CN114249054A - Processing method for executing multiple tasks and four-way shuttle - Google Patents
Processing method for executing multiple tasks and four-way shuttle Download PDFInfo
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- CN114249054A CN114249054A CN202111613228.4A CN202111613228A CN114249054A CN 114249054 A CN114249054 A CN 114249054A CN 202111613228 A CN202111613228 A CN 202111613228A CN 114249054 A CN114249054 A CN 114249054A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The application provides a processing method for executing multiple tasks and a four-way shuttle. The four-way shuttle vehicle is provided with a task issuing data block, a task caching data block, a task executing data block and a task analyzing area. The task issuing data block receives a task scheduling instruction of an upper computer; the task cache data block caches task information data in the task issuing data block; the task execution data block integrates and deduplicates data in the task cache data block to obtain a node task list containing a plurality of action node tasks; and the task analysis area disassembles the tasks of all action nodes in the task execution data block to obtain corresponding action execution instructions so as to correspondingly distribute the action execution instructions to all execution mechanisms in the four-way shuttle vehicle according to the execution sequence, so that the multi-task scheduling of the four-way shuttle vehicle is realized. The method and the system can combine and integrate the information of a plurality of tasks, avoid waiting and pausing caused by independent issuing of the tasks one by one, and improve the efficiency of the shuttle vehicle for executing the functional tasks.
Description
Technical Field
The application relates to the field of intelligent warehouses, in particular to a processing method for executing multiple tasks and a four-way shuttle.
Background
The automatic task scheduling of the existing logistics storage four-way shuttle vehicle is realized by mainly disassembling the whole function task into a plurality of single action execution tasks through upper computer software and then respectively issuing the disassembled action execution tasks to the four-way shuttle vehicle one by one. And the shuttle vehicle completes corresponding action tasks one by one according to the received instruction sequence and the action instruction requirements of each action execution task, so that complete function tasks can be realized.
In order to realize the interactive task execution process, the existing intelligent warehouse firstly needs to ensure that the upper computer can detect in real time to obtain the state feedback of the shuttle car, and then can issue the next action to execute the task in time. Therefore, the existing function task execution mode has certain requirements on the network environment. When network interruption/delay and other conditions occur, the shuttle vehicle can wait for issuing actions to execute tasks in the task nodes for a long time. At this time, the four-way shuttle is not consistent in motion and even in a standby state because the four-way shuttle waits for a long time for an effective motion to execute a task. The long-time waiting for receiving the effective action execution task easily causes the adverse conditions such as the power feeding of the four-way shuttle car.
In addition, in the existing mode, the task overlapping phenomenon may occur in the distribution process of the tasks, which may cause the four-way shuttle to execute the same task for many times, waste resources and have low efficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a processing method for executing multiple tasks and a four-way shuttle vehicle, the application can issue a plurality of tasks of an upper computer to the shuttle vehicle at one time, the shuttle vehicle automatically completes the task duplication checking and sequencing work, and autonomously completes the whole group of tasks, so that the efficiency of the shuttle vehicle for executing functional tasks is improved, the scheduling time is shortened, and the occupation of a task scheduling process on communication resources is reduced. The technical scheme is specifically adopted in the application.
To achieve the above object, a processing method for executing multiple tasks is provided, which is used for a four-way shuttle, and comprises the following steps: receiving a task scheduling instruction of an upper computer, and storing a group of tasks to a task issuing data block according to a receiving sequence; performing handshake verification with an upper computer, and sequentially caching each task information stored in the task issuing data block to a task cache data block after the verification is correct; performing duplicate removal and integration on each task information in the task cache data block to obtain a node task list, and storing the node task list to the task execution data block; and sequentially extracting and analyzing each action node task in the node task list to a task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle vehicle for execution.
Optionally, in the processing method for executing multiple tasks as described above, each group of tasks issued to the four-way shuttle by the task scheduling instruction respectively includes a combination of task information generated according to warehousing, ex-warehousing, moving warehouse demands and path planning demands, where the combination of task information is used for executing the following actions: the method comprises the following steps of main road walking, sub-road walking, reversing to the sub-road, reversing to the main road, jacking to pick up goods, descending to put the goods, sub-road walking and reversing, main road walking and reversing, sub-road walking and picking up goods, and sub-road walking and putting the goods.
Optionally, the processing method for executing multiple tasks as described in any of the above, where a group of tasks issued by the upper computer task scheduling instruction includes: a task group number, task control attributes, task information and handshake information; wherein the task control attributes include: an execute/pause/cancel/scram/reset operation on a task group; the task information is marked with task node attributes corresponding to the execution of corresponding actions, and starting and stopping point positions and action object positions corresponding to the execution of the actions; the handshake information comprises two communication handshake signals, and after the two times of verification are correct, the task cache data block is triggered to correspondingly cache each task information contained in the group of tasks according to the sequence of the task group to which the handshake information belongs.
Optionally, the processing method for executing multiple tasks as described in any of the above, where the step of performing deduplication integration on each task information in the task cache data block and obtaining the node task list includes performing the following operations on each task information in the task cache data block in sequence: and judging whether the task node attribute corresponding to the next task information is the same as the current task information, if so, merging and integrating the path starting and ending positions and/or the action object positions corresponding to the two task information, repeating the merging and integrating steps until the task node attribute corresponding to the next task information is different from the current task information, and storing the action node task formed by merging and integrating to the tail end position of the node task list.
Optionally, the processing method for executing multiple tasks as described in any of the above, where the step of sequentially extracting and analyzing each action node task in the node task list to the task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle includes: after extracting an action node task and analyzing the action node task to a task analysis area by the head end of the node task list, clearing the action node task, marking the number of nodes to be executed to be decreased progressively, and moving a pointer at the head end of the node task list to the next action node task; and repeating the steps until the number of the nodes to be executed is reduced to 0, finishing the task extraction work of the single node, and waiting for a task list of the next node.
Simultaneously, in order to realize above-mentioned purpose, this application still provides a four-way shuttle, and it includes: the task issuing data block is used for receiving a task scheduling instruction of the upper computer and sequentially receiving and storing task information contained in each group of tasks in the task scheduling instruction; the task cache data block is used for handshake check with the upper computer and sequentially caches task information stored in the task issuing data block after the check is correct; the task execution data block is used for performing duplicate removal and integration on each task information in the task cache data block, obtaining a node task list and sequentially storing each action node task in the node task list; the task analysis area is used for sequentially extracting and analyzing each action node task in the node task list to form an action execution instruction for controlling each execution mechanism of the four-way shuttle vehicle; and the execution mechanism is used for executing the action execution instruction.
Optionally, the four-way shuttle vehicle as described in any of the above, wherein each group of tasks stored in the task issuing data block respectively includes: a task group number, task control attributes, task information and handshake information; wherein the task control attributes include: an execute/pause/cancel/scram/reset operation on a task group; the task information is marked with task node attributes corresponding to the execution of corresponding actions, and starting and stopping point positions and action object positions corresponding to the execution of the actions; the handshake information comprises two communication handshake signals, and after the two times of verification are correct, the task cache data block is triggered to correspondingly cache each task information contained in the group of tasks according to the sequence of the task group to which the handshake information belongs.
Optionally, the four-way shuttle car according to any one of the above descriptions, wherein the task issuing data block at least reaches a storage space enough to accommodate a group of warehousing, ex-warehouse or moving-warehouse tasks.
Optionally, the four-way shuttle car is as described in any one of the above, wherein the task node attributes are different between two adjacent action node tasks in the task execution data block.
Optionally, the four-way shuttle car as described in any of the above, wherein the task execution data block is in a queue structure, and stores an action node task formed by combining and integrating a plurality of pieces of task information with the same task node attribute to a tail end position of a node task list queue, and always sequentially extracts the action node task from a head end position of the node task list queue to a task resolution area; and after the task analysis area extracts an action node task from the head end of the node task list queue, clearing the action node task, marking the number of the nodes to be executed to be decreased progressively, moving the head end of the node task list queue backwards to the next action node task, repeating the steps until the number of the nodes to be executed is decreased progressively to 0, finishing the single-node task extraction work, and waiting for the next node task list.
Advantageous effects
The four-way shuttle vehicle is provided with a task issuing data block, a task caching data block, a task executing data block and a task analyzing area. The method comprises the steps of receiving a task scheduling instruction of an upper computer through a data issuing data block; caching and sequencing the task information data in the task issuing data block through the task caching data block; integrating and de-duplicating data in the task cache data block through the task execution data block to obtain a node task list containing a plurality of action node tasks; and performing task disassembly on each action node task in the task execution data block through the task analysis area to obtain corresponding action execution instructions, and correspondingly distributing each action execution instruction to each logic execution mechanism in the four-way shuttle vehicle according to the execution sequence, thereby finally achieving the purpose of performing multi-task scheduling on the four-way shuttle vehicle. The method and the system can combine and integrate the information of a plurality of tasks, so that the four-way shuttle vehicle is triggered to directly and smoothly execute a group of tasks, waiting and pausing caused by independent issuing of the tasks one by one are avoided, the task overlapping phenomenon can be effectively avoided, the efficiency of the shuttle vehicle in executing the functional tasks is improved, the scheduling time is shortened, and the occupation of the task scheduling process on communication resources is reduced.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a flow chart illustrating the steps of a method of processing to perform multitasking according to the present application;
FIG. 2 is a schematic diagram of a task issuing data block in a four-way shuttle of the present application;
FIG. 3 is a schematic diagram of a task cache data block in a four-way shuttle of the present application;
FIG. 4 is a schematic flow chart illustrating a handshake checking procedure performed in a task cache data block according to the present application;
FIG. 5 is a schematic diagram of a task execution data block in the four-way shuttle of the present application;
FIG. 6 is a schematic flow chart of the deduplication step performed in the task execution data block of the present application;
FIG. 7 is a schematic view of a task resolution area in the four-way shuttle of the present application;
fig. 8 is a flowchart illustrating a task execution step in the task resolution area according to the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The application provides a quadriversal shuttle, it includes:
the four-way traveling wheels are respectively matched with the main road and the sub-road in the intelligent stereoscopic warehouse and travel along the main road or the sub-road;
the lifting device drives the vehicle body bearing platform to correspondingly lift so as to extract goods, or correspondingly descend so as to place the goods;
the communication unit is connected with an upper computer such as a server in a wireless communication mode, receives a task scheduling instruction issued by the upper computer and can also upload the current position and working state of the four-way shuttle vehicle in real time;
and the control unit is connected with the actuating mechanism consisting of the four-way travelling wheels and the lifting device and the communication unit. The control unit correspondingly establishes a task issuing data block, a task cache data block, a task execution data block and a task analysis area which are shown in the figure 1 in a storage unit arranged in the four-way shuttle vehicle, so as to receive a task scheduling instruction of an upper computer through a communication unit and sequentially receive and store task information contained in each group of tasks in the task scheduling instruction through the task issuing data block; handshake verification is carried out on the task cache data block and an upper computer, and task information stored in the task issuing data block is sequentially cached after the task cache data block is verified to be correct; through the task execution data block, performing duplicate removal and integration on each task information in the task cache data block, obtaining a node task list and sequentially storing each action node task in the node task list; and finally, sequentially extracting and analyzing each action node task in the node task list through the task analysis area to form action execution instructions for controlling each execution mechanism of the four-way shuttle vehicle so as to be correspondingly executed by each execution mechanism of the four-way shuttle vehicle, thereby realizing operations such as warehousing, ex-warehouse, moving warehouse and the like in the stereoscopic warehouse.
The upper computer formed by the server, the computer and the field terminal in the warehouse system correspondingly generates task information for executing the work of main road walking, sub road walking, reversing to the sub road, reversing to the main road, jacking to pick up goods, descending to put goods, sub road walking and reversing, main road walking and reversing, sub road walking and picking up goods, sub road walking and putting goods and the like according to the warehousing, ex-warehouse and transfer requirements and the path planning requirements, and packs each task information into a task scheduling instruction according to the execution grandchild to be transmitted to the corresponding shuttle car.
Referring to fig. 1, a group of tasks issued by the upper computer task scheduling instruction includes: a task group number, task control attributes, a number of task information, and handshake information. The task control attribute is defined for a task command to be executed by the task group, and includes: operations such as execution/pause/cancel/scram/reset of a task group;
the task information is marked with task node attributes corresponding to the execution of corresponding actions, starting and stopping point positions and action object positions corresponding to the execution of the actions, and one action task node required to be executed by the four-way shuttle car can be completely defined. (ii) a
The handshake information may be set to include two communication handshake signals, which trigger the task cache data block to correspondingly cache each task information included in the group of tasks according to the order of the task group to which the handshake information belongs after both of the two verifications are correct.
Therefore, the four-way shuttle vehicle can correspondingly realize operations such as warehousing, ex-warehouse, moving warehouse and the like in the following mode.
The upper computer generates tasks such as warehouse-out/warehouse-in/warehouse-moving and the like according to actual requirements, according to path planning requirements, the tasks are disassembled into node tasks which are respectively used for executing actions such as main road walking, sub-road walking, reversing to a sub-road, reversing to the main road, reversing to the sub-road, jacking to pick up goods, descending to put goods, sub-road walking and reversing, main road walking and reversing, sub-road walking and picking up goods, sub-road walking and putting goods and the like, a group of tasks are all issued to a shuttle car task issuing data block at one time, and the node tasks are correspondingly stored in a node task list through cache and de-reset combination of a shuttle car processing unit so as to be correspondingly executed by executing mechanisms such as driving wheels, lifting hydraulic pressure and the like on equipment.
The task cache data block as shown in fig. 3 established by the execution end of a four-way shuttle, a forklift and the like is used for verifying data in the task issuing data block through the steps of fig. 4 according to the handshake information of the upper computer, triggering the task cache data block to correspondingly cache the task information in the task issuing data block into the task cache data block according to the sequence of the task group to which the handshake information belongs after two times of verification are correct according to two communication handshake signals, and storing each task information contained in the group of tasks.
Then, through the task execution data block shown in fig. 5, when it is detected that task information that is not executed exists in the task cache data block, a deduplication algorithm is performed on each piece of cached task information in the manner shown in fig. 6, the task information with the same attribute is integrated, and each action node task obtained through integration is saved into the task execution data block again according to the execution sequence, so as to form a multi-node task list to be executed. Therefore, due to the fact that the de-combination work is carried out, the driving tasks of all the sections on the same walking path are correspondingly integrated, and therefore task node attributes are different between two adjacent action node tasks in the task execution data block.
Finally, through the task analysis area shown in fig. 7, the action node tasks in the task execution data block are sequentially analyzed into corresponding action execution instructions according to the node execution sequence, and the action execution instructions are correspondingly stored in the task analysis area. And each executing mechanism in the shuttle car executes a corresponding action executing instruction according to the node attribute of the current executing node, and finishes warehousing, ex-warehouse and moving of goods. The node attributes comprise the functions of main road walking, sub-road walking, reversing to sub-road, reversing to main road, reversing to sub-road, jacking to pick up goods, descending to put goods, sub-road walking and reversing, main road walking and reversing, sub-road walking and picking up goods, sub-road walking and putting goods and the like.
Therefore, the information of a plurality of tasks can be combined and integrated, so that the four-way shuttle vehicle is triggered to directly and smoothly execute a group of tasks, waiting and pausing caused by independent and separate issuing of the tasks one by one can be effectively avoided, the task overlapping phenomenon can be effectively avoided, the efficiency of the shuttle vehicle for executing the functional tasks is improved, the scheduling time is shortened, and the occupation of the task scheduling process on communication resources is reduced.
In a more specific implementation manner, during the process of executing the task group step, the four-way shuttle vehicle of the present application may further preferentially set the number of node tasks corresponding to each group of tasks that can be received and accommodated by the storage space of the storage unit or the cache unit corresponding to the task issuing data block to be able to completely satisfy the number of node tasks of the upper computer. The capacity of the system is set to at least reach the storage space enough to accommodate and execute a group of warehousing, ex-warehouse or moving-warehouse tasks, so as to avoid the situation of issuing the outgoing line waiting instruction in the process of executing a group of tasks as much as possible.
And verifying the data which is completely verified and cached in the task cache data block, before the data of the current task group is not completely verified, the data is not changed according to the change of the data in the task issuing data block any more, and only after the data of the task group is completely executed, the new group of task data in the task issuing data block is verified again to execute the next group of tasks.
The task execution data block can be set to be a queue structure, and the task information in the task cache data block is subjected to duplicate removal and integration in the following mode to obtain a node task list:
judging whether the task node attribute corresponding to the next task information is the same as the current task information, if so, merging and integrating the starting and ending positions of the paths and/or the positions of the action objects corresponding to the two task information to form an action node task, repeating the merging and integrating steps until the task node attribute corresponding to the next task information is different from the current task information, storing the action node task formed by merging and integrating to the tail end position of the node task list queue, and extracting the action node task from the head end position of the node task list queue to the task analysis area all the time. Therefore, when the task analysis area extracts an action node task from the head end of the node task list queue according to the sequence of the node task list in turn according to the mode of figure 8, the action node task is analyzed to the task analysis area to form corresponding action execution instructions capable of controlling the action process of each execution mechanism in the four-way shuttle car, after corresponding task operation is completed according to each action execution instruction, the action node task is correspondingly cleared, the number of nodes to be executed is marked to be decreased progressively, the head end of the node task list queue is moved backwards to the next action node task, and the steps are repeated until the number of the nodes to be executed is decreased progressively to 0, and the single-node task extraction work is completed. At the moment, the task list can be correspondingly set to be transferred to the next node task list, so that new warehousing, ex-warehouse and moving tasks can be continuously completed compactly without connection.
In summary, the task issuing data block of the present application can receive the task scheduling instruction issued by the upper computer in real time, and obtain one or more groups of tasks composed of a plurality of node tasks included in the task scheduling instruction;
the task cache data block can arrange the task information data of the task issuing data block into the task list according to the time sequence, and after the task information data are extracted, the task information data are automatically sequentially supplemented by each node task issued subsequently;
according to the task execution data block, task information with the same node attribute is integrated according to a task deduplication algorithm to form a new multi-node task list; therefore, when the four-way shuttle needs to run at a constant distance in a main road, the problem that the running process is discontinuous due to the fact that the running at the long distance is divided into a plurality of sections of short-distance running tasks possibly occurs in the process of issuing the running instruction by the upper computer task by task is solved. According to the method and the device, task integration is carried out on task execution data blocks, and a plurality of node tasks with the same walking task attribute are combined into a complete long-distance action node task for executing walking operation when the starting position and the ending position of each node task are connected end to end. Therefore, the situation that long-distance walking is disassembled into multiple sections and repeated starting and stopping are carried out to wait for the assignment of tasks is avoided;
the task analysis area disassembles the corresponding operation actions required to be executed by each action node task after integration to form action execution instructions of each action node task to be distributed to each logic execution mechanism, so that the control unit in the four-way shuttle car can correspondingly issue each execution mechanism in the four-way shuttle car to execute correspondingly one by one according to the sequence of the disassembled action execution instructions. And marking completion after the four-way shuttle vehicle finishes executing one action execution instruction, clearing corresponding action node tasks corresponding to the action execution instruction, and continuously executing a next action task instruction according to a first-in first-out principle of the action execution instruction. After the action node task is completed and the corresponding data is cleared, the four-way shuttle control unit extracts the data of the next action node task in the cache data block again to form a new single-node task and execute a corresponding action execution instruction.
Therefore, the four-way shuttle vehicle can sequentially and uninterruptedly execute the action execution instructions corresponding to the single-node tasks until all the multi-node task lists stored in the task cache data block are completely executed. And after the multi-node task list is completely executed, re-receiving a new task scheduling instruction issued by the upper computer, and correspondingly re-starting a new round of multi-node task execution according to the steps.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (10)
1. A process for performing multitasking for use with a four-way shuttle, the process comprising the steps of:
receiving a task scheduling instruction of an upper computer, and storing a group of tasks to a task issuing data block according to a receiving sequence;
performing handshake verification with an upper computer, and sequentially caching each task information stored in the task issuing data block to a task cache data block after the verification is correct;
performing duplicate removal and integration on each task information in the task cache data block to obtain a node task list, and storing the node task list to the task execution data block;
and sequentially extracting and analyzing each action node task in the node task list to a task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle vehicle for execution.
2. The process of claim 1, wherein each set of tasks issued to the four-way shuttle by the task scheduling instructions comprises a combination of task information generated according to warehousing, ex-warehousing, moving warehouse requirements and path planning requirements to perform the following actions: the method comprises the following steps of main road walking, sub-road walking, reversing to the sub-road, reversing to the main road, jacking to pick up goods, descending to put the goods, sub-road walking and reversing, main road walking and reversing, sub-road walking and picking up goods, and sub-road walking and putting the goods.
3. The process of claim 2, wherein the set of tasks issued by the upper computer task scheduling instruction includes: a task group number, task control attributes, task information and handshake information;
wherein the task control attributes include: an execute/pause/cancel/scram/reset operation on a task group;
the task information is marked with task node attributes corresponding to the execution of corresponding actions, and starting and stopping point positions and action object positions corresponding to the execution of the actions;
the handshake information comprises two communication handshake signals, and after the two times of verification are correct, the task cache data block is triggered to correspondingly cache each task information contained in the group of tasks according to the sequence of the task group to which the handshake information belongs.
4. The method as claimed in claim 3, wherein the step of performing de-duplication integration on the task information in the task cache data block and obtaining the node task list comprises the following steps of:
and judging whether the task node attribute corresponding to the next task information is the same as the current task information, if so, merging and integrating the path starting and ending positions and/or the action object positions corresponding to the two task information, repeating the merging and integrating steps until the task node attribute corresponding to the next task information is different from the current task information, and storing the action node task formed by merging and integrating to the tail end position of the node task list.
5. The method as claimed in claim 1, wherein the step of sequentially extracting and parsing the action node tasks in the node task list to the task parsing area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle comprises:
after extracting an action node task and analyzing the action node task to a task analysis area by the head end of the node task list, clearing the action node task, marking the number of nodes to be executed to be decreased progressively, and moving a pointer at the head end of the node task list to the next action node task;
and repeating the steps until the number of the nodes to be executed is reduced to 0, finishing the task extraction work of the single node, and waiting for a task list of the next node.
6. A four-way shuttle, comprising:
the task issuing data block is used for receiving a task scheduling instruction of the upper computer and sequentially receiving and storing task information contained in each group of tasks in the task scheduling instruction;
the task cache data block is used for handshake check with the upper computer and sequentially caches task information stored in the task issuing data block after the check is correct;
the task execution data block is used for performing duplicate removal and integration on each task information in the task cache data block, obtaining a node task list and sequentially storing each action node task in the node task list;
the task analysis area is used for sequentially extracting and analyzing each action node task in the node task list to form an action execution instruction for controlling each execution mechanism of the four-way shuttle vehicle;
and the execution mechanism is used for executing the action execution instruction.
7. The four-way shuttle of claim 6, wherein each set of tasks stored in the task delivery data block comprises: a task group number, task control attributes, task information and handshake information;
wherein the task control attributes include: an execute/pause/cancel/scram/reset operation on a task group;
the task information is marked with task node attributes corresponding to the execution of corresponding actions, and starting and stopping point positions and action object positions corresponding to the execution of the actions;
the handshake information comprises two communication handshake signals, and after the two times of verification are correct, the task cache data block is triggered to correspondingly cache each task information contained in the group of tasks according to the sequence of the task group to which the handshake information belongs.
8. The four-way shuttle of claim 6, wherein the task delivery data block is at least sufficient to accommodate storage space required to perform a set of warehousing, ex-warehouse, or transfer tasks.
9. The four-way shuttle of claim 7 wherein task node attributes differ between two adjacent action node tasks in the task execution data block.
10. The four-way shuttle according to claims 6-7, wherein the task execution data block is a queue structure, which stores an action node task formed by merging and integrating several pieces of task information with the same task node attribute to the end position of the node task list queue, and always sequentially extracts the action node task from the head position of the node task list queue to the task resolution area;
and after the task analysis area extracts an action node task from the head end of the node task list queue, clearing the action node task, marking the number of the nodes to be executed to be decreased progressively, moving the head end of the node task list queue backwards to the next action node task, repeating the steps until the number of the nodes to be executed is decreased progressively to 0, finishing the single-node task extraction work, and waiting for the next node task list.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111613228.4A CN114249054A (en) | 2021-12-27 | 2021-12-27 | Processing method for executing multiple tasks and four-way shuttle |
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| CN115293654A (en) * | 2022-09-29 | 2022-11-04 | 湖北凯乐仕通达科技有限公司 | Shuttle vehicle task scheduling method and device and computer equipment |
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