CN113655796A - Dynamic planning method and device for carrying path, electronic equipment and storage medium - Google Patents
Dynamic planning method and device for carrying path, electronic equipment and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention provides a method and a device for dynamically planning a carrying path, electronic equipment and a storage medium, wherein the method comprises the following steps: configuring corresponding routing information and equipment information for each routing point in the warehousing control system in advance; receiving a path planning request aiming at a carrying task from a starting point S to a destination point D; determining an optimal carrying path from a starting point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, and determining the optimal carrying path as a carrying path of the carrying task; selecting a conveying device for executing the conveying task from the routing points according to the device information corresponding to the routing points aiming at each routing point passed by the conveying path of the conveying task; and returning the conveying path of the conveying task and the conveying equipment information for executing the conveying task in each routing point passed by the conveying path.
Description
Technical Field
The invention relates to the technical field of warehousing control, in particular to a method and a device for dynamically planning a carrying path, electronic equipment and a storage medium.
Background
In a current warehouse control system, carriers (e.g., containers, trays, etc.) are transported from a starting point to a destination point via one or more types of transportation equipment. The following two methods are currently used to select and control the execution sequence of the handling apparatus:
the first is a hard coding method, i.e. the selection and execution sequence of the equipment is fixed in the coding process, which requires that each item is coded and configured, the coding implementation is complex and the coupling with the item and the equipment is high.
The second is a data configuration mode, that is, the selection and execution sequence of the devices are set by a configuration file or data table mode, which can solve the disadvantages of the hard coding mode, but the configuration file mode is single and is only suitable for the execution scenario of a single device, if a node includes multiple handling devices, each handling device needs to be configured, and the data redundancy and implementation are cumbersome.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, an electronic device and a storage medium for dynamically planning a transportation path, which can reduce data redundancy and are simple to implement.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for dynamically planning a carrying path comprises the following steps:
receiving a path planning request aiming at a carrying task from a starting point S to a destination point D;
determining an optimal carrying path from a starting point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, and determining the optimal carrying path as a carrying path of the carrying task; wherein, the route information corresponding to each route point is preset;
selecting a conveying device for executing the conveying task from the routing points according to the device information corresponding to the routing points aiming at each routing point passed by the conveying path of the conveying task; wherein, the device information corresponding to each routing point is preset;
and returning the conveying task and the conveying equipment information for executing the conveying task in each routing point passed by the conveying path of the conveying task.
A dynamic planning device for a transportation path comprises:
a receiving unit configured to receive a path planning request for a transfer task from a start point S to a destination point D;
the route selection unit is used for determining an optimal conveying route from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehousing control system, and determining the optimal conveying route as the conveying route of the conveying task; wherein, the route information corresponding to each route point is preset;
the equipment selection unit is used for selecting one conveying equipment for executing the conveying task from the routing points according to the equipment information corresponding to the routing points aiming at each routing point passed by the conveying path of the conveying task; wherein, the device information corresponding to each routing point is preset;
and the feedback unit is used for returning the conveying task and conveying equipment information used for executing the conveying task in each routing point through which the conveying path of the conveying task passes.
An electronic device, comprising: the system comprises at least one processor and a memory connected with the at least one processor through a bus; the memory stores one or more computer programs executable by the at least one processor; the at least one processor, when executing the one or more computer programs, implements the steps in the above method for dynamic routing of a transfer path.
A computer-readable storage medium storing one or more computer programs which, when executed by a processor, implement the steps in the above-described method for dynamic planning of a transfer path.
According to the technical scheme, the route information and the equipment information corresponding to each route point in the warehousing control system are configured in advance; and after receiving a path planning request aiming at a carrying task from the starting point S to the destination point D, planning a carrying path according to the routing information corresponding to each routing point, and selecting carrying equipment in each routing point in the carrying path according to the equipment information corresponding to each routing point, thereby completing path planning and executing equipment selection. Due to the fact that the carrying path is dynamically planned and the execution equipment is selected for the carrying task, the carrying path and the execution equipment do not need to be configured in advance, data redundancy can be effectively reduced, implementation is simple, and the optimal carrying path of the carrying task can be planned and obtained, and therefore carrying efficiency of the carrying task can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a flowchart of a dynamic routing method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a second method for dynamically planning a transportation path according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for dynamically planning a carrying path according to a third embodiment of the present invention;
FIG. 4 is a flowchart of a method for dynamically planning a fourth carrying path according to an embodiment of the present invention;
FIG. 5 is a flowchart of a five-way dynamic planning method according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a dynamic transfer path planning apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description and claims of the present invention and in the above drawings, the terms "comprise" and "have," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
In a warehouse control system, the transportation of a vehicle from an origin to a destination may require the participation of multiple transport equipment and through multiple transport segments. In the embodiment of the present invention, the section through which a single transport apparatus transports a vehicle is referred to as a transport section. For example, when a certain vehicle is transported from a position a on a first floor to a position B on a second floor, at least one transporting device is required to transport the vehicle from the position a on the first floor to the elevator on the first floor, and then the vehicle is transported from the elevator to the position B on the second floor by the transporting device on the second floor, and this transporting process uses the transporting device on the first floor, the elevator, and the transporting device on the second floor, and the transporting process is performed through three transporting paths: position a-first floor elevator entrance, first floor elevator-second floor elevator, second floor elevator-position B.
In the embodiment of the present invention, the position at which the transport facility for performing the transport task is selected and/or replaced is referred to as a routing point, and for example, in the process of performing the transport task for transporting the vehicle from the position a of the first floor to the position B of the second floor, the transport facility for the transport task needs to be selected at the position a, and the transport facility for the transport task needs to be replaced at both the entrance of the first floor and the entrance of the second floor. In addition, since the transfer task may also be a transfer task from location B to another location (e.g., location a), location B is also a routing point in the warehouse control system.
In an embodiment of the invention, the routing points are divided into central routing points and edge routing points, wherein the central routing points are used for replacing the transport equipment (and thus changing the transport sections) during the execution of the transport tasks, such as the first floor elevator entrance and the second floor elevator entrance mentioned above, and the edge routing points are usually the starting points and destination points of the transport tasks and cannot be used for transport equipment replacement, such as the position a and the position B mentioned above.
The following describes the dynamic transfer path planning method provided by the embodiment of the present invention in detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of a method for dynamically planning a transportation path according to an embodiment of the present invention, and as shown in fig. 1, the method mainly includes the following steps:
the step 101 is executed only once at the initial start, and after the start, only the path planning procedure from the step 102 to the step 105 needs to be executed each time a path planning request is received.
102, receiving a path planning request aiming at a carrying task from an initial point S to a destination point D;
103, determining an optimal carrying path from an initial point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, and determining the optimal carrying path as a carrying path of the carrying task;
and 105, returning the conveying task and the conveying equipment information for executing the conveying task in each routing point passed by the conveying path of the conveying task.
As can be seen from the method shown in fig. 1, in this embodiment, routing information and device information corresponding to each routing point in the warehousing control system are configured in advance; and after receiving a path planning request aiming at a carrying task from the starting point S to the destination point D, planning a carrying path according to the routing information corresponding to each routing point, and selecting carrying equipment in each routing point in the carrying path according to the equipment information corresponding to each routing point, thereby completing path planning and executing equipment selection. Due to the fact that the carrying path is dynamically planned and the execution equipment is selected for the carrying task, the carrying path and the execution equipment do not need to be configured in advance, data redundancy can be effectively reduced, implementation is simple, and the optimal carrying path of the carrying task can be planned and obtained, and therefore carrying efficiency of the carrying task can be improved.
Referring to fig. 2, fig. 2 is a flowchart of a second method for dynamically planning a transportation path according to an embodiment of the present invention, and as shown in fig. 2, the method mainly includes the following steps:
in this embodiment, the routing information corresponding to each routing point includes: the routing link information with the routing point as the only intermediate node and the use state of each routing link; the usage status includes available and unavailable.
In this embodiment, whether the routing link is available or not may be dynamically set by a worker according to a specific situation, or may be set by the warehousing control system according to an operation state of the routing link, for example, when a certain transporting device stops traveling on the routing link due to a fault, traveling of other transporting devices on the routing link may be affected, and at this time, a use state of the routing link may be set as unavailable, so that a transporting path including the routing link may not be considered when a transporting path of a subsequent transporting task is planned.
in this embodiment, when a new transport task is generated or received in the warehousing control system, a path planning request for the new transport task may be issued, where an initial point S and a destination point D of the new transport task are an initial point and a destination point of a transport path to be planned.
in this embodiment, when the path is planned, only the routing links whose use states are available are considered, so that all the routing links included in the finally planned transportation path are available, thereby ensuring smooth execution of subsequent transportation tasks.
In practical application, there may be a plurality of conveying paths from the starting point S to the destination point D, and the optimum conveying path is selected from the conveying paths as the conveying path of the conveying task, so that the conveying efficiency of the subsequent conveying task can be improved.
The above steps 2031 to 2033 are specific refinements of step 103 shown in fig. 1.
and step 205, returning the conveying task and the conveying equipment information for executing the conveying task in each routing point passed by the conveying path of the conveying task.
In this embodiment, the information of the conveying equipment for executing the conveying task in each routing point through which the conveying path of the conveying task and the conveying path of the conveying task pass may be returned to the warehousing control system as a path planning result for the conveying task.
As can be seen from the method shown in fig. 2, in this embodiment, routing information and device information corresponding to each routing point in the warehousing control system are configured in advance; after receiving a path planning request aiming at a carrying task from a starting point S to a destination point D, planning a carrying path according to a routing link and the use state of the routing link included in the routing information corresponding to each routing point, and selecting carrying equipment in each routing point in the carrying path according to equipment information corresponding to each routing point, thereby completing path planning and executing equipment selection. Due to the fact that the carrying path is dynamically planned and the execution equipment is selected for the carrying task, the carrying path and the execution equipment are not required to be configured in advance, data redundancy can be effectively reduced, implementation is simple, and the carrying efficiency of the carrying task can be effectively improved due to the fact that the optimal carrying path of the carrying task can be planned and unavailable routing links are excluded.
Referring to fig. 3, fig. 3 is a flowchart of a method for dynamically planning a three-transportation path according to an embodiment of the present invention, and as shown in fig. 3, the method mainly includes the following steps:
301, configuring routing point information for each routing point in the storage control system in advance; wherein, each routing point information includes routing information and equipment information corresponding to the routing point;
in this embodiment, the routing information corresponding to each routing point includes: the routing link information with the routing point as the only intermediate node and the use state of each routing link; the usage status includes available and unavailable, wherein 0 may be used to indicate available and 1 may be used to indicate unavailable.
In this embodiment, whether the routing link is available or not may be dynamically set by a worker according to a specific situation, or may be set by the warehousing control system according to an operation state of the routing link, for example, when a certain transporting device stops traveling on the routing link due to a fault, traveling of other transporting devices on the routing link may be affected, and at this time, a use state of the routing link may be set as unavailable, so that a transporting path including the routing link may not be considered when a transporting path of a subsequent transporting task is planned.
In this embodiment, the routing link information includes: a start node and an end node of the routing link. Since each routing link of each routing point takes the routing point as a unique intermediate node, it can be known that the routing link is: the starting node-the route point-the ending node-comprises a total of 3 route points in the route link.
The table is an example of routing link information for a plurality of routing points in the warehouse control system:
| routing link numbering | Route point (middle node) | Start node | End node | State of use |
| 1 | R01 | A | R02 | 0 |
| 2 | R01 | A | R04 | 0 |
| 3 | R02 | R01 | R03 | 0 |
| 4 | R03 | R02 | B | 0 |
| 5 | R03 | R04 | B | 0 |
| 6 | R04 | R01 | R03 | 0 |
| 7 | R04 | R01 | C | 0 |
Watch 1
As can be seen from the above table one, the warehousing control system includes 7 routing points in total, A, B, C is an edge routing point, R01, R02, R03, and R04 are central routing points, wherein no corresponding routing link information exists at the edge routing point A, B, C; the route link information corresponding to the central route point R01 has 2 pieces, which are route link 1 and route link 2 respectively; the route link information corresponding to the central route point R02 has 1, which is route link 3; the route link information corresponding to the central route point R03 has 2 pieces, which are route link 4 and route link 5 respectively; there are 2 pieces of routing link information corresponding to the central routing point R04, namely routing link 6 and routing link 7.
in this embodiment, when a new transport task is generated or received in the warehousing control system, a path planning request for the new transport task may be issued, where an initial point S and a destination point D of the new transport task are an initial point and a destination point of a transport path to be planned.
in this embodiment, when the path is planned, only the routing links whose use states are available are considered, so that all the routing links included in the finally planned transportation path are available, thereby ensuring smooth execution of subsequent transportation tasks.
Step 3032a, marking the starting point S as a first node, and circularly executing the following iterative operation steps 3032b to 3032f until all iterative branches are ended:
step 3032D, judging whether the end node of the routing link is the destination point D, if so, executing step 3032e, otherwise, executing step 3032 f;
The above steps 3032a to 3032f are specific refinements of step 2032 shown in fig. 2.
The following takes table one as an example, and the functions realized in steps 3032a to 3032f are described with reference to specific examples.
Assuming that the starting point of the conveying task is a and the destination point is B, and a conveying path from the starting point a to the destination point B is planned, the specific process is as follows:
first, it is determined that all of the routing link information in table one is available, and therefore, all participate in path planning.
Secondly, determining the starting point A as a first node, executing first loop iteration, and finding a routing link taking the first node as the starting point: routing link 1 and routing link 2.
Next, steps 3032d to 3032f are performed for routing link 1 and routing link 2 respectively:
1) the end node of routing link 1 is R02 and R02 is an intermediate routing point, so R02 is determined to be the first node, and the loop iteration is performed again: finding a routing link starting from the first node R02: a routing link 3;
2) step 3032d to step 3032f are performed for the routing link 3: the end node of routing link 3 is R03 and R03 is an intermediate routing point, so R03 is determined to be the first node, and the loop iteration is performed again: finding a routing link starting from the first node R03: a routing link 4;
3) step 3032d to step 3032f are performed for the routing link 4: the end node of the routing link 3 is B, which is the destination point, so a transit path from a to B can be determined: A-R01-R02-R03-B, the iteration branch is ended.
1) the end node of routing link 2 is R04 and R04 is an intermediate routing point, so R04 is determined to be the first node, and the loop iteration is performed again: finding a routing link starting from the first node R04: a routing link 5;
2) steps 3032d to 3032f are performed for the routing link 5: the end node of the routing link 5 is B, which is the destination point, so a transit path from a to B can be determined: A-R01-R04-R03-B, the iteration branch is ended.
So far, all the iteration branches end, and in the iteration process, two carrying paths from a to B are found in total: A-R01-R02-R03-B and A-R01-R04-R03-B.
And step 3033, screening the determined conveying paths to obtain an optimal conveying path from the starting point S to the destination point D.
In practical application, there may be a plurality of conveying paths from the starting point S to the destination point D, and the optimum conveying path is selected from the conveying paths as the conveying path of the conveying task, so that the conveying efficiency of the subsequent conveying task can be improved.
The above steps 3031 to 3033 are specific refinements of the step 103 shown in fig. 1.
and 305, returning the conveying task and the conveying equipment information for executing the conveying task in each routing point passed by the conveying path of the conveying task.
In this embodiment, the information of the conveying equipment for executing the conveying task in each routing point through which the conveying path of the conveying task and the conveying path of the conveying task pass may be returned to the warehousing control system as a path planning result for the conveying task.
As can be seen from the method shown in fig. 3, in this embodiment, routing information and device information corresponding to each routing point in the warehousing control system are configured in advance; after receiving a path planning request aiming at a carrying task from a starting point S to a destination point D, determining a plurality of carrying paths according to a routing link and the using state of the routing link included in routing information corresponding to each routing point, selecting an optimal carrying path from the carrying paths, and selecting carrying equipment in each routing point in the optimal carrying path according to equipment information corresponding to each routing point, thereby completing path planning and executing equipment selection. Due to the fact that the carrying path is dynamically planned and the execution equipment is selected for the carrying task, the carrying path and the execution equipment are not required to be configured in advance, data redundancy can be effectively reduced, implementation is simple, and the carrying efficiency of the carrying task can be effectively improved due to the fact that the optimal carrying path of the carrying task can be planned and unavailable routing links are excluded.
Referring to fig. 4, fig. 4 is a flowchart of a dynamic planning method for four transportation paths according to an embodiment of the present invention, and as shown in fig. 4, the method mainly includes the following steps:
in this embodiment, the remaining bearing capacity of each routing point may be initialized to the highest bearing capacity of the routing point, and then the remaining bearing capacity of the routing point may be decreased when the routing point is included in the transportation path planned for the transportation task, and the remaining bearing capacity of the routing point may be increased after the transportation task is completed.
In this embodiment, the routing information corresponding to each routing point includes: the routing link information with the routing point as the only intermediate node and the use state of each routing link; the usage status includes available and unavailable.
In this embodiment, whether the routing link is available or not may be dynamically set by a worker according to a specific situation, or may be set by the warehousing control system according to an operation state of the routing link, for example, when a certain transporting device stops traveling on the routing link due to a fault, traveling of other transporting devices on the routing link may be affected, and at this time, a use state of the routing link may be set as unavailable, so that a transporting path including the routing link may not be considered when a transporting path of a subsequent transporting task is planned. In addition, when the remaining bearing capacity of a certain routing point is less than or equal to 0, the use states of all routing links with the routing point as the only intermediate node may be set as unavailable. If the above situation is not met, the use state of the routing link may be set to be available.
in this embodiment, when a new transport task is generated or received in the warehousing control system, a path planning request for the new transport task may be issued, where an initial point S and a destination point D of the new transport task are an initial point and a destination point of a transport path to be planned.
in this embodiment, when the path is planned, only the routing links whose use states are available are considered, so that all the routing links included in the finally planned transportation path are available, thereby ensuring smooth execution of subsequent transportation tasks.
in this embodiment, the carrying paths of the carrying tasks being executed in the warehousing control system may be obtained first, and then the carrying paths that do not conflict with the carrying paths of the carrying tasks being executed in the warehousing control system may be found from the determined carrying paths.
in this embodiment, the shortest conveying path from the starting point S to the destination point D can be found by searching the conveying path including the least routing points.
In this embodiment, each routing point information further includes a working mode of the routing point, where the working mode includes one-way transportation and two-way transportation. When carrying in two-way, if the carrying paths of two carrying tasks include the same route point and the carrying directions of the carrying paths of the two carrying tasks on the route point are different, the carrying paths of the two carrying tasks conflict, and the two carrying tasks can not be executed at the same time, otherwise, the carrying equipment risks colliding.
In this embodiment, finding out a transportation path that does not conflict with a transportation path of a transportation task being executed in the warehousing control system from the determined transportation paths may specifically include:
determining a routing point in a conveying path contained in the conveying path of the conveying task which is executed in the warehousing control system aiming at each determined conveying path, and if no routing point meeting a preset condition exists in the determined routing points, determining that the conveying path does not conflict with the conveying path of the conveying task which is executed in the warehousing control system; the routing points meeting the preset conditions are as follows: the working mode is bidirectional conveying, and the conveying direction of the conveying path at the routing point is different from the conveying direction of the conveying path of the conveying task executed in the warehousing control system at the routing point.
step 4033D, if multiple carrying paths are found, calculating the sum of the remaining carrying capacities of the routing points included in each carrying path, determining the carrying path with the highest sum of the remaining carrying capacities of the included routing points as the optimal carrying path from the starting point S to the destination point D, reducing the remaining carrying capacity of each routing point included in the optimal carrying path by a first preset value, and turning to step 404;
in practical application, there may be a plurality of conveying paths from the starting point S to the destination point D, and the conveying path with the highest comprehensive bearing capacity score is selected from the conveying paths as the optimal conveying path for the conveying task, so that the conveying efficiency of the subsequent conveying task can be effectively improved. In this embodiment, the sum of the remaining carrying capacities of all the routing points in the carrying path is used as the carrying capacity comprehensive score of the carrying path.
The above steps 4031 to 4033d are specific refinements of step 103 shown in fig. 1.
and 405, returning the conveying task and conveying equipment information for executing the conveying task in each routing point through which the conveying path of the conveying task passes.
In this embodiment, the information of the conveying equipment for executing the conveying task in each routing point through which the conveying path of the conveying task and the conveying path of the conveying task pass may be returned to the warehousing control system as a path planning result for the conveying task.
As can be seen from the method shown in fig. 4, in this embodiment, routing information and device information corresponding to each routing point in the warehousing control system are configured in advance; after receiving a path planning request for a carrying task from an initial point S to a destination point D, determining a carrying path according to a routing link and a use state of the routing link included in routing information corresponding to each routing point, finding out an optimal carrying path according to three factors of whether the path conflicts or not, whether the included number of routing points is minimum or not, and whether the sum of the remaining bearing capacity of the routing points is maximum or not, and selecting carrying equipment in each routing point in the optimal carrying path according to equipment information corresponding to each routing point, thereby completing path planning and executing equipment selection. Due to the fact that the carrying path is dynamically planned and the execution equipment is selected for the carrying task, the carrying path and the execution equipment are not required to be configured in advance, data redundancy can be effectively reduced, implementation is simple, and the carrying efficiency of the carrying task can be effectively improved due to the fact that the optimal carrying path of the carrying task can be planned and the conflicting and unavailable routing links are excluded.
Referring to fig. 5, fig. 5 is a flowchart of a five-carrying-path dynamic planning method according to an embodiment of the present invention, and as shown in fig. 5, the method mainly includes the following steps:
in this embodiment, the device information corresponding to each routing point includes: the use state and the remaining bearing capacity of each handling device in the routing point; the usage status includes available and unavailable.
In this embodiment, the use state of the transportation device may be set according to actual conditions, for example, when the transportation device is failed or the remaining carrying capacity of the transportation device is less than or equal to 0, the use state of the transportation device may be set as unavailable, otherwise, the use state of the transportation device may be set as available.
at step 5041, for each routing point through which the transport path of the transport task passes, the following operations 5042 to 5043 are performed:
the above steps 5041 to 5043 are specific refinements of the step 104 shown in fig. 1, wherein the steps 5042 to 5043 are specific refinements of "selecting a conveying apparatus for performing the conveying task in the route point according to the apparatus information corresponding to the route point" in the step 104 shown in fig. 1.
And 505, returning the conveying task and the conveying equipment information for executing the conveying task in each routing point through which the conveying path of the conveying task passes.
As can be seen from the method shown in fig. 5, in this embodiment, routing information and device information corresponding to each routing point in the warehousing control system are configured in advance; and after receiving a path planning request aiming at a carrying task from the starting point S to the destination point D, planning a carrying path according to the routing information corresponding to each routing point, and selecting carrying equipment in each routing point in the carrying path according to the residual bearing capacity of the carrying equipment in each routing point, thereby completing path planning and executing equipment selection. Due to the fact that the carrying path is dynamically planned and the execution equipment is selected for the carrying task, the carrying path and the execution equipment do not need to be configured in advance, data redundancy can be effectively reduced, implementation is simple, the optimal carrying path of the carrying task can be planned and obtained, and the carrying equipment with the highest residual bearing capacity in each routing point of the optimal carrying path is selected as the execution equipment, and therefore carrying efficiency of the carrying task can be improved.
The method for dynamically planning the transportation path according to the embodiment of the present invention is described in detail above, and an apparatus for dynamically planning the transportation path is also provided in the embodiment of the present invention, which is described in detail below with reference to fig. 6:
referring to fig. 6, fig. 6 is a schematic structural diagram of a dynamic transfer path planning apparatus according to an embodiment of the present invention, and as shown in fig. 6, the apparatus includes:
a receiving unit 601 configured to receive a path planning request for a transport task from a start point S to a destination point D;
a path selecting unit 602, configured to determine an optimal carrying path from a starting point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, and determine the optimal carrying path as a carrying path of the carrying task; wherein, the route information corresponding to each route point is preset;
a device selecting unit 603, configured to select, for each route point through which a transport path of the transport task passes, a transport device for executing the transport task from the route point according to device information corresponding to the route point; wherein, the device information corresponding to each routing point is preset;
a feedback unit 604, configured to return the conveying task and conveying equipment information for executing the conveying task in each routing point through which the conveying path of the conveying task passes.
In the device shown in figure 6 of the drawings,
the routing information corresponding to each routing point includes: the routing link information with the routing point as the only intermediate node and the use state of each routing link; the usage status includes available and unavailable;
the path selecting unit 602 determines an optimal transportation path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehousing control system, and includes:
searching a routing link with an available use state in routing information corresponding to each routing point;
determining all carrying paths from a starting point S to a destination point D according to the routing link information with the available use state;
and screening the determined conveying paths to obtain an optimal conveying path from the starting point S to the destination point D.
In the device shown in figure 6 of the drawings,
the routing link information includes: a start node and an end node of the routing link;
the path selecting unit 602 determines all the transportation paths from the starting point S to the destination point D according to the routing link information whose use state is available, including:
marking the starting point S as a first node, and circularly executing the following iterative operations until all iterative branches are ended:
searching the routing link of which the starting node is the first node from the routing links of which the use state is available,
for each routing link looked up, the following operations are performed:
if the end node of the routing link is the destination point D, determining all routing links through which the routing link passes and a carrying path determined by the routing link as a carrying path from the starting point S to the destination point D, and ending the iteration branch;
if the end node of the routing link is not the destination point D, determining the end node of the routing link as a first node when the end node of the routing link is a central routing point; when the end node of the routing link is an edge routing point, the iterative branch is ended.
In the device shown in figure 6 of the drawings,
the path selecting unit 602, which selects an optimal conveying path from the starting point S to the destination point D from the determined conveying paths, includes:
finding out a conveying path which does not conflict with the conveying path of the conveying task executed in the warehousing control system from the determined conveying paths;
finding a conveying path with the least routing points from conveying paths which do not conflict with the conveying paths of the conveying tasks executed in the warehousing control system;
if only one carrying path is found, determining the carrying path as an optimal carrying path from the starting point S to the destination point D, and reducing the residual bearing capacity of each routing point contained in the optimal carrying path by a first preset value;
if a plurality of carrying paths are found, calculating the sum of the residual carrying capacities of the routing points contained in each carrying path, determining the carrying path with the highest sum of the residual carrying capacities of the contained routing points as the optimal carrying path from the starting point S to the destination point D, and reducing the residual carrying capacity of each routing point contained in the optimal carrying path by a first preset value;
the residual bearing capacity of each routing point is initialized to the highest bearing capacity of the routing point in advance;
the receiving unit 601, after the feedback unit 604 returns the conveying task conveying path and conveying equipment information for executing the conveying task at each routing point through which the conveying path of the conveying task passes, further includes:
and receiving the notice of the completion of the execution of the conveying task, and informing a path selection unit to increase the residual bearing capacity of each routing point included in the conveying path of the conveying task by a first preset value.
In the device shown in figure 6 of the drawings,
the path selecting unit 602 finds a transportation path that does not conflict with a transportation path of a transportation task being executed in the stocker control system from the determined transportation paths, and includes:
determining a routing point in a conveying path contained in the conveying path of the conveying task which is executed in the warehousing control system aiming at each determined conveying path, and if no routing point meeting a preset condition exists in the determined routing points, determining that the conveying path does not conflict with the conveying path of the conveying task which is executed in the warehousing control system;
the routing points meeting the preset conditions are as follows: the working mode is bidirectional conveying, and the conveying direction of the conveying path at the routing point is different from the conveying direction of the conveying path of the conveying task executed in the warehousing control system at the routing point; the working mode of each routing point is preset, and the working mode comprises one-way conveying and two-way conveying.
In the device shown in figure 6 of the drawings,
the device information corresponding to each routing point includes: the use state and the remaining bearing capacity of each handling device in the routing point; the usage status includes available and unavailable;
the device selecting unit 603, which selects one transporting device for executing the transporting task from the routing point according to the device information corresponding to the routing point, includes:
determining the handling equipment with the available use state in the routing point;
selecting the carrying equipment with the highest residual carrying capacity from the carrying equipment which is available in the using state, determining the carrying equipment as the carrying equipment for executing the carrying task, and reducing the residual carrying capacity of the carrying equipment by a second preset value;
the receiving unit 601, after the feedback unit 604 returns the conveying task conveying path and conveying equipment information for executing the conveying task at each routing point through which the conveying path of the conveying task passes, further includes:
receiving the notification of the completion of the execution of the transport task, the notification device selecting unit 603 increases the remaining carrying capacity of the transport device for executing the transport task in each routing point included in the transport path of the transport task by a second preset value.
An embodiment of the present invention further provides an electronic device, as shown in fig. 7, where the electronic device includes: at least one processor 701, and a memory 702 connected to the at least one processor 702 through a bus; the memory stores one or more computer programs executable by the at least one processor 701; the at least one processor 701, when executing the one or more computer programs, implements the steps of the method illustrated in any of the flowcharts of fig. 1-5.
Embodiments of the present invention also provide a computer-readable storage medium storing one or more computer programs which, when executed by a processor, implement the steps in the method shown in any of the flowcharts of fig. 1-5.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for dynamically planning a carrying path is characterized by comprising the following steps:
receiving a path planning request aiming at a carrying task from a starting point S to a destination point D;
determining an optimal carrying path from a starting point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, and determining the optimal carrying path as a carrying path of the carrying task; wherein, the route information corresponding to each route point is preset;
selecting a conveying device for executing the conveying task from the routing points according to the device information corresponding to the routing points aiming at each routing point passed by the conveying path of the conveying task; wherein, the device information corresponding to each routing point is preset;
and returning the conveying task and the conveying equipment information for executing the conveying task in each routing point passed by the conveying path of the conveying task.
2. The method of claim 1,
the routing information corresponding to each routing point includes: the routing link information with the routing point as the only intermediate node and the use state of each routing link; the usage status includes available and unavailable;
determining an optimal carrying path from a starting point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, wherein the optimal carrying path comprises the following steps:
searching a routing link with an available use state in routing information corresponding to each routing point;
determining all carrying paths from a starting point S to a destination point D according to the routing link information with the available use state;
and screening the determined conveying paths to obtain an optimal conveying path from the starting point S to the destination point D.
3. The method of claim 2,
the routing link information includes: a start node and an end node of the routing link;
determining all the conveying paths from the starting point S to the destination point D according to the routing link information with the available use state, wherein the method comprises the following steps:
marking the starting point S as a first node, and circularly executing the following iterative operations until all iterative branches are ended:
searching the routing link of which the starting node is the first node from the routing links of which the use state is available,
for each routing link looked up, the following operations are performed:
if the end node of the routing link is the destination point D, determining all routing links through which the routing link passes and a carrying path determined by the routing link as a carrying path from the starting point S to the destination point D, and ending the iteration branch;
if the end node of the routing link is not the destination point D, determining the end node of the routing link as a first node when the end node of the routing link is a central routing point; when the end node of the routing link is an edge routing point, the iterative branch is ended.
4. The method of claim 2,
screening the determined conveying paths to obtain an optimal conveying path from the starting point S to the destination point D, wherein the optimal conveying path comprises the following steps:
finding out a conveying path which does not conflict with the conveying path of the conveying task executed in the warehousing control system from the determined conveying paths;
finding a conveying path with the least routing points from conveying paths which do not conflict with the conveying paths of the conveying tasks executed in the warehousing control system;
if only one carrying path is found, determining the carrying path as an optimal carrying path from the starting point S to the destination point D, and reducing the residual bearing capacity of each routing point contained in the optimal carrying path by a first preset value;
if a plurality of carrying paths are found, calculating the sum of the residual carrying capacities of the routing points contained in each carrying path, determining the carrying path with the highest sum of the residual carrying capacities of the contained routing points as the optimal carrying path from the starting point S to the destination point D, and reducing the residual carrying capacity of each routing point contained in the optimal carrying path by a first preset value;
the residual bearing capacity of each routing point is initialized to the highest bearing capacity of the routing point in advance;
after the conveying equipment information for executing the conveying task in each routing point through which the conveying path of the conveying task and the conveying path of the conveying task pass is returned, the method further includes:
and receiving the notice of completion of the execution of the carrying task, and increasing the residual bearing capacity of each routing point included in the carrying path of the carrying task by a first preset value.
5. The method of claim 4,
finding a transfer path from the determined transfer paths that does not conflict with a transfer path of a transfer task being performed in the stocker control system, the method comprising:
determining a routing point in a conveying path contained in the conveying path of the conveying task which is executed in the warehousing control system aiming at each determined conveying path, and if no routing point meeting a preset condition exists in the determined routing points, determining that the conveying path does not conflict with the conveying path of the conveying task which is executed in the warehousing control system;
the routing points meeting the preset conditions are as follows: the working mode is bidirectional conveying, and the conveying direction of the conveying path at the routing point is different from the conveying direction of the conveying path of the conveying task executed in the warehousing control system at the routing point; the working mode of each routing point is preset, and the working mode comprises one-way conveying and two-way conveying.
6. The method of claim 1,
the device information corresponding to each routing point includes: the use state and the remaining bearing capacity of each handling device in the routing point; the usage status includes available and unavailable;
selecting one conveying device for executing the conveying task from the routing points according to the device information corresponding to the routing points, wherein the conveying device comprises:
determining the handling equipment with the available use state in the routing point;
selecting the carrying equipment with the highest residual carrying capacity from the carrying equipment which is available in the using state, determining the carrying equipment as the carrying equipment for executing the carrying task, and reducing the residual carrying capacity of the carrying equipment by a second preset value;
after the conveying equipment information for executing the conveying task in each routing point through which the conveying path of the conveying task and the conveying path of the conveying task pass is returned, the method further includes:
and receiving the carrying task execution completion notice, and increasing the residual bearing capacity of the carrying equipment for executing the carrying task in each routing point included in the carrying path of the carrying task by a second preset value.
7. A dynamic planning device for a transportation path is characterized by comprising:
a receiving unit configured to receive a path planning request for a transfer task from a start point S to a destination point D;
the route selection unit is used for determining an optimal conveying route from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehousing control system, and determining the optimal conveying route as the conveying route of the conveying task; wherein, the route information corresponding to each route point is preset;
the equipment selection unit is used for selecting one conveying equipment for executing the conveying task from the routing points according to the equipment information corresponding to the routing points aiming at each routing point passed by the conveying path of the conveying task; wherein, the device information corresponding to each routing point is preset;
and the feedback unit is used for returning the conveying task and conveying equipment information used for executing the conveying task in each routing point through which the conveying path of the conveying task passes.
8. The apparatus of claim 7,
the routing information corresponding to each routing point includes: the routing link information with the routing point as the only intermediate node and the use state of each routing link; the usage status includes available and unavailable;
the path selection unit determines an optimal carrying path from a starting point S to a destination point D according to routing information corresponding to each routing point in the warehousing control system, and comprises the following steps:
searching a routing link with an available use state in routing information corresponding to each routing point;
determining all carrying paths from a starting point S to a destination point D according to the routing link information with the available use state;
and screening the determined conveying paths to obtain an optimal conveying path from the starting point S to the destination point D.
9. An electronic device, comprising: the system comprises at least one processor and a memory connected with the at least one processor through a bus; the memory stores one or more computer programs executable by the at least one processor; characterized in that the at least one processor, when executing the one or more computer programs, implements the steps in the method of any one of claims 1-6.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more computer programs which, when executed by a processor, implement the steps in the method of any one of claims 1-6.
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