CN113534751A - Method, device and system for scheduling transport equipment, storage medium and electronic equipment - Google Patents

Method, device and system for scheduling transport equipment, storage medium and electronic equipment Download PDF

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Publication number
CN113534751A
CN113534751A CN202010352895.0A CN202010352895A CN113534751A CN 113534751 A CN113534751 A CN 113534751A CN 202010352895 A CN202010352895 A CN 202010352895A CN 113534751 A CN113534751 A CN 113534751A
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task
executed
tasks
target
busyness
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吴航
傅诚冰
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Beijing Kuangshi Robot Technology Co Ltd
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Beijing Kuangshi Robot Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

The application provides a method, a device and a system for dispatching carrying equipment, a storage medium and electronic equipment. The method for scheduling the carrying equipment comprises the following steps: acquiring a target task to be executed of the carrying equipment, wherein the target task comprises a plurality of tasks to be executed; acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target class tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed; and scheduling the tasks to be executed in the target class tasks according to the busyness and the distance parameter corresponding to each task to be executed. This application can improve warehouse efficiency.

Description

Method, device and system for scheduling transport equipment, storage medium and electronic equipment
Technical Field
The application relates to the technical field of warehousing management, in particular to a method, a device and a system for dispatching transport equipment, a storage medium and electronic equipment.
Background
In a modern automatic light forklift sub-warehouse, a light forklift is used as an automatic picking device in a warehouse, and warehouse order production can be carried out. The system automatically dispatches the forklift to some goods shelves in the goods channel, and carries the required material box to the conveying line from the goods shelves, and also can carry the material box to the goods position from the warehousing station. The fork truck can take out the workbin from different goods shelves and carry. The execution process of the task is used as an important link in the production link, and the warehouse efficiency is directly determined. At present, a mode of selecting tasks to execute nearby or randomly is often adopted in a market system, the task completion time is too long, and the warehouse efficiency is low.
In view of the above problems, no effective technical solution exists at present.
Disclosure of Invention
An object of the present application is to provide a method, an apparatus, a system, a storage medium, and an electronic device for scheduling a handling device, which can improve warehouse efficiency.
The embodiment of the application provides a method for scheduling carrying equipment, which comprises the following steps:
acquiring a target task to be executed of the carrying equipment, wherein the target task comprises a plurality of tasks to be executed;
acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target class tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed;
and scheduling the tasks to be executed in the target class tasks according to the busyness and the distance parameter corresponding to each task to be executed.
According to the embodiment of the application, the tasks to be executed in the target tasks are scheduled according to the busyness corresponding to each task to be executed and the distance parameter; therefore, the handling equipment is dispatched based on the busyness and the distance parameter, and the warehouse efficiency can be improved.
Optionally, in the method for scheduling conveying equipment according to the embodiment of the present application, the obtaining of the target task to be executed of the conveying equipment to be scheduled includes:
acquiring position information of a carrying device to be dispatched and load information of a cargo container of the carrying device;
and determining a target task class to be executed according to the load information and the position information of the cargo container, wherein the target task class comprises a plurality of tasks to be executed.
According to the embodiment of the application, the target tasks to be executed are selected through the position information of the carrying equipment and the load information of the cargo container of the carrying equipment, so that the operation efficiency of the warehouse can be improved.
Optionally, in the method for scheduling a handling apparatus according to the embodiment of the present application, determining a target task to be executed according to the load information and the position information of the cargo container includes:
when the cargo container of the carrying equipment is full, determining a first type task for placing the cargo container at the warehouse-out station or a second type task for placing the cargo container at the shelf-removing area as a target type task; or
When the cargo container of the carrying equipment is unloaded, determining a third type of task of taking the cargo container from the shelf area or executing a fourth type of task of taking the cargo container from the warehousing station as a target type of task; or
And when the cargo containers of the carrying equipment are loaded with the loading containers and the cargo containers are not fully loaded, selecting the first type tasks, the second type tasks, the third type tasks or the fourth type tasks as target type tasks according to the position information.
Optionally, in the method for scheduling handling equipment according to the embodiment of the present application, the scheduling a task to be executed in the target class task according to the busyness and the distance parameter corresponding to each task to be executed includes:
calculating a corresponding weight evaluation value according to the busyness and the distance parameter corresponding to each task to be executed;
and scheduling the tasks to be executed in the target tasks according to the weight evaluation value of each task to be executed.
Optionally, in the method for scheduling a handling device according to the embodiment of the present application, the calculating a corresponding weight evaluation value according to the busyness and the distance parameter corresponding to each task to be executed includes:
according to the formula Y ═ u1/x1+u2/x2Calculating a weight evaluation value corresponding to each task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion occupied by the distance parameter, x1For busyness, x2 is the distance parameter.
Optionally, in the method for scheduling a handling device according to the embodiment of the present application, the calculating a corresponding weight evaluation value according to the busyness and the distance parameter corresponding to each task to be executed includes:
according to the formula Y ═ u1/x1+u2/x2+u3*x3Calculating a weight evaluation value corresponding to the task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion of the distance parameter, u3For the weight proportion, x, corresponding to the priority parameter of the task to be executed1To busy degree, x2Is a distance parameter, x3Is a priority parameter of the task to be executed.
Optionally, in the method for scheduling a handling device according to the embodiment of the present application, the scheduling a task to be executed in the target class task according to the weight evaluation value of the task to be executed includes:
and selecting the tasks to be executed with the weight evaluation values larger than a preset value from the target tasks to be executed according to the weight evaluation value of each task to be executed.
Optionally, in the method for scheduling a handling device according to the embodiment of the present application, the scheduling a task to be executed in the target class task according to the weight evaluation value of the task to be executed includes:
and selecting a preset number of tasks to be executed with larger weight evaluation values from the target tasks according to the weight evaluation value of each task to be executed.
Optionally, in the method for scheduling a handling device according to the embodiment of the present application, the obtaining a busyness and a distance parameter corresponding to the task to be executed in the target class task includes:
if the first type task is set as a target type task, acquiring a distance parameter between each ex-warehouse station of a plurality of ex-warehouse stations and the current position of the carrying equipment and the busyness of each ex-warehouse station;
if the second type task is set as a target type task, acquiring a distance parameter between a target shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the target shelf position of the loading container and the current position of the carrying equipment;
if the target task is set as a third task, acquiring a distance parameter between the current shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the current shelf position of the loading container and the current position of the carrying equipment;
and if the target task is set as a fourth task, acquiring a distance parameter between each warehousing station of the plurality of warehousing stations and the current position of the carrying equipment and the busyness of each warehousing station.
In a second aspect, an embodiment of the present application further provides a handling device scheduling apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a processing module, wherein the first acquisition module is used for acquiring target tasks to be executed of the handling equipment, and the target tasks comprise a plurality of tasks to be executed;
a second obtaining module, configured to obtain a busyness and a distance parameter corresponding to each to-be-executed task in the target class task, where the distance parameter is used to describe a distance between the handling device and a destination corresponding to the to-be-executed task, and the busyness is used to describe the number of loading containers having to-be-executed tasks in an area corresponding to the to-be-executed task;
and the scheduling module is used for scheduling the tasks to be executed in the target class tasks according to the busyness corresponding to each task to be executed and the distance parameter.
In a third aspect, an embodiment of the present application further provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the electronic device executes the method according to any one of the above descriptions.
In a fourth aspect, the present application further provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to execute the method described in any one of the above.
In a fifth aspect, an embodiment of the present application further provides a handling device scheduling system, including the electronic device and at least one handling device, where the electronic device is communicatively connected to each handling device to schedule each handling device.
As can be seen from the above, in the embodiment of the application, the target tasks to be executed of the carrying device are obtained, where the target tasks include a plurality of tasks to be executed; acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target class tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed; scheduling the tasks to be executed in the target tasks according to the busyness and the distance parameter corresponding to each task to be executed; therefore, the handling equipment is dispatched based on the busyness and the distance parameter, and the warehouse efficiency can be improved.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for scheduling a handling apparatus according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a dispatching device of a handling apparatus according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a flowchart of a method for scheduling a handling apparatus according to some embodiments of the present disclosure. The method for scheduling the carrying equipment comprises the following steps:
s101, target tasks to be executed of the carrying equipment to be scheduled are obtained, and the target tasks comprise a plurality of tasks to be executed.
S102, acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed.
S103, scheduling the tasks to be executed in the target tasks according to the busyness corresponding to each task to be executed and the distance parameter.
In step S101, the cargo container of the transport apparatus may be a pack basket of the transport apparatus, and each cargo container of the transport apparatus may be loaded with m loading containers. The carrying equipment can be a forklift and also can be other carrying vehicles. Wherein the loading container stores goods therein. Wherein, the position that involves in the haulage equipment scheduling process mainly includes: a warehouse entry station, a warehouse exit station and a goods shelf area. The warehouse-in station is used for the carrying equipment to take and load the containers, the warehouse-out station is used for the carrying equipment to put down the loaded containers, and the shelf area is used for storing the loaded containers. Tasks that the handling equipment can perform can be classified into the following four categories: the loading container is placed in a warehouse-out station, the loading container is placed in a shelf area, the loading container is taken in a warehouse-in station, and the loading container is taken in a shelf area. The task of placing the loading container at the warehouse-out station can be set as a first type task, the task of placing the loading container at the shelf-removing area can be set as a second type task, the task of taking the loading container at the shelf-removing area can be set as a third type task, and the task of taking the loading container at the warehouse-in station can be set as a fourth type task.
In some embodiments, this step S101 includes the following sub-steps: s1011, acquiring position information of the conveying equipment to be dispatched and load information of a cargo container of the conveying equipment; s1012, determining target tasks to be executed according to the load information and the position information of the cargo container, wherein the target tasks comprise a plurality of tasks to be executed.
In step S1011, the load information is used to describe a case where a load container is loaded in the cargo conveyance of the conveying device, and is roughly classified into the following three states: a full load of cargo, an empty load of cargo, a load of cargo loaded with a loaded but not full load of cargo. The term "full" means that the number of loaded containers is m, and the term "empty" means that the number of loaded containers is 0. A cargo conveyance is loaded with loaded containers but is not fully loaded, meaning that the number of loaded containers is 1 to m-1.
In step S1012, the tasks to be performed that can be currently performed are sorted out according to the status of the cargo conveyance, and an appropriate task to be performed is selected according to the position information to reduce the travel distance of the conveyance device.
Specifically, in some embodiments, this step S1012 includes: s10121, if the cargo container of the carrying equipment is fully loaded, determining that a first type task for placing the cargo container at the warehouse-out station or a second type task for placing the cargo container at the shelf area is set as a target type task; s10122, if the cargo container of the carrying equipment is empty, determining a third task of taking the cargo container from the shelf area or executing a fourth task of taking the cargo container from the warehouse entry station as a target task; s10123, if the cargo container of the carrying equipment is empty, determining to fetch a third task of the loading container from the shelf removing area or executing a first task, a second task, a third task or a fourth task according to the position information to set as a target task if the cargo container of the carrying equipment is loaded with the loading container and the loading container is not fully loaded.
In step S10121, since the load container of the handling device is fully loaded, only the task of placing a loaded container, i.e., unloading a loaded container, can be performed. In this case, the transporting apparatus may be dispatched to the delivery station to place the loading container, or may be dispatched to the corresponding shelf location of the shelf area to place the loading container. And if the target class task has a loading container ex-warehouse task, directly taking the unloading loading container from the corresponding ex-warehouse station to finish the ex-warehouse of the loading container. And if the target class task has the task of placing the loading container in the shelf area, directly placing the loading container in the shelf area. If the tasks do not exist, the waiting area waits for the execution of the ex-warehouse task until the task scheduling of the target class task is completed subsequently.
In step S10122, since the cargo conveyance of the conveyance device is empty, only the task of taking the loaded container is performed, and the cargo conveyance may be taken from the storage station or from the shelf area. Specifically, if there is already a task of getting a loaded container out of the shelf area, the task is directly performed. If the task of taking the loading container from the goods shelf area does not exist, the loading container is directly taken from the warehousing station.
In step S10123, if the vehicle is in a station area, for example, in an entering station or an area near the entering station, or in an exiting station or an area near the exiting station, the station area task is executed as soon as possible; otherwise, the vehicle is in the goods shelf area, the goods shelf area task is executed as soon as possible, and the cross-area operation condition is reduced.
And if the carrying equipment is positioned at the warehouse-out station and the warehouse-in station adjacent to the warehouse-in station has the warehouse-in task of the carrying equipment, setting the task of taking the loading container from the adjacent warehouse-in station as the target class task.
In step S102, when different types of tasks are set as the target type of tasks, the busyness and the distance parameter that need to be collected are different. The loading container corresponding to the task to be executed is a loading container to be grabbed onto the carrying container of the carrying device in the task to be executed, or is a loading container to be unloaded from the carrying container of the carrying device in the task to be executed.
Specifically, in some embodiments, this step S102 includes: s1021, if the first-class task is set as a target-class task, acquiring a distance parameter between each ex-warehouse station of a plurality of ex-warehouse stations and the current position of the carrying equipment, and the busyness of each ex-warehouse station; s1022, if the second type task is set as a target type task, acquiring a distance parameter between a target shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the target shelf position of the loading container and the current position of the carrying equipment; s1023, if the target task is set as a third task, acquiring a distance parameter between the current shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the current shelf position of the loading container and the current position of the carrying equipment; and S1024, if the target task is set as a fourth task, acquiring a distance parameter between each warehousing station of the plurality of warehousing stations and the current position of the carrying equipment, and the busyness of each warehousing station.
In step S1021, since a plurality of loaded containers on the transporting apparatus can be unloaded from the same unloading station, the distance parameter between the transporting apparatus and the unloading station is obtained, that is, the distance parameter of the task to be executed corresponding to each loaded container is obtained. In addition, because the carrying equipment can select to go to one of the plurality of delivery stations for delivery, each task to be executed corresponds to a plurality of selectable tasks, but the tasks are mutually exclusive, the delivery to the A delivery station is selected, and other tasks of delivery to the B delivery station or delivery to the C delivery station are automatically deleted. In step S1022, the target shelf position is a position at which the corresponding loaded container needs to be placed when the task of placing the loaded container is performed.
In this step S1023, the current shelf position refers to the corresponding storage position of the shelf on which the loading container currently located, which is to be taken for the task, is located.
In step S1024, since the multiple loaded containers on the transporting apparatus can be unloaded from the same unloading station, the distance parameter between the transporting apparatus and the unloading station, that is, the distance parameter of the task to be executed corresponding to each loaded container, is obtained. In addition, the carrying equipment can select to go to one of the plurality of warehousing stations for picking up, so that each task to be executed corresponds to a plurality of selectable tasks, but the tasks are mutually exclusive, the task A is selected to go to the warehousing station for picking up, and other tasks of going to the B warehousing station for delivery or going to the C warehousing station for picking up are automatically deleted. Of course, it is understood that the loading containers corresponding to the tasks to be performed may be taken from different storage stations.
In step S103, when scheduling a plurality of tasks to be executed in the target tasks of the handling apparatus, the busyness and the distance parameter are referred to, so as to execute the tasks meeting the conditions efficiently and quickly.
In some embodiments, this step S103 includes the steps of: s1031, calculating corresponding weight evaluation values according to the busyness and the distance parameters corresponding to each task to be executed; s1032, scheduling the tasks to be executed in the target tasks according to the weight evaluation value of each task to be executed. In step S1032, a task to be executed whose weight evaluation value is greater than a preset value is selected from the target tasks according to the weight evaluation value of each task to be executed.
Wherein, the step S1031 specifically includes: according to the formula Y ═ u1/x1+u2/x2Calculating a weight evaluation value corresponding to each task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion occupied by the distance parameter, x1To busy degree, x2Is a distance parameter.
Alternatively, step S1031 specifically includes: according to the formula Y ═ u1/x1+u2/x2+u3*x3Calculating a weight evaluation value corresponding to each task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion of the distance parameter, u3For the weight proportion, x, corresponding to the priority parameter of the task to be executed1To busy degree, x2Is a distance parameter, x3Is a priority parameter of the task to be executed.
In some embodiments, if the first type task is the target type task, i.e. the task of removing the loading container from the warehouse, u is needed according to the formula1/x1+u2/x2And calculating the weight evaluation value of each ex-warehouse station. Wherein u is1U is the weight proportion of busyness corresponding to the outbound warehouse station2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the outbound warehouse station. x is the number of2Is the distance value between the corresponding warehouse-out station and the handling equipment. The delivery station with the largest weight evaluation value is selected from the plurality of delivery stations as the destination of the conveying equipment, and the conveying equipment moves to the delivery station with the largest weight evaluation value to perform delivery tasks.
In some embodiments, if the second type of task is targeted, the task of loading containers onto the shelved area is performed. Then u needs to be calculated according to the formula Y1/x1+u2/x2And calculating the weight evaluation value corresponding to each task to be executed. Wherein u is1U is the weight proportion of busyness of corresponding lane2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the lane. x is the number of2Is the value of the distance between the target shelf position corresponding to the loaded container and the handling device. For example, the cargo conveyance of the handling device has k3 second-type tasks, i.e., k3 load containers that need to be placed in the unloading area. According to the formula Y ═ u1/x1+u2/x2And calculating the weight evaluation value of each task to be executed, then selecting the second-class tasks with the weight evaluation value larger than a preset threshold value Q from the k3 second-class tasks, and then executing the selected second-class tasks. Or a preset number of the k3 second-class tasks with larger weight evaluation values may be reserved.
Specifically, in some embodiments, if the third type task is a target type task, the task of fetching the loading container from the shelf area is executed, and according to the formula Y, u is required1/x1+u2/x2+u3*x3And calculating the weight evaluation value corresponding to each task to be executed. u. of1U is the weight proportion of busyness of corresponding lane2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the lane. x is the number of2Is the value of the distance between the current shelf position corresponding to the loaded container and the handling device. u. of3For the weight proportion, x, corresponding to the priority parameter of the task to be executed3Is a priority parameter of the task to be executed. It is assumed that the total task of the handling device to take the loaded containers is k1, and the cargo container of the handling device can also load k2 loaded containers. Therefore, it is necessary to first obtain the formula Y ═ u1/x1+u2/x2+u3*x3The weight evaluation value of each of the k1 tasks is calculated. Then, the k2 tasks with the highest weight evaluation value are taken to execute.
In some embodiments, if the fourth type of task is taken as a target type of task, that is, a task of removing a loading container from a warehousing station is executed, u is required according to the formula Y1/x1+u2/x2And calculating the weight evaluation value of each warehousing station. Wherein u is1Is the weight proportion of busyness of the warehousing station, u2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the warehousing station. x is the number of2Is the distance value between the corresponding warehousing station and the handling equipment. And selecting the warehousing station with the largest weight evaluation value from the plurality of warehousing stations as the destination of the conveying equipment, and enabling the conveying equipment to go to the warehousing station with the largest weight evaluation value to perform warehousing tasks.
As can be seen from the above, in the embodiment of the application, the target tasks to be executed of the carrying device are obtained, where the target tasks include a plurality of tasks to be executed; acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target class tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed; scheduling the tasks to be executed in the target tasks according to the busyness and the distance parameter corresponding to each task to be executed; therefore, the handling equipment is dispatched based on the busyness and the distance parameter, and the warehouse efficiency can be improved.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a dispatching device of a handling apparatus in some embodiments of the present application, the dispatching device of the handling apparatus including: a first acquisition module 201, a second acquisition module 202, and a scheduling module 203.
The first obtaining module 201 is configured to obtain a target task to be executed of the handling equipment, where the target task includes multiple tasks to be executed; the load container of the transport apparatus may be a pack basket of the transport apparatus, and the load container of each transport apparatus may be loaded with m load containers. Wherein the loading container stores goods therein. Wherein, the position that involves in the haulage equipment scheduling process mainly includes: a warehouse entry station, a warehouse exit station and a goods shelf area. The warehouse-in station is used for the carrying equipment to take and load the containers, the warehouse-out station is used for the carrying equipment to put down the loaded containers, and the shelf area is used for storing the loaded containers. Tasks that the handling equipment can perform can be classified into the following four categories: the loading container is placed in a warehouse-out station, the loading container is placed in a shelf area, the loading container is taken in a warehouse-in station, and the loading container is taken in a shelf area. The task of placing the loading container at the warehouse-out station can be set as a first type task, the task of placing the loading container at the shelf-removing area can be set as a second type task, the task of taking the loading container at the shelf-removing area can be set as a third type task, and the task of taking the loading container at the warehouse-in station can be set as a fourth type task.
In some embodiments, the first obtaining module 201 is configured to obtain position information of a handling apparatus to be dispatched and load information of a cargo container of the handling apparatus; and determining a target task class to be executed according to the load information and the position information of the cargo container, wherein the target task class comprises a plurality of tasks to be executed.
The load information is used to describe a state in which a load container is loaded in a cargo container of the transport apparatus, and is roughly classified into the following three states: a full load of cargo, an empty load of cargo, a load of cargo loaded with a loaded but not full load of cargo. The term "full" means that the number of loaded containers is m, and the term "empty" means that the number of loaded containers is 0. A cargo conveyance is loaded with loaded containers but is not fully loaded, meaning that the number of loaded containers is 1 to m-1. And screening the tasks to be executed which can be executed currently according to the state of the cargo container, and selecting a proper task to be executed according to the position information so as to reduce the running distance of the carrying equipment.
Specifically, in some embodiments, the first obtaining module 201 is configured to determine that a first type of task for placing a loading container at an outbound station or a second type of task for placing a loading container at a shelf area is set as a target type of task if the cargo container of the transporting apparatus is fully loaded; if the cargo container of the carrying equipment is unloaded, determining a third task of taking the cargo container from the shelf area or executing a fourth task of taking the cargo container from the warehousing station as a target task; and if the cargo containers of the carrying equipment are unloaded, determining a third task of taking the loaded containers from the goods shelf area or executing a third task of selecting the first task, the second task, the third task or the fourth task as a target task according to the position information if the cargo containers of the carrying equipment are loaded with the loaded containers and the cargo containers are not fully loaded.
When the load carrier of the handling device is fully loaded, it is therefore only possible to carry out the task of loading the load carrier, i.e. unloading the load carrier. In this case, the transporting apparatus may be dispatched to the delivery station to place the loading container, or may be dispatched to the corresponding shelf location of the shelf area to place the loading container. And if the target class task has a loading container ex-warehouse task, directly taking the unloading loading container from the corresponding ex-warehouse station to finish the ex-warehouse of the loading container. And if the target class task has the task of placing the loading container in the shelf area, directly placing the loading container in the shelf area. If the tasks do not exist, the waiting area waits for the execution of the ex-warehouse task until the task scheduling of the target class task is completed subsequently.
When the cargo container of the carrying equipment is unloaded, the task of taking the loading container can be only executed, and the loading container can be taken by going to a warehouse station and also can be taken by going to a goods shelf area. Specifically, if there is already a task of getting a loaded container out of the shelf area, the task is directly performed. If the task of taking the loading container from the goods shelf area does not exist, the loading container is directly taken from the warehousing station.
When the carrying equipment is in a station area, for example, in an area of an warehousing station or an area close to a warehousing station, and in an area of an ex-warehouse station or an area close to an ex-warehouse station, the station area task is executed as soon as possible; otherwise, the vehicle is in the goods shelf area, the goods shelf area task is executed as soon as possible, and the cross-area operation condition is reduced.
And if the carrying equipment is positioned at the warehouse-out station and the warehouse-in station adjacent to the warehouse-in station has the warehouse-in task of the carrying equipment, setting the task of taking the loading container from the adjacent warehouse-in station as the target class task.
In some embodiments, the first obtaining module 201 includes: the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the position information of the conveying equipment to be dispatched and the load information of a cargo container of the conveying equipment; the determining unit is used for determining a target task to be executed according to the load information and the position information of the cargo container, and the target task comprises a plurality of tasks to be executed.
The second obtaining module 202 is configured to obtain a busy level and a distance parameter corresponding to each to-be-executed task in the target class task, where the distance parameter is used to describe a distance between the handling device and a destination corresponding to the to-be-executed task, and the busy level is used to describe the number of loading containers having to-be-executed tasks in an area corresponding to the to-be-executed task. When different types of tasks are set as target tasks, busyness and distance parameters needing to be collected are different to a certain extent. The loading container corresponding to the task to be executed is a loading container to be grabbed onto the carrying container of the carrying device in the task to be executed, or is a loading container to be unloaded from the carrying container of the carrying device in the task to be executed.
Specifically, in some embodiments, the second obtaining module 202 is configured to: if the first type task is set as a target type task, acquiring a distance parameter between each ex-warehouse station of a plurality of ex-warehouse stations and the current position of the carrying equipment and the busyness of each ex-warehouse station; if the second type task is set as a target type task, acquiring a distance parameter between a target shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the target shelf position of the loading container and the current position of the carrying equipment; if the target task is set as a third task, acquiring a distance parameter between the current shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the current shelf position of the loading container and the current position of the carrying equipment; and if the target task is set as a fourth task, acquiring a distance parameter between each warehousing station of the plurality of warehousing stations and the current position of the carrying equipment and the busyness of each warehousing station.
Since the plurality of loaded containers on the carrying device can be delivered from the same delivery station, the distance parameter between the carrying device and the delivery station is obtained, that is, the distance parameter of the task to be executed corresponding to each loaded container is obtained. In addition, because the carrying equipment can select to go to one of the plurality of delivery stations for delivery, each task to be executed corresponds to a plurality of selectable tasks, but the tasks are mutually exclusive, the delivery to the A delivery station is selected, and other tasks of delivery to the B delivery station or delivery to the C delivery station are automatically deleted. The target shelf position at this step refers to a position where the corresponding loaded container needs to be placed when performing the load container placing task. The current shelf position refers to the corresponding storage position of the shelf where the loading container currently located, which is to be taken for the task, is located. Since the plurality of loaded containers on the carrying device can be delivered from the same delivery station, the distance parameter between the carrying device and the delivery station is obtained, that is, the distance parameter of the task to be executed corresponding to each loaded container is obtained. In addition, the carrying equipment can select to go to one of the plurality of warehousing stations for picking up, so that each task to be executed corresponds to a plurality of selectable tasks, but the tasks are mutually exclusive, the task A is selected to go to the warehousing station for picking up, and other tasks of going to the B warehousing station for delivery or going to the C warehousing station for picking up are automatically deleted. Of course, it is understood that the loading containers corresponding to the tasks to be performed may be taken from different storage stations.
The scheduling module 203 is configured to schedule the tasks to be executed in the target class task according to the busyness and the distance parameter corresponding to each task to be executed. When a plurality of tasks to be executed in the target tasks of the carrying equipment are scheduled, the busyness and the distance parameter are referred to, so that the tasks meeting the conditions can be executed efficiently and quickly.
In some embodiments, the scheduling module 203 is configured to calculate a corresponding weight evaluation value according to a busyness and a distance parameter corresponding to each to-be-executed task; and scheduling the tasks to be executed in the target tasks according to the weight evaluation value of each task to be executed. The scheduling module 20 may select a task to be executed from the target class tasks according to the weight evaluation value of each task to be executed, where the weight evaluation value is greater than a preset value.
In some embodiments, the scheduling module 203 is specifically configured to: according to the formula Y ═ u1/x1+u2/x2Calculating a weight evaluation value corresponding to each task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion occupied by the distance parameter, x1To busy degree, x2Is a distance parameter.
In some embodiments, the scheduling module 203 is specifically configured to: according to the formula Y ═ u1/x1+u2/x2+u3*x3Calculating a weight evaluation value corresponding to each task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion of the distance parameter, u3For the weight proportion, x, corresponding to the priority parameter of the task to be executed1To busy degree, x2Is a distance parameter, x3Is a priority parameter of the task to be executed.
In some embodiments, if the first type task is the target type task, i.e. the task of removing the loading container from the warehouse, u is needed according to the formula1/x1+u2/x2And calculating the weight evaluation value of each ex-warehouse station. Wherein u is1U is the weight proportion of busyness corresponding to the outbound warehouse station2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the outbound warehouse station. x is the number of2Is the distance value between the corresponding warehouse-out station and the handling equipment. The delivery station with the largest weight evaluation value is selected from the plurality of delivery stations as the destination of the conveying equipment, and the conveying equipment moves to the delivery station with the largest weight evaluation value to perform delivery tasks.
In some embodiments, if the second type of task is targeted, the task of loading containers onto the shelved area is performed. Then u needs to be calculated according to the formula Y1/x1+u2/x2And calculating the weight evaluation value corresponding to each task to be executed. Wherein u is1U is the weight proportion of busyness of corresponding lane2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the lane. x is the number of2Is the value of the distance between the target shelf position corresponding to the loaded container and the handling device. For example, the cargo conveyance of the handling device has k3 second-type tasks, i.e., k3 load containers that need to be placed in the unloading area. According to the formula Y ═ u1/x1+u2/x2And calculating the weight evaluation value of each task to be executed, then selecting the second-class tasks with the weight evaluation value larger than a preset threshold value Q from the k3 second-class tasks, and then executing the selected second-class tasks. Or a preset number of the k3 second-class tasks with larger weight evaluation values may be reserved.
Specifically, in some embodiments, if the third type of task is the target type of task, a shelf-off pick is performedThe task of loading the container requires u according to the formula1/x1+u2/x2+u3*x3And calculating the weight evaluation value corresponding to each task to be executed. u. of1U is the weight proportion of busyness of corresponding lane2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the lane. x is the number of2Is the value of the distance between the current shelf position corresponding to the loaded container and the handling device. u. of3For the weight proportion, x, corresponding to the priority parameter of the task to be executed3Is a priority parameter of the task to be executed. It is assumed that the total task of the handling device to take the loaded containers is k1, and the cargo container of the handling device can also load k2 loaded containers. Therefore, it is necessary to first obtain the formula Y ═ u1/x1+u2/x2+u3*x3The weight evaluation value of each of the k1 tasks is calculated. Then, the k2 tasks with the highest weight evaluation value are taken to execute.
In some embodiments, if the fourth type of task is taken as a target type of task, that is, a task of removing a loading container from a warehousing station is executed, u is required according to the formula Y1/x1+u2/x2And calculating the weight evaluation value of each warehousing station. Wherein u is1Is the weight proportion of busyness of the warehousing station, u2Is the weight proportion occupied by the distance parameter, x1Corresponding to the busyness of the warehousing station. x is the number of2Is the distance value between the corresponding warehousing station and the handling equipment. And selecting the warehousing station with the largest weight evaluation value from the plurality of warehousing stations as the destination of the conveying equipment, and enabling the conveying equipment to go to the warehousing station with the largest weight evaluation value to perform warehousing tasks.
As can be seen from the above, in the embodiment of the application, the target tasks to be executed of the carrying device are obtained, where the target tasks include a plurality of tasks to be executed; acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target class tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed; scheduling the tasks to be executed in the target tasks according to the busyness and the distance parameter corresponding to each task to be executed; therefore, the handling equipment is dispatched based on the busyness and the distance parameter, and the warehouse efficiency can be improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the present disclosure provides an electronic device 3, including: the processor 301 and the memory 302, the processor 301 and the memory 302 being interconnected and communicating with each other via a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing a computer program executable by the processor 301, the processor 301 executing the computer program when the computing device is running to perform the method of any of the alternative implementations of the embodiments described above.
The embodiment of the application provides a carrying device dispatching system, which comprises the electronic device and at least one carrying device, wherein the electronic device is in communication connection with each carrying device so as to dispatch each carrying device. The carrying equipment is used for carrying out goods-moving area loading corresponding loading containers under the dispatching of the electronic equipment, or carrying out goods-moving area laying down corresponding loading containers, or carrying out goods outgoing corresponding to a goods outgoing station, or carrying out goods incoming operation corresponding to a goods incoming station.
The embodiment of the present application provides a storage medium, and when being executed by a processor, the computer program performs the method in any optional implementation manner of the above embodiment. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (13)

1. A method for scheduling a carrier, comprising:
acquiring a target task to be executed of a carrying device to be scheduled, wherein the target task comprises a plurality of tasks to be executed;
acquiring a busyness degree and a distance parameter corresponding to each task to be executed in the target class tasks, wherein the distance parameter is used for describing the distance between the carrying equipment and a destination corresponding to the task to be executed, and the busyness degree is used for describing the number of loading containers with the tasks to be executed in an area corresponding to the task to be executed;
and scheduling the tasks to be executed in the target class tasks according to the busyness and the distance parameter corresponding to each task to be executed.
2. The method for scheduling conveying equipment according to claim 1, wherein the acquiring the target class task to be executed of the conveying equipment to be scheduled comprises:
acquiring position information of a carrying device to be dispatched and load information of a cargo container of the carrying device;
and determining the target class task to be executed according to the load information and the position information of the cargo container.
3. The method of claim 2, wherein determining the target class task to be performed based on the load information and the position information of the cargo conveyance comprises:
when the cargo container of the carrying equipment is full, determining a first type task for placing the cargo container at the warehouse-out station or a second type task for placing the cargo container at the shelf-removing area as a target type task; or
When the cargo container of the carrying equipment is unloaded, determining a third type of task of taking the cargo container from the shelf area or executing a fourth type of task of taking the cargo container from the warehousing station as a target type of task; or
And when the cargo containers of the carrying equipment are loaded with the loading containers and the cargo containers are not fully loaded, selecting the first type tasks, the second type tasks, the third type tasks or the fourth type tasks as target type tasks according to the position information.
4. The method for scheduling conveying equipment according to claim 1, wherein the scheduling the tasks to be executed in the target class of tasks according to the busyness and the distance parameter corresponding to each task to be executed comprises:
calculating a corresponding weight evaluation value according to the busyness and the distance parameter corresponding to each task to be executed;
and scheduling the tasks to be executed in the target tasks according to the weight evaluation value of each task to be executed.
5. The method for scheduling conveying equipment according to claim 4, wherein the calculating of the corresponding weight evaluation value according to the busyness and the distance parameter corresponding to each task to be executed comprises:
according to the formula Y ═ u1/x1+u2/x2Calculating a weight evaluation value corresponding to each task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion occupied by the distance parameter, x1For busyness, x2 is the distance parameter.
6. The method for scheduling conveying equipment according to claim 4, wherein the calculating of the corresponding weight evaluation value according to the busyness and the distance parameter corresponding to each task to be executed comprises:
according to the formula Y ═ u1/x1+u2/x2+u3*x3Calculating a weight evaluation value corresponding to the task to be executed; wherein Y is a weight evaluation value, u1Is the weight proportion of busyness, u2Is the weight proportion of the distance parameter, u3For the weight proportion, x, corresponding to the priority parameter of the task to be executed1To busy degree, x2Is a distance parameter, x3Is a priority parameter of the task to be executed.
7. The method for scheduling the conveying equipment according to claim 4, wherein the scheduling the task to be executed in the target class task according to the weight evaluation value of the task to be executed comprises:
and selecting the tasks to be executed with the weight evaluation values larger than a preset value from the target tasks to be executed according to the weight evaluation value of each task to be executed.
8. The method for scheduling the conveying equipment according to claim 4, wherein the scheduling the task to be executed in the target class task according to the weight evaluation value of the task to be executed comprises:
and selecting a preset number of tasks to be executed with larger weight evaluation values from the target tasks according to the weight evaluation value of each task to be executed.
9. The method for scheduling conveying equipment according to claim 3, wherein the acquiring busyness and distance parameters corresponding to the tasks to be executed in the target class tasks comprises:
when the first-class task is set as a target-class task, acquiring a distance parameter between each ex-warehouse station of a plurality of ex-warehouse stations and the current position of the carrying equipment and the busyness of each ex-warehouse station;
when the second type task is set as a target type task, acquiring a distance parameter between a target shelf position of a loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the target shelf position of the loading container and the current position of the carrying equipment;
when the target task is set as a third task, acquiring a distance parameter between the current shelf position of the loading container corresponding to each task to be executed and the current position of the carrying equipment, and the busyness of a cargo channel between the current shelf position of the loading container and the current position of the carrying equipment;
and when the target task is set as a fourth task, acquiring a distance parameter between each warehousing station of the plurality of warehousing stations and the current position of the carrying equipment and the busyness of each warehousing station.
10. A handling apparatus scheduling apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a processing module, wherein the first acquisition module is used for acquiring target tasks to be executed of the handling equipment, and the target tasks comprise a plurality of tasks to be executed;
a second obtaining module, configured to obtain a busyness and a distance parameter corresponding to each to-be-executed task in the target class task, where the distance parameter is used to describe a distance between the handling device and a destination corresponding to the to-be-executed task, and the busyness is used to describe the number of loading containers having to-be-executed tasks in an area corresponding to the to-be-executed task;
and the scheduling module is used for scheduling the tasks to be executed in the target class tasks according to the busyness corresponding to each task to be executed and the distance parameter.
11. An electronic device comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform the method of any of claims 1-9.
12. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the method according to any of claims 1-9.
13. A carrier scheduling system comprising the electronic device of claim 11 and at least one carrier, the electronic device communicatively coupled to each of the carriers for scheduling each of the carriers.
CN202010352895.0A 2020-04-15 2020-04-28 Method, device and system for scheduling transport equipment, storage medium and electronic equipment Pending CN113534751A (en)

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Application publication date: 20211022