CN113822612B

CN113822612B - Method and device for controlling a transport device

Info

Publication number: CN113822612B
Application number: CN202010844773.3A
Authority: CN
Inventors: 孟令博; 董红宇
Original assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Current assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2023-09-26
Anticipated expiration: 2040-08-20
Also published as: CN113822612A

Abstract

The invention discloses a control method and a control device of a transportation device, and relates to the technical field of logistics. The method comprises the following steps: acquiring a first container for containing information of a conveying device, a second container for containing information of goods to be distributed and a third container for containing clamping information; when cargo information of unloaded cargos exists in the second container, taking the cargo information of the second container as target cargo information; determining a target transportation device according to the target cargo information; according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is idle earliest in the third container is used as a target clamping position, the target clamping position is distributed to a target transportation device, and the target transportation device is controlled to be dispatched to the target clamping position in the earliest idle time so as to finish the loading process of the goods corresponding to the target goods information. According to the method and the device, the accuracy of estimating the time required for loading the goods corresponding to the target goods information can be improved, and the calculation complexity is low.

Description

Method and device for controlling a transport device

Technical Field

The invention relates to the technical field of logistics, in particular to a control method and a control device of a conveying device.

Background

The logistics simulation is an effective means for evaluating the capacity of the whole logistics system, and has the biggest advantage that the influence of the change of a certain link on the whole system can be verified before the project scheme is implemented, and the feasibility of the project scheme can be verified. For example: the time required for loading the cargoes can be estimated in a logistic simulation mode, and the accuracy of the estimated time required for loading the cargoes directly influences the subsequent distribution process. However, the existing control method has low accuracy in predicting the time required for loading the cargoes, and the subsequent delivery process is seriously affected.

Disclosure of Invention

In view of the above, the embodiments of the present invention provide a method and an apparatus for controlling a transportation device, which can solve the problem that the accuracy of estimating the time required for loading the cargo in the existing control method is low.

To achieve the above object, according to one aspect of the embodiments of the present invention, there is provided a control method of a transportation device.

The control method of the transportation device provided by the embodiment of the invention comprises the following steps:

acquiring a first container for containing information of a conveying device, a second container for containing information of goods to be distributed and a third container for containing clamping information;

when cargo information of unloaded cargos exists in the second container, taking each group of cargo information of the second container as target cargo information;

Determining a target transportation device according to the target cargo information;

according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is the earliest idle in the third container is used as a target clamping position, the target clamping position is distributed to the target transportation device, and the target transportation device is controlled to be dispatched to the target clamping position in the earliest idle time, so that the loading process of the goods corresponding to the target goods information is completed.

Optionally, after the steps of taking the earliest idle time of each card bit in the third container as a target card bit according to the preset sequence of the earliest idle time of each card bit in the third container, distributing the target card bit to the target transportation device, controlling the target transportation device to dispatch to the target card bit in the earliest idle time so as to complete the loading process of the corresponding goods of the target goods information, the method further includes:

determining the time required by the target transportation device for loading the goods corresponding to the target goods information;

determining the earliest idle time of the next time of the target clamping position according to the time required by the target transport device for loading the goods corresponding to the target goods information;

And updating the sequence of the earliest idle time of each clamping position in the third container and the grouping number of the cargo information of the unloaded cargoes in the second container according to the earliest idle time of the next time of the target clamping position.

Optionally, determining the time required for the target transportation device to load the cargo corresponding to the target cargo information includes:

determining a cargo quantity of the target cargo information and a capacity parameter of the target transport device;

and determining the time required by the target transportation device to load the corresponding goods corresponding to the target goods information according to the goods quantity of the target goods information and the capacity parameter of the target transportation device.

Optionally, the determining the target transportation device according to the target cargo information includes:

and determining a target transportation device according to the preset corresponding relation between the first container in-transit transportation device and the cargo information in the second container and the target cargo information.

Optionally, before the step of determining the target transportation device corresponding to the target cargo information according to the corresponding relationship between the preset transportation device and the cargo information in sequence, the method further includes:

Sorting each transport device in the first container according to a capacity parameter;

sorting each group of goods information in the second container according to the number of goods;

and distributing the cargo information of the second container to the cargo devices of the first container one by one according to the ordering of the cargo devices of the first container and the ordering of the cargo information of the second container, and forming a corresponding relation between the cargo information of the first container and the cargo information of the second container, wherein the cargo with the largest cargo quantity in the second container is distributed to the cargo device with the largest capacity parameter in the first container.

after loading of the goods corresponding to the target goods information is completed, determining a target delivery path of the target transportation device;

Determining an origin of the target transportation device and a delivery destination corresponding to each set of cargo information on the target transportation device;

determining a target delivery path of the target transportation device by using an operation optimization algorithm according to the origin of the target transportation device and the delivery destination corresponding to each group of goods information on the target transportation device, wherein the target delivery path comprises at least one delivery node;

and controlling the target transportation device to run according to the corresponding target delivery path so as to deliver the goods corresponding to the target goods information loaded by the target transportation device to the corresponding destination.

Optionally, after the step of determining the target delivery path of the target transportation device using an operation optimization algorithm, the method further comprises:

determining the receiving time of each delivery node in the target delivery path;

and sending the receiving time to a receiving terminal corresponding to each delivery node according to the receiving time of each delivery node in the target delivery path.

In order to achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a control device of a transportation device.

The control device of the transport device of the embodiment of the invention comprises:

The system comprises an acquisition module, a storage module and a storage module, wherein the acquisition module is used for acquiring a first container for containing information of a conveying device, a second container for containing information of goods to be distributed and a third container for containing clamping information;

a first determining module, configured to, when cargo information of unloaded cargo exists in the second container, take each set of cargo information of the second container as target cargo information;

the second determining module is used for determining a target transportation device according to the target cargo information;

the scheduling module is used for taking the earliest idle position in the third container as a target position according to the preset sequence of the earliest idle time of each position in the third container, distributing the target position to the target transportation device, and controlling the target transportation device to schedule the earliest idle time to the target position so as to finish the loading process of the goods corresponding to the target goods information.

To achieve the above object, according to still another aspect of an embodiment of the present invention, there is provided an electronic apparatus.

The electronic equipment of the embodiment of the invention comprises:

one or more processors;

storage means for storing one or more programs,

The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above.

To achieve the above object, according to still another aspect of an embodiment of the present invention, a computer-readable medium is provided.

The computer readable medium of an embodiment of the present invention has stored thereon a computer program which, when executed by a processor, implements a method as described above.

One embodiment of the above invention has the following advantages or benefits:

according to the control method of the transport device, according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is obtained by the earliest idle time in the third container is used as a target clamping position, the target clamping position is distributed to the target transport device, and the target transport device is controlled to be dispatched to the target clamping position in the earliest idle time, so that the loading process of the goods corresponding to the target goods information is completed. The method can improve the estimated accuracy of the time required for loading the goods corresponding to the target goods information, has low calculation complexity and can rapidly calculate the scheduling result of the transportation device.

Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

fig. 1 is a flow chart of a control method of a transporting device according to a first embodiment of the present invention;

FIG. 2 is a flow chart of a control method of a transporting device according to a second embodiment of the present invention;

FIG. 3 is a flow chart of a control method of a transportation device according to a third embodiment of the present invention;

FIG. 4 is a schematic diagram of the origin and destination of a target transportation device according to an embodiment of the present invention;

FIG. 5 is a schematic illustration of an actual delivery path of a prior art dispatcher;

FIG. 6 is a schematic diagram of a target delivery path of a target transportation device according to an embodiment of the present invention;

FIG. 7 is a block schematic diagram of a control device of a transport device according to an embodiment of the invention;

FIG. 8 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

fig. 9 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 is a flow chart of a control method of a transport device according to a first embodiment of the present invention, and as shown in fig. 1, the control method of the transport device may specifically include the following steps:

step 101: a first container for containing transporter information, a second container for containing cargo information to be dispensed, and a third container for containing detent information are obtained.

In step 101, the first container is used to accommodate information of a transportation device, where the transportation device may be a delivery vehicle or a logistics robot, and the information of the transportation device includes at least: the number of the transportation device, the capacity parameter, the corresponding distributor and other information. The capacity parameter is used for indicating the loading capacity of the dispatcher corresponding to the transportation device. The second container is used for containing information of goods to be distributed, and the information of the goods to be distributed at least comprises: information such as the number of goods, the delivery destination, and the like. The information of the goods to be distributed in the second container takes groups as units, and the quantity of the goods in each group of the information of the goods is at least one. The third container is used for containing clamping information, the clamping function is a structure which is convenient for the transportation device to load cargoes, and the clamping is generally arranged at a platform of the distribution center. The clamping information at least comprises: the card number and the earliest idle time of the card. The first container, the second container, and the third container may be a collection or a list, or the like. Wherein the first container, the second container and the third container are preferably a list.

Step 102: and when the cargo information of the unloaded cargo exists in the second container, taking the cargo information of the second container as target cargo information.

Before step 102, it may be determined whether cargo information of unloaded cargo exists in the second container; if yes, go to step 102; otherwise, the flow is ended.

In step 102, when there are multiple sets of cargo information of unloaded cargo in the second container, the cargo information in the second container may be ordered according to the cargo quantity of each set of cargo information, and each set of cargo information is sequentially used as target cargo information according to the obtained order, so as to determine a transport device and a clamping position for loading the cargo corresponding to the target cargo information. For example: the cargo information in the second container may be ordered from more to less according to the number of cargos, and each group of cargo information may be sequentially used as the target cargo information from more to less according to the number of cargos.

Step 103: and determining a target transportation device according to the target cargo information.

In step 103, a target transportation device may be determined according to a preset correspondence between the first container in-transit transportation device and the cargo information in the second container and the target cargo information. It is understood that the target transportation means refers to a transportation means for loading the goods corresponding to the target goods information.

In order to make the loading efficiency of the target cargo information higher, a correspondence relationship between the transportation means in the first container and the cargo information of the second container may be predefined before step 103. When defining the corresponding relation between the transportation devices and the cargo information, each transportation device in the first container may be ordered according to the capability parameter; then sorting each group of goods information in the second container according to the quantity of the goods; and finally, distributing the cargo information of the second container to the cargo devices of the first container one by one according to the sequence of the cargo devices of the first container and the sequence of the cargo information of the second container, distributing the cargo with the largest cargo quantity in the second container to the cargo device with the largest capacity parameter in the first container, and forming the corresponding relation between the cargo information in the first container and the cargo information in the second container.

The capacity parameter is used to indicate the loading capacity of the dispatcher corresponding to the transportation device. To facilitate description of the capacity parameter, a description of the number of loads per unit time of the dispenser may be used (which may be understood simply as the number of shipping devices being provided). Since the dispatcher of each transporter is stationary, there is a one-to-one correspondence between the transporter and the dispatcher, such that the capability parameter can be identified as an attribute of the transporter. And the higher the capacity parameter of the transporter, the more the loader of the transporter.

Step 104: according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is the earliest idle in the third container is used as a target clamping position, the target clamping position is distributed to the target transportation device, and the target transportation device is controlled to be dispatched to the target clamping position in the earliest idle time, so that the loading process of the goods corresponding to the target goods information is completed.

In step 104, the earliest idle time of the bit is used to indicate the time corresponding to the adjustment of the bit from the use state to the idle state. When each clamping position in the third container is distributed for the first time, the earliest idle time of each clamping position is the time for the transportation device to reach the clamping position. When each of the plurality of bits in the third container is allocated again, the earliest idle time of each of the plurality of bits may be understood as the time when the loading of the transport device is completed during the last allocation, and the time when the loading of the transport device is completed during the last allocation is the sum of the time when the last arrival of the plurality of bits is achieved and the time required for loading the cargo. Because each clamping position is in an idle state during primary allocation, namely the time for completing loading by the transport device when the last allocation is performed is 0, the time for reaching the clamping position of the transport device is the earliest idle time of each clamping position. In order to facilitate allocation of bits to the transporter, the ordering of the earliest idle time for each bit in the third container needs to be predefined prior to step 104.

After step 104, after the target transportation device completes the loading process of the goods corresponding to the target goods information, determining a target delivery path of the target transportation device; and controlling the target transportation device to run according to the corresponding target delivery path so as to deliver the corresponding goods of the target goods information loaded by the target transportation device to the corresponding destination.

Referring to fig. 4 to 6, in determining a target delivery path of the target transportation device, an origin of the target transportation device and a delivery destination of each group of goods on the target transportation device may be first determined; and then determining a target delivery path of the target transportation device by using an operation optimization algorithm according to the origin of the target transportation device and the delivery destination of each group of goods on the target transportation device. Meanwhile, the receiving time of each delivery node in the target delivery path can be determined; for example: the time to reach each delivery node can be estimated based on the travel time between the two delivery nodes, the time each delivery node needs to stay (service time), and the departure time. And then, according to the receiving time of each delivery node in the target delivery path, sending the receiving time to a receiving terminal corresponding to each delivery node, thereby avoiding the condition that the delivery staff confirms the receiving time of the clients one by one.

In addition, after step 104, the earliest idle time of the target card may be determined and the ordering of the earliest idle time of each card in the third container may be updated based on the earliest idle time of the target card. The earliest idle time of the target location may be understood as the sum of the time the target transport device arrives at the target location and the time required to load the corresponding cargo of the target cargo information.

When determining the sum of the time required for loading the corresponding goods of the target goods information, firstly determining the quantity of the goods of the target goods information and the capacity parameter of the target transportation device; the capacity parameter is used for representing the loading capacity of the transport device corresponding to the target transport device; and then determining the time required by the target transportation device for loading the goods corresponding to the target goods information according to the goods quantity of the target goods information and the capacity parameter of the target transportation device. Since the time required for loading the cargo information is different for different dispatchers and the dispatchers are in one-to-one correspondence with the transportation devices, the loading capacity of the dispatchers can be described by the capacity parameter. Determining the time required for the target transportation device to load the corresponding goods of the target goods information based on the number of goods to be loaded and the capacity parameters of the transportation device can enable the accuracy to be higher.

In general, the longer the load is required for a larger number of loads to be loaded, the general trend can be described as: as the number of goods increases when the number of goods is small, the loading time steadily increases; but as the number of goods increases when the number of goods is large, the time required for loading increases rapidly. It is therefore not suitable to describe the relationship between the number of goods of the target goods information and the required time for loading the corresponding goods of the target goods information with a simple linear relationship, and for this purpose the following model is proposed to describe the relationship between the number of goods of the target goods information and the required time for loading the corresponding goods of the target goods information:

wherein t represents the time required for loading the goods corresponding to the target goods information; x represents the cargo quantity of the target cargo information; x is x ₀ Inflection point, x, representing the number of loads ₀ Is an empirical value; x is x _max An upper limit representing the amount of cargo loaded; a, a ₁ ,a ₂ ,a ₃ ,a ₄ Are all constant.

In the case where the number of cargos of the target cargo information is the same, as the capacity parameter increases, the required time for loading the target cargo information corresponding to the cargos smoothly decreases and tends to a stable value, and thus the relationship between the capacity parameter of the transportation device and the required time for loading the target cargo information corresponding to the cargos is described using the following formula:

Wherein y represents a capacity parameter of the transportation device or referred to as the number of loading, a ₅ ,a ₆ ,a ₇ Are all constant.

In summary, equation 3) can be obtained according to equation 1) and equation 2), and equation 3) is a model that comprehensively considers the cargo quantity of the target cargo information and the capacity parameter of the transportation device. The time required for the target transportation device to load the corresponding cargo of the target cargo information may be determined based on the following formula 3):

it will be appreciated that the ordering of the earliest idle time of each clip in the third container is formed based on the number of items of the target item information and the capacity parameters of the transporter.

The control method of the transport device according to the embodiment of the invention is based on greedy idea, according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is the earliest idle in the third container is used as a target clamping position, the target clamping position is distributed to the target transport device, and the target transport device is controlled to be dispatched to the target clamping position in the earliest idle time so as to complete the loading process of the goods corresponding to the target goods information. The method can improve the estimated accuracy of the time required for loading the goods corresponding to the target goods information, has low calculation complexity and can rapidly calculate the scheduling result of the transportation device.

Fig. 2 is a flow chart of a control method of a transportation device according to a second embodiment of the present invention, and as shown in fig. 2, the control method of the transportation device may specifically include the following steps:

step 201: a first container for containing transporter information, a second container for containing cargo information to be dispensed, and a third container for containing detent information are obtained.

In step 201, the first container is used to hold information of a transportation device, where the transportation device may be a delivery vehicle or a logistics robot, and the information of the transportation device includes at least: the number of the transportation device, the capacity parameter, the corresponding distributor and other information. The capacity parameter is used for indicating the loading capacity of the dispatcher corresponding to the transportation device. The second container is used for containing information of goods to be distributed, and the information of the goods to be distributed at least comprises: information such as the number of goods, the delivery destination, and the like. The information of the goods to be distributed in the second container takes groups as units, and the quantity of the goods in each group of the information of the goods is at least one. The third container is used for containing clamping information, the clamping function is a structure which is convenient for the transportation device to load cargoes, and the clamping is generally arranged at the dock. The clamping information at least comprises: the card number and the earliest idle time of the card. The first container, the second container, and the third container may be a collection or a list, or the like. Wherein the first container, the second container and the third container are preferably a list.

Step 202: judging whether cargo information of unloaded cargoes exists in the second container; if yes, go to step 203; otherwise, the flow is ended.

Step 203: and when the cargo information of the unloaded cargo exists in the second container, taking the cargo information of the second container as target cargo information.

In step 203, when there are multiple sets of cargo information of unloaded cargo in the second container, the cargo information in the second container may be ordered according to the cargo quantity of each set of cargo information, and each set of cargo information is sequentially used as target cargo information according to the obtained order, so as to determine a transport device and a clamping position for loading the cargo corresponding to the target cargo information. For example: the cargo information in the second container may be ordered from more to less according to the number of cargos, and each group of cargo information may be sequentially used as the target cargo information from more to less according to the number of cargos.

Step 204: and determining a target transportation device according to the preset corresponding relation between the first container in-transit transportation device and the cargo information in the second container and the target cargo information.

In order to make the loading efficiency of the target cargo information higher, a correspondence relationship between the transportation means in the first container and the cargo information of the second container may be predefined before step 204. When defining the corresponding relation between the transportation devices and the cargo information, each transportation device in the first container may be ordered according to the capability parameter; then sorting each group of goods information in the second container according to the quantity of the goods; according to the ordering of the transport devices in the first container and the ordering of the cargo information in the second container, the cargo information of the second container is allocated to the transport devices of the first container one by one, the cargo information with the largest cargo quantity in the second container is allocated to the transport device with the largest capacity parameter in the first container, and the corresponding relation between the transport devices in transport of the first container and the cargo information in the second container is formed.

The capacity parameter is used to indicate the loading capacity of the dispatcher corresponding to the transportation device. To facilitate description of the capacity parameter, a description of the number of shippers' loads may be used (which may be understood simply as having several transporter units installed). Since the dispatcher of each transporter is stationary, there is a one-to-one correspondence between the transporter and the dispatcher, such that the capability parameter can be identified as an attribute of the transporter. And the higher the capacity parameter of the transporter, the more the loader of the transporter.

Step 205: sequentially taking the earliest idle time of each clamping position in the third container as a target clamping position according to the preset sequence of the earliest idle time of each clamping position in the third container, distributing the target clamping position to the target transportation device, and controlling the target transportation device to dispatch the earliest idle time to the target clamping position so as to finish the loading process of the goods corresponding to the target goods information.

In step 205, the earliest idle time of the bit is used to indicate the time corresponding to the adjustment of the bit from the use state to the idle state. When each clamping position in the third container is distributed for the first time, the earliest idle time of each clamping position is the time for the transportation device to reach the clamping position. When each of the bits in the third container is again allocated, the earliest idle time of each of the bits can be understood as the time when the loading of the transport means was completed at the last allocation. In order to facilitate allocation of bits to the transporter, the ordering of the earliest idle time for each bit in the third container needs to be predefined prior to step 205.

After step 205, after the target transportation device completes the loading process of the goods corresponding to the target goods information, determining a target delivery path of the target transportation device; and controlling the target transportation device to run according to the corresponding target delivery path so as to deliver the corresponding goods of the target goods information loaded by the target transportation device to the corresponding destination.

In determining a target delivery path for the target transporter, an origin of the target transporter and a delivery destination for each set of cargo information on the target transporter may be first determined; and then determining a target delivery path of the target transportation device by using an operation optimization algorithm according to the origin of the target transportation device and the delivery destination of each group of goods information on the target transportation device, as shown in fig. 4 to 6.

Step 206: and determining the time required by the target transportation device for loading the corresponding goods of the target goods information.

In step 206, determining the cargo quantity of the target cargo information and the capability parameter of the target transportation device; wherein the capacity parameter is used to represent the loading capacity of the target transport device; and determining the time required by the target transportation device for loading the goods corresponding to the target goods information according to the goods quantity of the target goods information and the capacity parameter of the target transportation device. Since the time required for loading the cargo information is different for different dispatchers and the dispatchers are in one-to-one correspondence with the transportation devices, the loading capacity of the dispatchers can be described by the capacity parameter. Determining the time required for the target transportation device to load the corresponding goods of the target goods information based on the number of goods to be loaded and the capacity parameters of the transportation device can enable the accuracy to be higher.

In summary, equation 3) can be obtained according to equation 1) and equation 2), and equation 3) is a model that comprehensively considers the cargo quantity of the target cargo information and the capacity parameter of the transportation device. It will be appreciated that the model considers two influencing factors: loading task amount and operation proficiency of a dispatcher; the method comprises the steps of converting the loading task quantity into the quantity of cargoes to be loaded, and converting the operation proficiency of a dispatcher into capability parameter description, namely the historical loading times of a loader. The model can improve the estimated accuracy of the time required for loading the cargo information.

Further, the time required for the target transportation device to load the target cargo information corresponding to the cargo may be determined based on the following formula 3):

step 207: and determining the earliest idle time of the next time of the target clamping position according to the sum of the time required by the target transport device for loading the corresponding goods of the target goods information.

In step 207, the earliest idle time of the next time of the target card may be understood as the time when the target transport device completes the loading task of the goods corresponding to the target goods information or the earliest idle time corresponding to the next time of the target card. It is understood that the earliest idle time of the next time of the target location may be the sum of the time the target transport device arrives at the target location and the time required to load the corresponding cargo of the target cargo information.

Step 208: and updating the sequence of the earliest idle time of each clamping position in the third container and the grouping number of the cargo information of the unloaded cargoes in the second container according to the earliest idle time of the next time of the target clamping position. After step 208, step 202 continues until the cargo in the second container is completely loaded.

Fig. 3 is a flow chart of a control method of a transportation device according to a third embodiment of the present invention, and as shown in fig. 3, the control method of the transportation device may specifically include the following steps:

step 301: a first container for containing transporter information, a second container for containing cargo information to be dispensed, and a third container for containing detent information are obtained.

In step 301, the first container is used to hold information of a transportation device, where the transportation device may be a delivery vehicle or a logistics robot, and the information of the transportation device includes at least: the number of the transportation device, the capacity parameter, the corresponding distributor and other information. The capacity parameter is used for indicating the loading capacity of the dispatcher corresponding to the transportation device. The second container is used for containing information of goods to be distributed, and the information of the goods to be distributed at least comprises: information such as the number of goods, the delivery destination, and the like. The information of the goods to be distributed in the second container takes groups as units, and the quantity of the goods in each group of the information of the goods is at least one. The third container is used for containing clamping information, the clamping function is a structure which is convenient for the transportation device to load cargoes, and the clamping is generally arranged at the dock. The clamping information at least comprises: the card number and the earliest idle time of the card. The first container, the second container, and the third container may be a collection or a list, or the like. Wherein the first container, the second container and the third container are preferably a list.

Step 302: each transporter in the first container is ordered by capability parameter.

Step 303: and ordering each group of goods information in the second container according to the quantity of the goods.

It should be noted that, the execution sequence of the step 303 and the step 302 may be interchanged, and the execution sequence of the step 303 and the step 302 is not specifically limited in the embodiment of the present invention.

Step 304: according to the ordering of the transport devices in the first container and the ordering of the cargo information in the second container, the cargo information of the second container is allocated to the transport devices of the first container one by one, the cargo information with the largest cargo quantity in the second container is allocated to the transport device with the largest capacity parameter in the first container, and the corresponding relation between the cargo information and the transport device is formed.

Step 305: and sequencing the earliest idle time of each clamping position in the third container.

It should be noted that, step 305 needs to precede step 309, and it is understood that step 305 may be performed before step 302 or after step 304, and the embodiment of the present invention is not limited to the execution sequence of step 305.

Step 306: and judging whether cargo information of unloaded cargoes exists in the second container. If yes, go to step 307; otherwise, the flow is ended.

Step 307: and when the cargo information of the unloaded cargo exists in the second container, taking the cargo information of the second container as target cargo information.

In step 307, when there are multiple sets of cargo information of unloaded cargo in the second container, the cargo information in the second container may be ordered according to the cargo quantity of each set of cargo information, and each set of cargo information is sequentially used as target cargo information according to the obtained order, so as to determine a transport device and a clamping position for loading the cargo corresponding to the target cargo information. For example: the cargo information in the second container may be ordered from more to less according to the number of cargos, and each group of cargo information may be sequentially used as the target cargo information from more to less according to the number of cargos.

Step 308: determining a target transportation device according to the preset corresponding relation between the first container in-transit transportation device and the cargo information in the second container and the target cargo information;

step 309: according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is the earliest idle in the third container is used as a target clamping position, the target clamping position is distributed to the target transportation device, and the target transportation device is controlled to be dispatched to the target clamping position in the earliest idle time, so that the loading process of the goods corresponding to the target goods information is completed.

After step 309, the method further comprises: after the target transportation device completes the loading process of the goods corresponding to the target goods information, determining a target delivery path of the target transportation device; and controlling the target transportation device to run according to the corresponding target delivery path so as to deliver the corresponding goods of the target goods information loaded by the target transportation device to the corresponding destination.

In determining a target delivery path for the target transporter, an origin of the target transporter and a delivery destination for each set of cargo information on the target transporter may be first determined; and then determining a target delivery path of the target transportation device by using an operation optimization algorithm according to the origin of the target transportation device and the delivery destination of each group of goods information on the target transportation device.

Step 310: and determining the cargo quantity corresponding to the target cargo information and the capacity parameter corresponding to the target transportation device.

In step 310, the capability parameter may be understood as the number of shippers' loads.

Step 311: and determining the time required by the target transportation device to load the goods corresponding to the target goods information according to the quantity of the goods corresponding to the target goods information and the capacity parameter corresponding to the target transportation device.

Determining the time required for the target transportation device to load the corresponding goods of the target goods information based on the number of goods to be loaded and the capacity parameters of the transportation device can enable the accuracy to be higher.

step 312: and determining the earliest idle time of the next time of the target clamping position according to the sum of the time required by the target transport device for loading the corresponding goods of the target goods information.

In step 312, the earliest idle time of the next time of the target card may be understood as the time when the target transport device completes the loading task of the goods corresponding to the target goods information or the earliest idle time corresponding to the next time of the target card. It is understood that the earliest idle time of the next time of the target location may be the sum of the time the target transport device arrives at the target location and the time required to load the corresponding cargo of the target cargo information.

Step 313: and updating the sequence of the earliest idle time of each clamping position in the third container and the grouping number of the cargo information of the unloaded cargoes in the second container according to the earliest idle time of the next time of the target clamping position. Step 306 continues to be performed after step 313.

For convenience of description of the control method of the transportation device, the following variables are defined: assuming that the goods to be dispensed in the second container are authenticThe rest has n groups, expressed as { g } ₁ ,g ₂ ,…,g _n Number of corresponding groups isThe number of vehicles available for transporting the corresponding cargo information is n, denoted as { v } ₁ ,v ₂ ,…,v _n }. The third container has a number of bits of m, denoted { p } ₁ ,p ₂ ,…,p _m }。

In order to facilitate the description of the control method of the transport device, several assumptions are made as follows:

(i) The distribution staff and the transportation device are in one-to-one correspondence and are available at any time;

(ii) The cargo information of the transport means is determined, i.e. the loading task amount is unchanged during the dispatch of the transport means;

(iii) After the transportation device on the clamping position completes the loading task, the clamping position is in an idle state immediately, and the time for the transportation device to leave and enter the clamping position is ignored;

(iv) The properties of the bits are the same, and any grouping of cargo information can be loaded in any bit.

Based on greedy ideas and the above assumptions, the specific processing procedure of the control method of the transport device is as follows:

(1) Arranging the cargo information of the second container to be loaded with the cargo according to the cargo quantity from large to small, wherein the ordered result of the cargo information of the second container to be loaded with the cargo is { g } ₁ ,g ₂ ,…,g _n }；

(2) Sorting the transportation devices of the first container according to the capacity parameter, wherein the transportation devices with large capacity parameter are arranged in front, and the sorting result of the transportation devices of the first container is { v } ₁ ,v ₂ ,…,v _n }；

(3) In order to improve the loading efficiency, a transport device with a large capacity parameter can be allocated to the information of a large number of cargoes, namely, the following correspondence relation exists

{v ₁ →g ₁ ,v ₂ →g ₂ ,…,v _n →g _n The number of the transporting devices to be scheduled is n, and the number of the cargo information packets to be loaded is n;

(4) After matching the transporting device of the first container with the cargo information of the second container, each group of cargo information in the second container may be used as target cargo information, a target transporting device corresponding to the target cargo information may be determined, and further, a sum of times required for loading the cargo corresponding to the target cargo information by each target transporting device may be determined, where it is assumed that the time required for loading each cargo information in the second container is expressed as

{v ₁ →g ₁ →t ₁ ,v ₂ →g ₂ →t ₂ ,…,v _n →g _n →t _n }；

(5) In the initial allocation stage of the clamping positions, if the number m of the clamping positions free in the third container is greater than or equal to the number n of the cargo information packets of the transporting device in the first container, the transporting device in the first container can simultaneously arrive at the logistics service center to execute the loading task at the time t without additional waiting time, and the cargo information loaded by the transporting device corresponds to the packet number and the corresponding time for completing loading is as follows:

{v ₁ →g ₁ →t+t ₁ ,v ₂ →g ₂ →t+t ₂ ,…,v _n →g _n →t+t _n }. If the number m of free bits in the third container is smaller than the number n of cargo information packets of the transport means in the first container, i.e. m<n, selecting the first m transportation devices in the first set to arrive at the distribution center at the time t to execute the loading task ({ v) ₁ →t,v ₂ →t,…,v _m -t }). At this time, the cargo information loaded by the m transport devices corresponds to the group number and the corresponding time for completing the loading is:

{v ₁ →g ₁ →t+t ₁ ,v ₂ →g ₂ →t+t ₂ ,…,v _m →g _m →t+t _m loading completion time is the earliest idle time of the corresponding card bit, i.e. the earliest idle time of the card bit is

{p ₁ →t+t ₁ ,p ₂ →t+t ₂ ,…,p _m →t+t _m }. The remaining n-m sets of cargo information in the second container are represented by the variable k, k=n-m. Wherein n-m transport devices to be dispatched are used, and the matching relationship between the transport devices to be dispatched and the n-m groups of cargo information remained in the second container is { v } _m →g _m ,…,v _n →g _n },m＜n。

(6) In the reassignment stage of the bits, if the number k of packets of the remaining cargo information in the second container is greater than 0, the bits are ordered according to the earliest idle time, assuming that the ordering result isThe first card bit allocated to the earliest idle card bit is extracted according to the sorting of the cargo information packets in the second container

And updating the earliest idle time of the bit +.>And updating the grouping number of the cargo information of the second container which is not loaded with the cargo, namely k=k-1. If the grouping number k=0 of the cargo information in the second container, the cargo information in the second container is completely distributed, and the transportation device in the first container is completely dispatched; if the number k of packets of cargo information in the second container >And 0, continuing to execute the step of card bit reassignment.

The processing procedure of the control method of the transport device of the present application will be exemplarily described with reference to the accompanying drawings and tables. It should be noted that one to-be-delivered order corresponds to a set of to-be-delivered cargo information.

The number of the clamping positions of the existing warehouse is 10 (the numbers of v1, v2, … and v 10), namely the clamping position of the third container is 10, the covered area is divided into 20 distribution units (the numbers of s1, s2, … and s 20), and each distribution unit is provided with one conveying device (the numbers of p1, p2, … and p 20), namely the number of the conveying devices of the first container is 10. Assume that the total amount of the items to be dispensed on the same day is 1200 items, i.e., the amount of the items in the second container is 1200 items. The average productivity of the warehouse was 10 single/min, and the warehouse was 6:00 for production operations. If the production is not carried out according to the distribution unit, the worst case is: 7:58, the first delivery unit completes the production of all orders; if the delivery units are to be produced, then the time at which each delivery unit completes production is predicted as shown in Table 1, and it can be seen that the earliest 6:08 has the first delivery unit to complete production of all orders.

TABLE 1 estimated production completion time for each dispensing unit

For ease of calculation, assuming that the transportation device is informed to the warehouse for picking up the goods at intervals of 10min, the transportation device may be allocated to each of the distribution units according to step 103 or step 204, and the loading completion time may be estimated using the above formula 3), and the time may be taken as the picking up completion time, as shown in table 2, it may be seen that waiting is required after no vehicle arrives at the warehouse.

TABLE 2 time for the dispatcher to complete picking

Dispensing unit	Production completion time	Start time of picking	Clamping position	Complete time of picking	Vehicle with a vehicle body having a vehicle body support
						s1	6:08	6:10	v1	7:30	p1
s2	6:16	6:20	v2	7:40	p2
						s3	6:24	6:30	v3	7:50	p3
s4	6:30	6:30	v4	7:30	p4
						s5	6:36	6:40	v5	7:40	p5
s6	6:42	6:50	v6	7:50	p6
						s7	6:48	6:50	v7	7:50	p7
s8	6:54	7:00	v8	8:00	p8
						s9	7:00	7:00	v9	8:00	p9
s10	7:06	7:10	v10	8:10	p10
						s11	7:12	7:30	v1	8:30	p11
s12	7:18	7:30	v4	8:40	p12
						s13	7:24	7:40	v2	8:50	p13
s14	7:30	7:40	v5	8:50	p14
						s15	7:35	7:50	v3	8:50	p15
s16	7:40	7:50	v6	8:50	p16
						s17	7:45	7:50	v7	8:50	p17
s18	7:50	8:00	v8	9:00	p18
						s19	7:55	8:00	v9	9:05	p19
s20	8:00	8:10	v10	9:15	p20

As can be seen from table 2, the dispatcher does not have to wait while picking. If a uniform time of arrival (e.g., 8:00) is provided for the dispatcher, at least 1 hour is required to wait for the pick to be performed. However, in the actual delivery process, the delivery personnel often delivers according to personal experience and habit, and the delivery sequence is not planned as a whole from the global consideration, so that problems of long travel path, long overall delivery time and the like in the delivery process can be caused, and the delivery efficiency is affected. In order to solve the unreasonable problem of manual sequencing, an operation planning optimization algorithm can be adopted to carry out path planning from the global angle. To more clearly illustrate the advantages of route planning using the operation planning optimization method, the following description is made in connection with test data, as shown in table 3. To more intuitively understand the distribution of the orders to be distributed, the data of table 3 is displayed on a two-dimensional plane, as shown in fig. 4.

Table 3 test data

Location type	Abscissa of the circle	Ordinate of the ordinate
			Departure point	31.30846	121.54261
Order to be distributed	31.30265	121.51477
			Order to be distributed	31.32596	121.53320
Order to be distributed	31.27336	121.54177
			To-be-dispensed orderSingle sheet	31.28665	121.54324
Order to be distributed	31.30565	121.53373
			Order to be distributed	31.32319	121.53528
Order to be distributed	31.26758	121.53412
			Order to be distributed	31.27622	121.54198
Order to be distributed	31.30278	121.51240
			Order to be distributed	31.31986	121.53529

As shown in fig. 5, the dispenser performs the actual delivery route corresponding to the delivery according to his own delivery experience and habit. Fig. 6 shows a distribution path obtained by using an operation optimization algorithm, and as can be seen from fig. 6, the distribution path planned by using the operation optimization method can avoid a round trip. After the delivery path is planned, the receiving time of each delivery node in the target delivery path can be determined; for example: the time to reach each delivery node can be estimated based on the travel time between the two delivery nodes, the time each delivery node needs to stay (service time), and the departure time. And then, according to the receiving time of each delivery node in the target delivery path, sending the receiving time to a receiving terminal corresponding to each delivery node, thereby avoiding the condition that the delivery staff confirms the receiving time of the clients one by one.

In summary, from the global perspective, the method reasonably arranges warehouse production flow, delivery time of the delivery person, planning delivery path, estimating time reaching the customer point, and the like, so that the delivery efficiency of the delivery person can be improved to a certain extent, and the overall working time of the delivery person is shortened.

Fig. 7 is a block diagram of a control device of a transport device according to an embodiment of the present invention, referring to fig. 7, the control device 700 of the transport device includes:

an acquisition module 701 for acquiring a first container for accommodating transporter information, a second container for accommodating cargo information to be distributed, and a third container for accommodating card information;

a first determining module 702, configured to, when cargo information of unloaded cargo exists in the second container, take each set of cargo information of the second container as target cargo information;

a second determining module 703, configured to determine a target transportation device according to the target cargo information;

and the scheduling module 704 is configured to sequentially use the earliest idle time of each card bit in the third container as a target card bit according to a preset sequence of the earliest idle time of each card bit in the third container, and allocate the target card bit to the target transportation device, and control the target transportation device to schedule the earliest idle time to the target card bit so as to complete the loading process of the goods corresponding to the target goods information.

Optionally, the control device 700 of the transportation device further includes:

a third determining module, configured to determine a time required for loading the cargo corresponding to the target cargo information by the target transport device;

A fourth determining module, configured to determine, according to a time required for loading the cargo corresponding to the target cargo information by the target transport device, an earliest idle time of the next time of the target clamping position;

and the updating module is used for updating the sequence of the earliest idle time of each clamping position in the third container and the grouping number of the cargo information of the unloaded cargoes in the second container according to the earliest idle time of the next target clamping position.

Optionally, the third determining module is further configured to:

and determining the time required by the target transportation device for loading the goods corresponding to the target goods information according to the goods quantity of the target goods information and the capacity parameter of the target transportation device.

Optionally, the second determining module 703 is further configured to:

the judging module is used for judging whether cargo information of unloaded cargoes exists in the second container;

If so, executing the step of taking each group of goods information of the second container as target goods information in sequence when the goods information of the unloaded goods exists in the second container.

the first sorting module is used for sorting each transport device in the first container according to the capacity parameters;

the second ordering module is used for ordering each group of goods information in the second container according to the quantity of the goods;

and the distribution module is used for distributing the cargo information of the second container to the cargo devices of the first container one by one according to the sequence of the cargo devices of the first container and the sequence of the cargo information of the second container, so as to form a corresponding relation between the cargo information of the first container in-transit transportation devices and the cargo information of the second container, wherein the cargo information with the largest cargo quantity in the second container is distributed to the cargo device with the largest capacity parameter in the first container.

a fifth determining module, configured to determine a target delivery path of the target transportation device after loading of the target cargo information is completed;

A sixth determination module for determining an origin of the target transportation device and a delivery destination of each set of cargo information on the target transportation device;

a seventh determining module configured to determine, using an operation optimization algorithm, a target delivery path of the target transportation device according to an origin of the target transportation device and a delivery destination of each set of cargo information on the target transportation device, the target delivery path including at least one delivery node;

and the first control module is used for controlling the target transportation device to run according to the corresponding target delivery path so as to deliver the corresponding goods of the target goods information loaded by the target transportation device to the corresponding destination.

an eighth determining module, configured to determine a receiving time of each delivery node in the target delivery path;

and the sending module is used for sending the receiving time to the receiving terminal corresponding to each delivery node according to the receiving time of each delivery node in the target delivery path.

The control device of the transport device in the embodiment of the invention is based on greedy idea, and according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is the earliest idle in the third container is used as a target clamping position, and the target clamping position is distributed to the target transport device, so that the target transport device is controlled to be dispatched to the target clamping position in the earliest idle time, and the loading process of the goods corresponding to the target goods information is completed. The sorting of the earliest idle time of each clamping position in the third container is formed based on the cargo quantity of the target cargo information and the capacity parameters of the transportation device, the device can improve the estimated accuracy of the time required for loading the corresponding cargo of the target cargo information, the calculation complexity is low, and the dispatching result of the transportation device can be calculated quickly.

Fig. 8 shows an exemplary system architecture 800 of a control method of a transport device or a control device of a transport device to which embodiments of the invention may be applied.

As shown in fig. 8, a system architecture 800 may include terminal devices 801, 802, 803, a network 804, and a server 805. The network 804 serves as a medium for providing communication links between the terminal devices 801, 802, 803 and the server 805. The network 804 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

A user may interact with the server 805 through the network 804 using the terminal devices 801, 802, 803 to receive or send messages or the like. Various communication client applications such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only) may be installed on the terminal devices 801, 802, 803.

The terminal devices 801, 802, 803 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.

The server 805 may be a server providing various services, such as a background management server (by way of example only) that provides support for shopping-type websites browsed by users using the terminal devices 801, 802, 803. The background management server may analyze and process the received data such as the product information query request, and feedback the processing result (e.g., the target push information, the product information—only an example) to the terminal device.

It should be noted that, the control method of the transportation device provided in the embodiment of the present invention is generally executed by the server 805, and accordingly, the control device of the transportation device is generally disposed in the server 805.

It should be understood that the number of terminal devices, networks and servers in fig. 8 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

Referring now to FIG. 9, there is illustrated a schematic diagram of a computer system 900 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 9 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.

As shown in fig. 9, the computer system 900 includes a Central Processing Unit (CPU) 901, which can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for the operation of the system 900 are also stored. The CPU 901, ROM 902, and RAM 903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.

The following components are connected to the I/O interface 905: an input section 906 including a keyboard, a mouse, and the like; an output portion 907 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 908 including a hard disk or the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as needed. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on the drive 910 so that a computer program read out therefrom is installed into the storage section 908 as needed.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 909 and/or installed from the removable medium 911. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 901.

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

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

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: acquiring a first container for containing information of a conveying device, a second container for containing information of goods to be distributed and a third container for containing clamping information; when cargo information of unloaded cargos exists in the second container, taking the object of the second container as target cargo information; determining a target transportation device according to the target cargo information; according to the preset sequence of the earliest idle time of each clamping position in the third container, the clamping position which is the earliest idle in the third container is used as a target clamping position, the target clamping position is distributed to the target transportation device, and the target transportation device is controlled to be dispatched to the target clamping position in the earliest idle time, so that the loading process of the goods corresponding to the target goods information is completed.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A method of controlling a transport device, comprising:

when cargo information of unloaded cargos exists in the second container, taking the cargo information of the second container as target cargo information;

according to the preset sequence of the earliest idle time of each clamping position in the third container, taking the earliest idle clamping position in the third container as a target clamping position, distributing the target clamping position to the target transportation device, and controlling the target transportation device to dispatch to the target clamping position in the earliest idle time so as to finish the loading process of the goods corresponding to the target goods information;

when each clamping position in the third container is distributed for the first time, the earliest idle time of each clamping position is the time for the transportation device to reach the clamping position; when each of the bits in the third container is again allocated, the earliest idle time of each of the bits is the sum of the time the transport device reached the bit and the time required to load the cargo at the last allocation.

2. The method of claim 1, wherein after the steps of taking the earliest free card in the third container as a target card and allocating the target card to the target transportation device according to the preset order of the earliest free time of each card in the third container, controlling the target transportation device to schedule the earliest free time to the target card to complete the loading process of the goods corresponding to the target goods information, the method further comprises:

3. The method of claim 2, wherein determining the time required for the target transporter to load the cargo corresponding to the target cargo information comprises:

4. The method of claim 1, wherein the determining a target transportation device from the target cargo information comprises:

5. The method of claim 4, wherein prior to the step of determining a target transporter corresponding to the target cargo information in turn based on a correspondence between a preset transporter and cargo information, the method further comprises:

6. The method of claim 1, wherein after the steps of taking the earliest free card in the third container as a target card and allocating the target card to the target transportation device according to the preset order of the earliest free time of each card in the third container, controlling the target transportation device to schedule the earliest free time to the target card to complete the loading process of the goods corresponding to the target goods information, the method further comprises:

7. The method of claim 6, wherein the method further comprises:

8. A control device for a transportation device, comprising:

a second determining module for determining a target transportation device based on the target cargo information;

the scheduling module is used for taking the earliest idle time of each clamping position in the third container as a target clamping position according to the preset sequencing of the earliest idle time of each clamping position in the third container, distributing the target clamping position to the target transportation device, and controlling the target transportation device to schedule the earliest idle time to the target clamping position so as to finish the loading process of the goods corresponding to the target goods information;

9. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs,

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.

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