next station in the present delivery task assigned to the delivery device.
Taking the station 3 and the station 12 as an example, the dispatching device arrives at the station 3, and in the process of loading and unloading the material box for the dispatching device, the expected calling time of the station 12 is already reached, namely when the dispatching device does not arrive at the station 12 from the station 3, the station 12 automatically sends a calling instruction to generate a new dispatching task, so that the dispatching task of the station 12 needs to be removed from the current dispatching task.
Taking the station 3 and the station 10 as an example, the dispensing device completes the dispensing of the station 3, and in the process of moving from the station 3 to the station 10, the expected calling time of the station 10 is already reached, i.e. when the dispensing device does not arrive at the station 10 from the station 3, the station 10 also automatically sends a calling instruction, a new dispensing task is generated, and therefore the dispensing task of the station 10 needs to be eliminated from the current dispensing task.
Thus, for the workstations illustrated in FIG. 5, the sequence of workstations determining the delivery tasks assigned to the dispensers is as follows: station 9-station 3-station 6-station 5-station 4.
In addition, before distributing and delivering tasks, the workstations with the predicted calling time being earlier than the predicted delivery time of the delivery device, such as the workstation 2, can be directly removed without time comparison, so that the calculated amount is reduced, and the response speed of the system is improved.
If the selected distribution rule for the part of the station calling cases shown in fig. 5 is to distribute the currently called stations first and then distribute the remaining stations according to the path sequence, and the distribution device can load 8 bins at most simultaneously, the specific distribution process is as follows.
The remaining stations except station 9 are first sorted by path. Based on the preset path sorting rule, the possible sorting results are as follows: station 9-station 10-station 12-station 6-station 5-station 4-station 3-station 2, or station 9-station 10-station 12-station 2-station 3-station 4-station 5-station 6, or station 9-station 2-station 3-station 4-station 5-station 6-station 10-station 12, or station 9-station 6-station 5-station 4-station 3-station 2-station 9-station 10, or station 9-station 6-station 4-station 3-station 2-station 9-station 10, and so on.
The sequence is 9 station, 10 station, 12 station, 6 station, 5 station, 4 station, 3 station and 2 station.
Next, it is necessary to determine whether to include the delivery task of the next station in the present delivery task assigned to the delivery device by comparing the expected arrival time of the delivery device when the previous station arrives at the next station with the expected call time of the next station.
Taking the station 10 and the station 12 as an example, when the dispensing device arrives at the station 10 and waits for the work station shelf of the station 10 to be supplemented with the bin, the expected calling time of the station 12 is reached, that is, when the dispensing device is waiting for being dispensed for the station 10, the station 12 automatically sends a calling instruction, a new dispensing task is generated, and therefore the dispensing task of the station 12 needs to be removed from the current dispensing task.
Thus, for the workstations illustrated in FIG. 5, the sequence of workstations determining the dispensing tasks assigned to the dispensers is as follows: station 9-station 10-station 6-station 5-station 4.
If the distribution rule selected for the part of the station calls shown in fig. 5 is to distribute all stations in the order of the path and the distribution device can load up to 8 bins at the same time, the specific distribution process is as follows.
All stations are sequenced according to the sequence of the rest paths. Based on the preset path sort rules, the workstation sort shown in FIG. 5 is as follows: station 2-station 3-station 4-station 5-station 6-station 9-station 10-station 12.
Next, it is necessary to determine whether or not the delivery tasks of other stations need to be included in the present delivery task assigned to the delivery device. For the workstations sequenced before the workstation 9, if the time when the workstation arrives at the current calling workstation after the completion of the distribution of the workstation does not exceed the latest distribution time of the workstation 9, the workstations sequenced after the workstation 9 can be included in the task of the current distribution, and if the time when the distribution device arrives at the next workstation from the previous workstation does not exceed the expected calling time of the next workstation, the workstations sequenced after the workstation 9 can be included in the task of the current distribution.
Taking the station 4 and the station 9 as an example, the expected calling time of the station 4 exceeds the latest delivery time of the station 9, that is, when the delivery device delivers for the station 4, the station 9 may have a situation that all materials cause that the worker cannot continue working, so that the delivery task of the station 4 needs to be removed from the delivery task.
Taking the station 5 and the station 9 as an example, the dispensing device completes the dispensing of the station 5, and in the process of moving from the station 5 to the station 9, the latest dispensing time of the station 9 is reached, so that the condition that no material is available for the station 9 occurs, and the dispensing task of the station 5 needs to be rejected.
Thus, for the workstations illustrated in FIG. 5, the sequence of workstations determining the dispensing tasks assigned to the dispensers is as follows: station 2-station 3-station 6-station 9.
In addition, before distribution tasks are distributed, the stations with the predicted calling time earlier than the latest distribution time of the called stations, such as the station 4, can be directly eliminated without time comparison, so that the calculation amount is reduced, and the response speed of the system is improved.
Since fig. 5 shows the predicted calling time of part of the workstations, if there are other workstations meeting the preset distribution rule, the distribution tasks of the workstation can also be allocated to the distribution devices as the current distribution tasks (the total number of tasks cannot exceed 8), and if there are no other workstations meeting the condition, only 4 workstation distribution tasks in the sequence of the workstations are allocated to one distribution device in response to the calling instruction sent by the workstation 9.
The embodiment of the invention also provides a distribution system. Fig. 6 is a schematic structural diagram of a distribution system according to an embodiment of the present invention. As shown in fig. 6. The delivery system includes a receiving unit 61, a calculating unit 62, a delivery apparatus allocating unit 63, and a task allocating unit 64. The receiving unit 61 is capable of receiving a call instruction sent by a current calling station, the calculating unit 62 is configured to determine, in response to the call instruction, an estimated arrival time of at least one distribution device, a latest distribution time of the current calling station, and an estimated call time of each of remaining stations except the current calling station, the distribution device allocating unit 63 is configured to allocate a distribution device to the current calling station based on the estimated arrival time and the latest distribution time, and the task allocating unit 64 is configured to allocate a distribution task to the distribution device based on the estimated call time of each of the remaining stations except the current calling station and a distribution capability of the distribution device.
In order to avoid problems of missed delivery or repeated delivery and the like, the task distributed to the delivery device at this time comprises a task of delivering for the current calling station.
In some optional embodiments, the calculation unit may determine the estimated time of delivery by: and determining the waiting time of the distribution device and the walking time of the distribution device, and determining the estimated delivery time based on the calling time when the current calling station sends a calling instruction, the waiting time of the distribution device and the walking time of the distribution device.
The distribution device distribution unit is used for distributing the distribution devices to the current calling station based on the estimated delivery time and the latest distribution time and comprises the following steps: selecting the distribution device with the smallest estimated delivery time as the current calling station for distribution when the estimated delivery time does not exceed the latest distribution time distribution device; and selecting the distribution device closest to the warehouse for distribution to the current calling station under the condition that the estimated delivery time of the plurality of distribution devices is the same.
In some optional embodiments, the task assigning unit assigns the present delivery task to the delivery devices based on the predicted calling time of each of the remaining stations other than the currently called station and the delivery capabilities of the delivery devices, and includes: and distributing the distribution tasks to the distribution devices according to a preset distribution rule.
In some optional embodiments, if the distribution rule includes that the distribution device performs distribution according to the predicted calling time of the remaining work stations after the distribution device arrives at the currently called work station, the task allocation unit allocates the current distribution task to the distribution device by: sequencing the time sequence of the calling time of the current calling station and the predicted calling time of the rest stations; and on the basis of the time sequence, under the condition that the estimated arrival time of the delivery device to the next station after completing the delivery task of the previous station in the time sequence does not exceed the estimated calling time of the next station, including the delivery task of the next station in the delivery task.
Wherein the delivery capability of the delivery apparatuses includes a maximum delivery number, and the number of the present delivery tasks allocated to the delivery apparatuses does not exceed the maximum delivery number.
In some optional embodiments, if the delivery rule includes that the delivery devices deliver according to the path sequence after reaching the current calling station, the task allocation unit allocates the delivery tasks to the delivery devices in the following manner: sequencing the rest stations according to the path sequence; and on the basis of the path sequence, under the condition that the estimated arrival time of the delivery device reaching the next station after completing the delivery task of the previous station in the path sequence does not exceed the estimated calling time of the next station, including the delivery task of the next station in the delivery task.
The distribution capacity of the distribution device includes a maximum distribution number, and the number of the current distribution tasks allocated to the distribution device does not exceed the maximum distribution number.
In some optional embodiments, if the delivery rule includes delivery according to a path sequence, the task allocation unit allocates the delivery task to the delivery apparatus in the following manner: sequencing the stations according to the path sequence; and on the basis of the path sequence, under the condition that the time when the delivery device reaches the current calling station after completing the delivery task of the station before the current calling station does not exceed the latest delivery time of the current calling station, including the delivery task of the station before the current calling station in the delivery task, and under the condition that the time when the delivery device reaches the station after the current calling station after completing the delivery task of the current calling station does not exceed the predicted calling time of the station after the current calling station, including the delivery task of the station after the current calling station in the delivery task.
The distribution capacity of the distribution device includes a maximum distribution number, and the number of the current distribution tasks allocated to the distribution device does not exceed the maximum distribution number.
In some optional embodiments, the computing unit is further configured to: and determining the estimated arrival time of the distribution device when the distribution device arrives at the next station from the previous station based on the estimated calling time of the previous station, the loading and unloading time of the material box and the path moving time.
The delivery device in any embodiment of the present invention may specifically be an AGV (Automated Guided Vehicle) or a transfer robot, which is capable of loading and moving a load.
For the details and advantages of the distribution system provided by the above embodiment of the present invention, reference may be made to the above details and advantages of the distribution method provided by the present invention, which are not described herein again.
Embodiments of the present invention also provide a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to enable a machine to execute a distribution method provided in any embodiment of the present invention.
The distribution system provided by the invention comprises a processor and a memory, wherein the receiving unit, the calculating unit, the distribution device distributing unit, the task distributing unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the distribution method provided by any embodiment of the invention is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing a distribution method provided in any embodiment of the present invention when executed by a processor.
The embodiment of the invention provides a processor, wherein the processor is used for running a program, and the program executes the distribution method provided by any embodiment of the invention when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the distribution method provided by any embodiment of the invention. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application also provides a computer program product adapted to perform a method of initiating a distribution provided by any of the embodiments of the present invention when executed on a data processing apparatus.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (23)

1. A method of distribution, the method comprising:
receiving a calling instruction sent by a current calling station;
determining an estimated arrival time of at least one delivery device, a maximum delivery time of the currently called station and an estimated calling time of each station in the rest stations except the currently called station in response to the calling instruction;
distributing a distribution device for the current calling station based on the estimated delivery time and the maximum distribution time; and
distributing the distribution tasks to the distribution devices based on the estimated calling time of each station in the rest stations except the current calling station and the distribution capacity of the distribution devices,
and the current distribution task comprises a task for distributing for the current calling station.
2. Dispensing method according to claim 1,
determining an estimated delivery time of a delivery device comprises:
determining the waiting time of the distribution devices and the walking time of the distribution devices; and
determining the estimated delivery time based on the call time when the current call station sends a call instruction, the waiting time of the distribution device and the walking time of the distribution device;
the allocating and distributing devices for the current calling station based on the estimated delivery time and the maximum distribution time comprises: selecting the distribution device with the minimum estimated delivery time as the current calling station for distribution in the distribution devices with the estimated delivery time not exceeding the maximum distribution time; and selecting the distribution device closest to the warehouse for distribution to the current calling station under the condition that the estimated delivery time of the plurality of distribution devices is the same.
3. A distribution method according to claim 2 wherein the length of travel of the distribution means is determined from the distance of the current calling station from the warehouse and the average speed of the distribution means.
4. The distribution method according to claim 1, wherein said distributing the present distribution task to the distribution device based on the estimated calling time of each of the remaining work stations other than the currently called work station and the distribution capability of the distribution device comprises: and distributing the distribution tasks to the distribution devices according to a preset distribution rule.
5. A distribution method according to claim 4 wherein the distribution capability of said distribution device includes a maximum distribution number, and said distribution rule includes that after said distribution device reaches said currently called station, the distribution is performed according to the predicted calling time of said remaining station, and the distribution task is distributed to said distribution device by:
sequencing the time sequence of the calling time of the current calling station and the predicted calling time of the rest stations; and
on the basis of the time sequence, under the condition that the estimated arrival time of the delivery device reaching the next station after completing the delivery task of the previous station in the time sequence is determined not to exceed the estimated calling time of the next station, the delivery task of the next station is included in the delivery task,
wherein the number of the present delivery tasks allocated to the delivery apparatus does not exceed the maximum delivery number.
6. A dispensing method as recited in claim 4 wherein the dispensing capability of the dispensing device comprises a maximum number of dispenses, and wherein the dispensing rule comprises routing the dispenses after the dispensing device reaches the current call station, the dispensing device being assigned the dispensing job by:
sequencing the rest stations according to the path sequence; and
on the basis of the path sequence, under the condition that the estimated arrival time of the delivery device to the next station after completing the delivery task of the previous station in the path sequence does not exceed the estimated calling time of the next station, the delivery task of the next station is included in the delivery task,
wherein the number of the present delivery tasks allocated to the delivery device does not exceed the maximum delivery number.
7. A distribution method according to claim 4, wherein the distribution capability of said distribution device includes a maximum distribution number, and said distribution rule includes distributing in a path order to distribute the distribution job to said distribution device by:
sequencing the stations according to the path sequence; and
on the basis of the path sequence, in a case where it is determined that a time when the delivery apparatus reaches the currently called station after completing the delivery task of the station before the currently called station does not exceed the maximum delivery time of the currently called station, including the delivery task of the station before the currently called station in the delivery task, and in a case where it is determined that a time when the delivery apparatus reaches the station after the currently called station after completing the delivery task of the currently called station does not exceed the expected call time of the station after the currently called station, including the delivery task of the station after the currently called station in the delivery task,
wherein the number of the present delivery tasks allocated to the delivery apparatus does not exceed the maximum delivery number.
8. A dispensing method as claimed in claim 7, wherein said method further comprises:
screening the delivery tasks to obtain the screened delivery tasks: and
distributing the screened tasks to the distribution devices,
the screened distribution task is obtained through the following modes: based on the path sequence, under the condition that the estimated arrival time of the delivery device to the next station after completing the delivery task of the previous station in the delivery tasks exceeds the estimated calling time of the next station, removing the delivery tasks of the next station from the delivery tasks to obtain the screened delivery tasks,
and the screened number of the current distribution tasks does not exceed the maximum distribution number.
9. A dispensing method as claimed in any one of claims 5, 6 and 8, further comprising:
and determining the estimated arrival time of the distribution device when the distribution device arrives at the next station from the previous station based on the estimated calling time of the previous station, the loading and unloading time of the material box and the path moving time required by the distribution device to arrive at the next station from the previous station.
10. A dispensing method according to claim 1, characterised in that the maximum dispensing moment is determined by:
Figure FDA0003019646920000041
wherein, TxmaxFor the maximum delivery time, TCFor the call time, MxTo fill the bin mass, MxFor empty bin mass, mxMass of a single component, nxThe number of the used parts is one unit, and T is the beat of the production line.
11. A method as claimed in claim 1 wherein the compartments of the station shelves have at least two bins, including at least an upper bin and a lower bin, and the expected call time is determined based on a change in mass of the lower bin.
12. A distribution method according to claim 11 wherein said determining an expected call time based on a change in mass of said underlying bin comprises:
and determining the time when the mass of the lower layer material box is changed into the mass of the material box body as the predicted calling moment.
13. A distribution method according to claim 11, wherein said determination of an expected call time based on a mass change of said underlying bin comprises determining by:
Figure FDA0003019646920000051
wherein, TiminFor estimating the call time, TCFor the call time, MiFor the real-time mass of the lower bin, M0For empty bin mass, miMass of a single component part, niThe number of the used parts is one unit, and T is the beat of the production line.
14. A distribution system, characterized in that the distribution system comprises:
the receiving unit is used for receiving a calling instruction sent by the current calling station;
the calculation unit is used for responding to the calling instruction and determining the estimated delivery time of at least one delivery device, the maximum delivery time of the current calling station and the estimated calling time of each station in the rest stations except the current calling station;
the distribution device distribution unit is used for distributing distribution devices to the current calling station based on the estimated delivery time and the maximum distribution time; and
a task assigning unit for assigning the present delivery task to the delivery devices based on the estimated call time of each of the remaining stations except the currently called station and the delivery capability of the delivery devices,
and the current distribution task comprises a task for distributing for the current calling station.
15. The dispensing system of claim 14,
the calculation unit is configured to determine the estimated delivery time by: determining the waiting time of a distribution device and the walking time of the distribution device, and determining the estimated delivery time based on the calling time when the current calling station sends a calling instruction, the waiting time of the distribution device and the walking time of the distribution device;
the distribution device distribution unit, based on the estimated delivery time and the maximum distribution time, distributes the distribution devices to the current calling station, and comprises: selecting the distribution device with the minimum estimated delivery time as the current calling station for distribution in the distribution device with the estimated delivery time not exceeding the maximum distribution time; and under the condition that the estimated delivery time of the plurality of delivery devices is the same, selecting the delivery device closest to the warehouse to deliver for the current calling station.
16. The delivery system according to claim 14, wherein the task assigning unit assigns the delivery tasks to the delivery devices based on the estimated calling time of each of the remaining stations other than the currently called station and the delivery capabilities of the delivery devices includes: and distributing the distribution tasks to the distribution devices according to a preset distribution rule.
17. The delivery system according to claim 16, wherein the delivery capability of the delivery devices includes a maximum delivery number, the delivery rule includes delivery according to the predicted calling time of the remaining work stations after the delivery devices arrive at the currently called work station, and the task assigning unit assigns the delivery tasks to the delivery devices by:
sequencing the time sequence of the calling time of the current calling station and the predicted calling time of the rest stations; and
on the basis of the time sequence, under the condition that the estimated arrival time of the delivery device reaching the next station after completing the delivery task of the previous station in the time sequence does not exceed the estimated calling time of the next station, the delivery task of the next station is included in the delivery task,
wherein the number of the present delivery tasks allocated to the delivery apparatus does not exceed the maximum delivery number.
18. The delivery system according to claim 16, wherein the delivery capability of the delivery apparatus includes a maximum delivery number, the delivery rule includes performing delivery in a path order after the delivery apparatus arrives at the current call station, and the task assigning unit assigns the delivery tasks to the delivery apparatus by:
sequencing the rest stations according to a path sequence; and
on the basis of the path sequence, under the condition that the estimated arrival time of the delivery device reaching the next station after completing the delivery task of the previous station in the path sequence does not exceed the estimated calling time of the next station, the delivery task of the next station is included in the delivery task,
wherein the number of the present delivery tasks allocated to the delivery device does not exceed the maximum delivery number.
19. The delivery system according to claim 16, wherein the delivery capability of the delivery apparatuses includes a maximum delivery number, the delivery rule includes delivery in a path order, and the task assigning unit assigns the delivery apparatuses with the present delivery tasks by:
sequencing the stations according to the path sequence;
on the basis of the path sequence, in a case where it is determined that a time when the delivery apparatus reaches the currently called station after completing the delivery task of the station before the currently called station does not exceed the maximum delivery time of the currently called station, including the delivery task of the station before the currently called station in the delivery task, and in a case where it is determined that a time when the delivery apparatus reaches the station after the currently called station after completing the delivery task of the currently called station does not exceed the expected call time of the station after the currently called station, including the delivery task of the station after the currently called station in the delivery task,
wherein the number of the present delivery tasks allocated to the delivery apparatus does not exceed the maximum delivery number.
20. The delivery system of claim 19, wherein the task allocation unit is further configured to:
screening the delivery tasks to obtain the screened delivery tasks: and
distributing the screened task to the distribution device,
the task allocation unit is further configured to obtain the screened current distribution task in the following manner: based on the path sequence, under the condition that the estimated arrival time of the distribution device to the next station after completing the distribution task of the previous station in the distribution task exceeds the estimated calling time of the next station, the distribution task of the next station is removed from the distribution task to obtain the screened distribution task,
and the number of the screened tasks for the current distribution does not exceed the maximum distribution number.
21. The dispensing system of any of claims 17, 18 and 20, wherein the computing unit is further configured to:
and determining the estimated arrival time of the distribution device when the distribution device arrives at the next station from the previous station based on the estimated calling time of the previous station, the loading and unloading time of the material box and the path moving time required by the distribution device to arrive at the next station from the previous station.
22. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of distribution of any one of claims 1 to 13.
23. A processor configured to execute a program, wherein the program is configured to perform: the dispensing method of any one of claims 1-13.
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