CN114408435A

CN114408435A - Scheduling method and device for one-rail multi-vehicle stacker and computer equipment

Info

Publication number: CN114408435A
Application number: CN202210247134.8A
Authority: CN
Inventors: 卢志敏; 江琳; 严德龙; 张伟; 李文灿; 李晓刚; 廖和滨; 刘志平; 袁建明; 曾广程
Original assignee: Longyan Tobacco Industry Co Ltd
Current assignee: Longyan Tobacco Industry Co Ltd
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2022-04-29

Abstract

The application relates to a scheduling method and device of a one-rail multi-vehicle stacker, computer equipment, a storage medium and a computer program product. The method comprises the following steps: when the first stacker crane is idle, applying for a goods taking task from the warehousing management system according to the position of the first stacker crane to obtain a returned first task, wherein the first task indicates a goods taking line position and a target end point position, and the first task is a task to be executed without path intersection with other stacker cranes; executing a first task, controlling a first stacker crane to run to a goods taking row position, applying for a goods taking row position from a warehousing management system, and obtaining a returned second task, wherein the second task carries the goods taking row position of a target transport article; and executing a second task, controlling the first stacker to move to the goods taking position for taking goods, and transporting the target transported goods to the target destination position. By adopting the method, the situation that the storage control system executes more avoidance tasks can be effectively avoided, and the conveying efficiency of tobacco shred articles is greatly improved.

Description

Scheduling method and device for one-rail multi-vehicle stacker and computer equipment

Technical Field

The present application relates to the field of automated logistics technologies, and in particular, to a scheduling method and apparatus for a one-rail multi-car stacker, a computer device, a storage medium, and a computer program product.

Background

In the tobacco shred warehouse, the main processing flow of the tobacco shreds comprises tobacco shred boxing, tobacco shred box conveying to a goods shelf through a stacker (tobacco shred warehouse-in), tobacco shred alcoholization, tobacco shred box taking through the stacker, tobacco shred box conveying to a conveyor, tobacco shred box conveying to box turning equipment through the conveyor, tobacco shred box turning over by the box turning equipment and placing into each small storage cabinet, and finally conveying each small storage cabinet to an upper-layer conveyor to finish warehouse-out work. Because the core factor influencing the execution efficiency of the whole tobacco shred warehouse is the stacking machine, along with the development of the automatic logistics technology, in order to improve the working efficiency, a plurality of stacking machines are usually arranged on the same rail of the goods delivery device responsible for delivering goods out of the warehouse, and if two stacking machines are arranged, the stacking machine is a one-rail two-vehicle stacking machine.

In the traditional technology, after a storage management system generates a tobacco shred delivery transportation task, the storage control system can only be passively executed and cannot flexibly and dynamically execute the task, in a one-rail multi-vehicle system, due to the fact that a plurality of rows of goods shelves exist in the direction parallel to a rail, a stacker executes the task in the row direction, if running paths of any two stackers in the task issued by the storage management system are crossed, in order to avoid collision, one stacker needs to be controlled to stop or avoid, execution efficiency of the one-rail multi-vehicle system is greatly reduced, and tobacco shred article transportation efficiency is seriously affected.

Disclosure of Invention

In view of the above, there is a need to provide a scheduling method, a scheduling apparatus, a computer device, a computer readable storage medium, and a computer program product for a one-rail multi-vehicle stacker, which can reduce the occurrence of stacker avoidance tasks and improve the efficiency of article transportation.

In a first aspect, the present application provides a scheduling method for a one-rail multi-car stacker, which is applied to a warehousing control system, and the method includes:

when a first stacker crane is idle, applying for a goods taking task from a warehousing management system according to the position of the first stacker crane, and obtaining a first task returned based on the goods taking task application, wherein the first task indicates a goods taking row position and a target destination position, and the first task is a task to be executed, screened from a first task pool by the warehousing management system, which does not have a path intersection with other stacker cranes;

executing the first task, controlling the first stacker to operate to the goods taking row position, applying for a goods taking row position from the warehousing management system after the first stacker arrives at the goods taking row position, and obtaining a second task based on the goods taking row position application return, wherein the second task carries the goods taking row position of the target transported goods;

and executing the second task, controlling the first stacker to operate to the goods taking position for taking goods, and transporting the target transported goods to the target end position.

In a second aspect, the present application further provides a scheduling method for a one-rail multi-car stacker, which is applied to a warehouse management system, and the method includes:

receiving a goods taking task application sent by a warehousing control system, wherein the goods taking task application is generated by the warehousing control system according to the position of a first stacker;

screening out tasks to be executed, which do not have path intersection with other stackers, from a first task pool based on the goods taking task application and a preset screening strategy, generating a first task according to the goods taking row position of the tasks to be executed, and sending the first task to the warehousing control system, wherein the first task instructs the first stacker to operate to the goods taking row position;

receiving a goods taking position application sent by the storage control system, generating a second task according to a goods taking position and a target end point position of a target transport article, sending the second task to the storage control system, indicating the first stacker crane to run to the goods taking position for taking goods, and transporting the target transport article to the target end point position.

In a third aspect, the present application further provides a scheduling apparatus for a one-rail multiple-car stacker, the apparatus including:

the task application module is used for applying for a goods taking task to the warehousing management system according to the position of a first stacker when the first stacker is idle, and obtaining a first task returned based on the goods taking task application, wherein the first task indicates a goods taking row address and a target end point position, and the first task is a task which is screened from a first task pool by the warehousing management system and does not have path intersection with other stackers;

the first task execution module is used for executing the first task, controlling the first stacker to run to a row opening position corresponding to the goods taking row address, applying for a goods taking row position from the warehousing management system after the first task reaches the row opening position, and obtaining a second task based on the goods taking row position application return, wherein the second task carries the goods taking row position of the target transported goods;

and the second task execution module is used for executing the second task, controlling the first stacker to run to the goods taking position for taking goods and transporting the target transported goods to the target end point position.

In a fourth aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method when executing the computer program.

In a fifth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.

In a sixth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the method described above.

According to the scheduling method and device of the one-rail multi-vehicle stacker, the computer equipment, the storage medium and the computer program product, the storage control system sends the goods taking task application to the storage management system according to the position of the first stacker, and the storage management system can screen the first task which does not have path intersection with other stackers from the first task pool according to the position of the first stacker. When the first stacker crane is determined to run to the goods taking row opening, the warehousing control system applies a second task carrying the goods taking row position and the target end point position to the warehousing management system, controls the first stacker crane to execute the second task, and transports the target transported goods to the target end point position from the goods taking row position. Because the condition that the path in the row direction is crossed and avoided is considered earlier when the first stacker crane carries out the task, therefore the first stacker crane does not need to avoid other stackers when moving to the goods taking row position, and other stackers do not need to avoid or stop waiting, carries the second task of getting the goods row position after the first stacker crane moves to the goods taking row position, can effectually avoid the condition that the storage control system carries out more tasks of dodging to take place, has promoted the conveying efficiency of pipe tobacco article greatly.

Drawings

FIG. 1 is a diagram of an exemplary embodiment of a scheduling method for a one-rail multi-car stacker;

FIG. 2 is a flow chart illustrating a scheduling method of a one-rail multi-car stacker according to an embodiment;

FIG. 3 is a diagram of an application environment of a scheduling method of a one-rail multi-car stacker according to another embodiment;

FIG. 4 is a schematic flow chart illustrating steps preceding the step of controlling the first stacker to move to a slot position corresponding to the pick row address for performing the first task in one embodiment;

FIG. 5 is a diagram illustrating a scenario of a pre-configured scheduling algorithm in one embodiment;

FIG. 6 is a diagram illustrating a scenario of another pre-configured scheduling algorithm in one embodiment;

FIG. 7 is a diagram illustrating a scenario of another pre-configured scheduling algorithm in one embodiment;

FIG. 8 is a diagram illustrating a scenario of another pre-configured scheduling algorithm in one embodiment;

FIG. 9 is a flow diagram illustrating steps prior to applying for a pick task from the warehouse management system based on the position of the first stacker, in one embodiment;

FIG. 10 is a flow chart illustrating a scheduling method of a one-rail multi-car stacker according to another embodiment;

FIG. 11 is a flow chart illustrating a scheduling method of a one-rail multi-car stacker according to another embodiment;

FIG. 12 is a flow chart illustrating a scheduling method of a one-rail multi-car stacker according to another embodiment;

FIG. 13 is a block diagram of a scheduling apparatus of a one-rail multiple-car stacker according to an embodiment;

FIG. 14 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The scheduling method of the one-rail multi-vehicle stacker provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the warehouse control system 102 communicates with the warehouse management system 104 via a communication network.

The warehousing Control System 102, which may also be referred to as a warehousing equipment scheduling System (WCS), is an important component of the automated stereoscopic Warehouse, and is equivalent to a monitor on a warehousing site, and can intuitively and accurately acquire states, positions, early warning states, and task execution conditions of all hardware equipment in the stereoscopic Warehouse, and can acquire an operation task of the warehousing management System 104 upwards and issue a detailed operation instruction to the automated equipment downwards.

The warehouse Management System 104 may also be called a Warehouse Management System (WMS), and by using the functions of warehouse entry business, warehouse exit business, warehouse allocation, inventory allocation, virtual warehouse Management, and the like, the Management System comprehensively utilizes the functions of batch Management, material correspondence, inventory checking, quality inspection Management, virtual warehouse Management, and instant inventory Management, effectively controls and tracks the whole process of logistics and cost Management of warehouse business, and implements or perfects warehouse information Management.

The data storage system may store data that the warehouse control system 102 and the warehouse management system 104 need to process. The data storage system may be integrated on the warehouse control system 102 and the warehouse management system 104, or may be located on the cloud or other network servers.

When the first stacker 105 is idle, the warehousing control system 102 applies for a picking task from the warehousing management system 104 according to the position of the first stacker 105 to obtain a first task returned based on the picking task application, wherein the first task indicates a picking row position and a target end point position, and the first task is a task to be executed, which is screened from a first task pool by the warehousing management system 104 and does not have a path intersection with other stackers 106. The warehousing control system 102 executes a first task, controls the first stacker 105 to operate to the pick-up row position, and applies for the pick-up row position from the warehousing management system 104 after the pick-up row position is reached, so as to obtain a second task based on the pick-up row position application return, wherein the second task carries the pick-up row position of the target transported object. The warehousing control system 102 performs a second task of controlling the first stacker 105 to move to the pick train position for picking and transporting the target transportation item to the target destination position. The warehouse control system 102 and the warehouse management system 104 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and the like, and may also be implemented by an independent server or a server cluster composed of a plurality of servers.

In one embodiment, as shown in fig. 2, a scheduling method for a one-rail multi-car stacker is provided, which is described by taking the example that the method is applied to the warehousing control system in fig. 1, and includes the following steps:

step 202, when the first stacker crane is idle, applying for a goods taking task from the warehousing management system according to the position of the first stacker crane, and obtaining a first task returned based on the goods taking task application, wherein the first task indicates a goods taking row position and a target end point position, and the first task is a to-be-executed task which is screened from a first task pool by the warehousing management system and does not have path intersection with other stacker cranes.

Wherein, the first stacker is an idle stacker in the system. Taking a one-rail double-vehicle system as an example, a stacker 1 and a stacker 2 exist in the one-rail double-vehicle system, when the stacker 1 is idle, the stacker 1 is determined as a first stacker, and the stacker 2 is the other stacker; when the No. 2 stacker is idle, the No. 2 stacker is determined as a first stacker, and the No. 1 stacker is other stackers.

Wherein the pick task is a task of instructing the first stacker to run to a start position of the target transport item for pick. It will be understood that the starting position of the target transport item is the pick-up position of the pick-up task. For example, in a cut tobacco delivery scene, the warehousing control system instructs the first stacker to operate to a shelf area where cut tobacco to be delivered is located to perform a cut tobacco delivery task applied to the warehousing management system.

The first task is screened from each task to be executed in the first task pool by the warehousing management system, and is not a task to be executed with a path crossing with other stackers, namely the second stacker, and each task to be executed is a goods taking position without carrying a target transport article. Specifically, the warehousing management system screens out tasks to be executed which do not have a path intersection with the second stacker from the tasks to be executed in the first task pool according to a preset screening strategy, and writes a pickup row position of a pickup position of a target transport object in the tasks to be executed into the tasks to be executed to obtain the first task.

The task to be executed is an article transportation task which is generated by the warehousing management system according to a preset production task or an actual production requirement, and it can be understood that the task to be executed is not directly issued to a directly executable task in the warehousing control system, and when the task to be executed is generated by the warehousing management system, only the article information and the target end point position of the target transported article are written, but not the pickup position of the target transported article.

In the case of one-rail two-vehicle system, the one-rail two-vehicle system is generally applied to a stereoscopic warehouse, the shelf areas where the one-rail two-vehicle system performs tasks are usually vertical shelf layers, and each shelf area has multiple layers of shelves. Specifically, the rack direction perpendicular to the one-rail two-car track direction is determined as the row direction, and the rack direction parallel to the track direction is determined as the column direction. That is, each shelf of the multi-shelf, i.e., each row of shelves, may be considered as a shelf divided into a plurality of cargo spaces by a plurality of rows of dividing plates. It can be understood that each cargo space has its own row position and column position, and a cargo space can be determined by one row position and one column position.

Taking the tobacco shred warehouse cigarette turning and box-out area in tobacco production as an example, as shown in fig. 3, the right side of the operation track of the stacker is provided with a plurality of layers of goods shelves, and the position of the goods location on each layer of goods shelves can be accurately determined by the row position and the column position of the goods location. The first stacker and the second stacker take out the tobacco shred boxes from each goods position of the goods position area and place the tobacco shred boxes on the conveyor of the corresponding box turning platform, and the conveyor conveys the corresponding tobacco shred boxes to the corresponding box turning platform for box turning processing. It will be appreciated that the stacker may also be responsible for transporting empty cases back to the warehouse.

Specifically, when the first stacker crane is idle, the first stacker crane applies for a task to the warehousing control system, the warehousing control system applies for a goods taking task to the warehousing management system according to the position of the first stacker crane, the warehousing management system screens out a to-be-executed task which does not have path intersection with other stacker cranes from a first task pool based on the position of the first stacker crane in the goods taking task application, writes a goods taking position and a target end point position in a goods taking address of the to-be-executed task into the to-be-executed task, generates a first task, and returns the first task to the warehousing control system.

In one embodiment, when the warehousing control system monitors that an idle platform exists in an article transportation terminal area, a task generation instruction is sent to the warehousing management system based on the position information of the idle platform; and the warehousing management system generates a task to be executed without a goods taking address of the target transported goods according to the position information of the idle platform in the task generation instruction.

And 204, executing a first task, controlling the first stacker to operate to the goods taking row position, applying for the goods taking row position from the warehousing management system after the first task reaches the goods taking row position, and obtaining a second task based on the goods taking row position application return, wherein the second task carries the goods taking row position of the target transported object.

Specifically, the warehousing control system executes a first task, controls the first stacker crane to run to the goods taking line position according to the goods taking line position carried in the first task, and after determining that the first stacker crane runs to take the line port corresponding to the goods taking line position, can determine that the first stacker crane is controlled to execute the goods taking task at the moment without avoiding other stacker cranes and without interfering with the work of other stacker cranes, and the warehousing control system continues to apply for the goods taking column position to the warehousing management system at the moment. The warehousing management system returns a second task according to the received application of the picking list position, wherein the second task is obtained by writing the picking list position of the target transport object into the first task, so that the picking list position of the target transport object is carried in the second task, and the second task can be understood to also carry the target end point position of the target transport object.

In one embodiment, the warehouse control system modifies the operational state of the first stacker to an operational state while performing the first task.

And step 206, executing a second task, controlling the first stacker to operate to the goods taking position for taking goods, and transporting the target transported goods to the target destination position.

Specifically, the warehousing control system executes a second task returned by the warehousing management system, controls the first stacker crane to run to a goods taking position for taking goods according to the goods taking position of the target transported goods in the second task, and transports the target transported goods to a target end point position.

In the scheduling method of the one-rail multi-vehicle stacker, the warehousing control system sends a goods taking task application to the warehousing management system according to the position of the first stacker, and the warehousing management system can screen the first task which does not have a path intersection with other stackers from the first task pool according to the position of the first stacker. When the first stacker crane is determined to run to the goods taking row opening, the warehousing control system applies a second task carrying the goods taking row position and the target end point position to the warehousing management system, controls the first stacker crane to execute the second task, and transports the target transported goods to the target end point position from the goods taking row position. Because the condition that the path in the row direction is crossed and avoided is considered earlier when the first stacker crane carries out the task, therefore the first stacker crane does not need to avoid other stackers when moving to the goods taking row position, and other stackers do not need to avoid or stop waiting, carries the second task of getting the goods row position after the first stacker crane moves to the goods taking row position, can effectually avoid the condition that the storage control system carries out more tasks of dodging to take place, has promoted the conveying efficiency of pipe tobacco article greatly.

In one embodiment, the second task may also be an independent row task, and specifically, if the first stacker and other stackers simultaneously execute each first task carrying the same row position, the independent second tasks are distributed according to the sequence in which the first stacker and other stackers reach the row opening corresponding to the row position. For example, the first stacker and the other stackers each execute row tasks in the 5 th row, the column position corresponding to the first task of the first stacker is the 1 st column, and the column position corresponding to the first tasks of the other stackers is the 2 nd column. If other stackers preferentially run to the row port of the 5 th row in the running process, the warehousing management system does not distribute the second task with the row position of the 2 nd row to other stackers at the moment, but distributes the second task with the row position of the 1 st row to other stackers, and after the other stackers finish executing the row task with the row position of the 1 st row, the second task with the row position of the 2 nd row is sent to the first stacker.

In one embodiment, as shown in fig. 4, executing the first task and controlling the first stacker to run to the position of the gate corresponding to the pick line address further includes:

step 402, judging whether the first task meets the execution requirement of the first stacker according to a preset scheduling algorithm.

The preset scheduling algorithm is a scheduling algorithm which is preset by the warehousing control system for avoiding collision between the first stacker crane and other stacker cranes in the running process. The execution requirement is that the first stacker is not at risk of colliding with other stackers when performing the first task.

Specifically, the preset scheduling algorithm determines the execution requirement of the first stacker according to the running information of other stackers, such as running state, running position, running trend and the like, and the warehousing control system determines whether the first task meets the execution requirement of the first stacker according to the picking row position carried by the first task.

Taking an example of the application to a one-rail two-vehicle system, in one embodiment, the preset scheduling algorithm is divided into two categories, where the first category is a one-vehicle fault category and the second category is a two-vehicle normal category.

Specifically, when there is a stacker failure in the system, consideration needs to be given to a situation that the failed stacker may suddenly recover to normal operation, and the preset scheduling algorithm includes the following situations:

first, as shown in fig. 5, when the second stacker S2 suddenly fails during task execution and no goods are taken, the preset scheduling algorithm determines the execution requirement of the first stacker according to the current position of the failed stacker and the start position a and the target position B of the task to be executed, that is, an area range separated from all three positions by a preset safety range is taken as an execution requirement range. And if the running range of the first task is in the execution requirement range, determining that the first task meets the execution requirement of the first stacker.

Secondly, as shown in fig. 6, when the second stacker S2 suddenly fails during task execution and gets a good, and the operation trend of the second stacker is opposite to the area where the first stacker S1 is located, the preset scheduling algorithm only needs to consider the current position of S2, and takes the area range which is separated from the current position of S2 by the preset safety range as the execution requirement range.

Thirdly, as shown in fig. 7, when the second stacker S2 suddenly fails to execute a task and gets a good, but the second stacker tends to move toward the area where the first stacker S1 is located, the preset scheduling algorithm considers the current position of S2 and the start address a and the target address B of the task, and takes the area range separated from the three positions by the preset safety range as the execution requirement range.

Fourth, as shown in fig. 8, if the second stacker S2 suddenly fails in the idle state, the second stacker S2 may only stay at the current failure position even if it suddenly resumes normal operation. Therefore, at this time, the preset scheduling algorithm only needs to consider the current position of S2, and take the area range separated from the current position of S2 by the preset safety range as the execution requirement range.

In one embodiment, the preset safety range may be represented by the number of rows in the cargo space area, for example, the preset safety range is 8 rows in the cargo space area.

In one embodiment, the preset scheduling algorithm further includes: when the two stackers are normal and execute tasks, after a certain stacker finishes the tasks, the stackers immediately search for the tasks which start from the nearby and are within the executable range and execute the tasks preferentially.

In one embodiment, the preset scheduling algorithm further includes: when both stackers are normal, one of them is executing a task and the other task cannot be allocated immediately, the other stacker can be shifted to the start address of the other task first (the performability of this shift will be calculated).

In one embodiment, when one stacker fails, another stacker executes a complex cycle of tasks, and the preset scheduling algorithm further includes: after completing the task, the normal stacker searches for tasks that start from near its current location and are within an executable scope. Tasks affected by the faulty stacker will not be able to be allocated and will require manual intervention (to remove the fault or move to a maintenance location, etc.).

In one embodiment, when both the two stackers are idle and both operate normally, the warehousing control system allocates the first task to the corresponding stacker to execute based on the second preset scheduling algorithm when receiving the first task returned by the warehousing management system.

Specifically, the second preset scheduling algorithm includes the following cases:

the first method is that when two stackers are idle and only have one task and do not need to give way to execute, the distance that the two stackers need to walk for executing the task is calculated, and the calculation method is as follows: and mapping all the addresses into two-digit goods location addresses, wherein the distance is from the current position of the stacker to the starting address of the task and then to the target address of the task. And taking the stacker with the minimum calculation result, namely executing the task with the shortest walking distance to execute the task.

Secondly, when two stackers are idle and only have one task and need to give way to execute, the distance that the two stackers need to walk to execute the task is calculated, and the calculation method comprises the following steps: and mapping all the addresses into two-digit goods location addresses, wherein the distance is the distance from the current position of the stacker to the starting address of the task and then to the target address of the task, and the distance required by the other stacker to be displaced. And taking the stacker with the minimum calculation result, namely executing the task with the shortest walking distance to execute the task.

In one embodiment, if there are multiple executable tasks in the second task pool and both stackers are idle, the second predetermined scheduling algorithm further includes: and traversing the task list, and if two tasks exist and the execution paths do not interfere with each other, simultaneously issuing the two tasks to the two stackers. If two tasks which do not interfere with each other cannot be found. And searching whether a task exists, wherein the target address of the task is beyond the path range of another task and is separated by a preset safety distance, and sending the task to a stacker with the approaching target address.

And step 404, if the execution requirement is met, issuing the first task to the first stacker, and modifying the state of the first stacker into a working state.

Specifically, when the first task is not issued to the first stacker, the state of the first stacker is an idle state, and when the first task is determined to meet the execution requirement of the first stacker, the warehousing control system issues the first task to the first stacker and modifies the state of the first stacker to be a working state.

And step 406, if the execution requirement is not met, storing the first task into a local second task pool.

And the second task pool is a local task pool corresponding to the warehousing control system and is used for storing each task issued by the warehousing management system. It will be appreciated that when a task is performed, the warehousing control system will delete the corresponding task from the local task pool.

Specifically, if the warehousing control system determines that the first task does not meet the execution condition of the first stacker based on a preset scheduling algorithm, the first task is stored in a local second task pool.

Step 408, modify the state of the first stacker to an idle state.

Specifically, when the warehousing control system determines that the first task does not meet the execution requirement, the state of the first stacker is continuously modified into an idle state, and a new goods taking task is applied to the warehousing management system.

In this embodiment, whether the first task meets the execution requirement of the first stacker is determined by comparing the first task issued by the warehousing management system with the execution requirement of the first stacker obtained by the warehousing control system based on the preset scheduling algorithm, and when the first task does not meet the execution requirement of the stacker, the warehousing control system temporarily stores the first task in the second task pool, and applies a new picking task to the warehousing management system again, so that the first stacker is prevented from sending collision with other stackers when executing the first task, which causes a system fault, further improves the system operation efficiency, and reduces the operation and maintenance cost of the system.

In one embodiment, as shown in fig. 9, before applying for a pick task from the warehouse management system according to the position of the first stacker, the method further includes:

and step 902, searching whether an executable task exists in the second task pool, wherein the executable task is a task meeting the execution requirement of the first stacker.

Specifically, when a first idle stacker exists, the warehousing control system preferentially searches whether a task which is executed in a suspension mode before exists in a second local task pool, if so, determines whether the task meets the execution requirement of the current first stacker based on a preset scheduling algorithm, and if so, determines the task as an executable task.

And 904, if the executable task exists in the second task pool, the executable task is issued to the first stacker, and the state of the first stacker is modified into a working state.

Specifically, when an executable task meeting the execution requirement of the first stacker crane exists in the second task pool in a cache mode, the warehousing control system issues the executable task to the first stacker crane, modifies the state of the first stacker crane into a working state, and controls the first stacker crane to complete the executable task.

Step 906, if no executable task exists in the second task pool, a step of applying for a goods taking task to the warehousing management system according to the position of the first stacker is executed.

Specifically, if all tasks in the second task pool do not meet the execution requirement of the first stacker crane, it is determined that no executable task exists in the second task pool, and at this time, a step of applying for a pickup task from the warehousing management system according to the position of the first stacker crane is performed.

In this embodiment, before the warehousing control system applies for the pickup task to the warehousing management system, the task in the second task pool of the warehousing control system is traversed to determine whether there is a task in the task pool of the warehousing control system that has been executed in a suspended manner before, and if not, the pickup task is applied to the warehousing management system. If yes, the tasks in the task pool of the user are preferentially executed, and the problem that the tasks in the task pool of the user cannot be executed due to accumulation is avoided.

In one embodiment, as shown in fig. 10, there is provided a scheduling method of a one-rail multi-car stacker, applied in a warehouse management system, including the following steps:

step 1002, receiving a goods taking task application sent by a warehousing control system, wherein the goods taking task application is generated by the warehousing control system according to the position of a first stacker.

Specifically, the warehousing management system receives a picking task application generated by the warehousing control system according to the position of the first stacker, so that the specific position of the first stacker which is idle at present is known.

And 1004, screening out tasks to be executed, which do not have path intersection with other stackers, from the first task pool based on the goods taking task application and a preset screening strategy, generating a first task according to the goods taking row position of the tasks to be executed, and sending the first task to the warehousing control system, wherein the first task instructs the first stacker to run to the goods taking row position.

The preset screening strategy is a screening strategy preset by the warehousing management system according to actual production requirements and actual site design and is used for screening tasks to be executed, which do not have path intersection with other stackers, from the first task pool for the idle first stacker.

The task to be executed is an article transportation task which is generated by the warehousing management system according to a preset production task or actual production needs, and it can be understood that the task to be executed is not directly issued to the warehousing control system to be directly executable.

Specifically, the warehousing management system screens out tasks to be executed which do not have path intersection with other stackers from a first task pool based on a first stacker position in the picking task application and a preset screening strategy, writes picking row positions corresponding to the picking positions of the tasks to be executed into the tasks to be executed, updates the tasks to obtain first tasks, and sends the first tasks to the warehousing control system, wherein the first tasks are used for indicating the first stacker to run to the picking row positions. It can be understood that the task to be executed carries the item information of the target transportation item and the target end position of the target transportation item.

In one embodiment, the preset screening policy is: the task to be executed having the row position with the closest distance to the currently idle first stacker is preferentially selected. Specifically, the task to be executed which has the closest distance to the first stacker crane in the row direction is preferentially selected, so that the situation that the path of the first stacker crane when executing the task is crossed with the running paths of other stacker cranes to cause avoiding task generation can be effectively avoided, and the execution efficiency of the one-rail multi-vehicle system is improved.

In one embodiment, the preset filtering policy further includes: and preferentially selecting the task to be executed with the highest priority in the first task pool. Specifically, the warehousing management system generates the priority of each task to be executed according to the service type and the default priority configuration table, wherein the service type comprises goods delivery, empty box return, fault transfer and the like. For example, the empty box warehouse returning task is set as the task with the highest priority, when a plurality of tasks to be executed which have the closest distance to the first stacker in the row direction are simultaneously arranged in the first task pool, if any empty box warehouse returning task exists, the empty box warehouse returning task to be executed is preferentially selected to be sent to the first stacker for execution.

Step 1006, receiving a pickup position application sent by the warehousing control system, generating a second task according to the pickup position and the target end point position of the target transported item, sending the second task to the warehousing control system, instructing the first stacker to move to the pickup position for pickup by the second task, and transporting the target transported item to the target end point position.

Specifically, receiving a goods taking column position application sent by the warehousing control system after the first stacker arrives at a row mouth position corresponding to the goods taking row position, writing the goods taking column position of the target transport goods which is not written originally into the first task, and updating to obtain a second task. The second task also carries the article information of the target transported article carried by the original first task and the target end position. And sending a second task to the warehousing control system, wherein the second task is used for indicating the first stacker crane to move to a goods taking row position for taking goods and transporting the target transported goods to a target destination position.

According to the scheduling method of the one-rail multi-vehicle stacker, the warehousing management system can screen the first task which does not have path intersection with other stackers from the first task pool according to the position of the first stacker. When the first stacker crane is determined to run to the goods taking row opening, the warehousing management system sends a second task carrying the goods taking row position and the target end position to the warehousing control system, and the first stacker crane is instructed to transport the target transported goods to the target end position from the goods taking row position. Because the condition that the path in the row direction is crossed and avoided is considered earlier when the first stacker crane carries out the task, therefore the first stacker crane does not need to avoid other stackers when moving to the goods taking row position, and other stackers do not need to avoid or stop waiting, carries the second task of getting the goods row position after the first stacker crane moves to the goods taking row position, can effectually avoid the condition that the storage control system carries out more tasks of dodging to take place, has promoted the conveying efficiency of pipe tobacco article greatly.

In one embodiment, as shown in fig. 11, the scheduling method of the one-rail multi-car stacker further includes the following steps:

step 1102, receiving a task generation instruction sent by the warehousing control system, wherein the task generation instruction is generated based on position information of an idle station when the warehousing control system monitors that the idle station exists in an article transportation terminal area.

The article transportation terminal area is an area where a target terminal position of each article to be transported is located, and is used for storing the article to be transported or executing a next production process by using the article to be transported. Taking a cut tobacco delivery scene as an example, when the articles to be transported are cut tobacco storage boxes, the article transportation destination area is the area where each box turning platform is located; when the article to be transported is an empty box, the article transportation destination area is the area where the empty box buffer station is located.

Specifically, the warehousing management system receives a task generation instruction sent by the warehousing control system. The warehousing control system monitors the state of each platform in real time, and when the warehousing control system monitors that an idle platform exists in the article transportation terminal area, the situation that articles need to be added to the idle platform at the moment is shown. And the warehousing control system generates a task generating instruction based on the position information of the idle platform and sends the task generating instruction to the warehousing management system.

And 1104, generating a task to be executed without a goods taking address of the target transported goods according to the position information of the idle platform in the task generation instruction.

Specifically, the warehousing management system determines the type of the target transportation item to be stored according to the position information of the idle platform, and determines the current position of the target transportation item, namely the pickup address of the target transportation item, according to the type of the target transportation item. And generating a task to be executed without carrying a pickup address based on the article information of the target transported article and the position information of the idle platform. The task to be executed carries the article information of the target transported article and the target end point position. It can be understood that, although the warehousing management system does not write the pick-up address of the target transportation item into the task to be executed, the warehousing management system itself can know the pick-up address of each task to be executed.

At step 1106, the task to be executed is stored in the first task pool.

Specifically, the tasks to be executed are stored in a first task pool local to the warehouse management system.

In one embodiment, after the warehousing management system generates the task to be executed, the task to be executed is set to be in a non-executable state.

In one embodiment, the warehousing management system allocates a corresponding priority to each task to be executed in the first task pool according to the task type of the task to be executed and a preset priority configuration table.

In one embodiment, the priority of the task in the task pool changes in real time, and when a certain task is at a certain priority and reaches a preset duration, the priority of the task is adjusted up by one level, so that the situation that the task cannot be executed for a long time due to the fact that the number of the tasks with the previous priority is too large is avoided.

In the above embodiment, when receiving the idle platform position information fed back by the warehousing control system, the warehousing management system does not directly determine the task carrying the pickup address and the target destination address according to the idle platform position information and issue the task to the warehousing control system for execution, but generates the task to be executed without carrying the pickup address, and when receiving the position of the idle stacker fed back by the warehousing control system, selects the task not crossing with the transmission path of other stackers according to the position of the idle stacker and the preset screening policy, thereby effectively improving the transportation efficiency of the system.

In one embodiment, the scheduling method of the one-rail multi-vehicle stacker further comprises the following steps: simultaneously storing the tasks to be executed into a second task pool of the warehousing control system; before the first task or the second task is issued to the warehousing control system, the task to be executed in the first task pool and the task to be executed in the second task pool are verified, and whether the task to be executed exists in the second task pool is confirmed; if the first task or the second task exists, the first task or the second task is issued to the warehousing control system; if not, suspending the task issuing, generating task missing information and prompting that the task is missing in the second task pool.

Specifically, the warehousing management system and the warehousing control system both have corresponding local task pools, when generating a task to be executed according to the idle platform information fed back by the warehousing control system, the warehousing management system stores the task to be executed into a local first task pool and a local second task pool of the warehousing control system, and when generating the first task or the second task and preparing to issue, the warehousing management system verifies the task to be executed corresponding to the first task or the second task and the task to be executed in the second task pool, and determines whether the corresponding task to be executed exists in the second task pool. If the verification fails, the to-be-executed task in the second task pool is manually deleted or the warehousing control system fails, at this moment, the warehousing management system suspends the task issuing, simultaneously generates task missing information, prompts that the task is missing in the second task pool, and notifies the manual intervention inspection. And if the verification is successful, directly issuing the first task or the second task to the warehousing control system.

In the embodiment, the information of the tasks to be executed is synchronously updated in the first task pool and the second task pool, when the corresponding tasks are issued, the tasks to be executed in the first task pool and the tasks to be executed in the second task pool are verified, if the information of the tasks to be executed in the second task pool is not verified successfully due to manual operation or system fault, the tasks are stopped to be issued, manual intervention processing is notified, the situation that the system tasks are distributed disorderly due to external factors in the task issuing process can be avoided, and the accuracy of article transportation in the system operation process is improved.

In one embodiment, as shown in fig. 12, a scheduling method for a one-track multi-car system is provided, and for example, the method is applied to a one-track two-car system, and the method involves a Warehouse Management System (WMS), a Warehouse Control System (WCS), a first stacker and a second stacker.

Specifically, when the empty box cache platform or the box turnover platform is empty, the WCS system sends a task generation instruction to the WMS system based on the position information of the empty platform, the WMS system receives the task generation instruction sent by the WCS system, and generates a task to be executed without a goods taking address of a target transport object according to the position information of the empty platform in the task generation instruction. And setting the state of the task to be executed as unexecutable, and simultaneously issuing the task to be executed to the first task pool and the second task pool for caching. The task to be executed carries the article information of the target transported article and the target end point position.

And when a first idle stacker exists, the WCS system searches in a second task pool, and if an executable task meeting the execution requirement of the first stacker exists in the second task pool, the executable task is directly executed.

And if the second task pool does not have an executable task meeting the execution requirement of the first stacker crane, applying for a goods picking task from the WMS system by the WCS system according to the position of the first stacker crane, screening out a to-be-executed task which does not have a path intersection with other stacker cranes from the first task pool by the WMS system according to the position of the first stacker crane and a preset screening strategy, writing the goods picking position of the to-be-executed task into the to-be-executed task, updating to obtain the first task, verifying the to-be-executed task and the to-be-executed task in the second task pool, if the to-be-executed task does not exist in the second task pool, confirming that the verification fails, stopping issuing the first task, generating task missing information, reminding the missing task in the second task pool, and needing manual intervention and inspection. And if the task to be executed exists in the second task pool, confirming that the verification is successful, and issuing the first task to the WCS system.

And the WCS system determines whether the first task meets the execution requirement of the first stacker according to a self preset scheduling algorithm, and if not, stores the first task into the second task pool and temporarily delays the execution. And if the execution requirement is met, executing a first task, and controlling the first stacker to run to a row opening corresponding to the goods taking row position. And applying for a pick-up position from the WMS system.

And the WMS system writes the pick-up list address corresponding to the first task into the first task, updates to obtain a second task, repeatedly executes the task verification process, and issues the second task to the WCS system if the task to be executed corresponding to the second task exists in the second task pool.

And the WCS system executes a second task, controls the first stacker crane to move to the goods taking position for taking goods and transports the target transported goods to the target end position.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides a scheduling device of the one-rail multi-vehicle system, which is used for realizing the scheduling method of the one-rail multi-vehicle system. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so that specific limitations in one or more embodiments of the scheduling device for a one-rail multi-vehicle system provided below can be referred to the limitations on the scheduling method for the one-rail multi-vehicle system, and are not described herein again.

In one embodiment, as shown in fig. 13, there is provided a scheduling apparatus 1300 of a one-rail multiple-vehicle system, including: a task application module 1301, a first task execution module 1302, and a second task execution module 1303, wherein:

the task application module 1301 is configured to apply for a goods taking task to the warehousing management system according to a position of the first stacker when the first stacker is idle, and obtain a first task based on a goods taking task application return, where the first task indicates a goods taking row address and a target destination position, and the first task is a task that is screened from a first task pool by the warehousing management system and does not have a path intersection with other stackers.

The first target task execution module 1302 is configured to execute a first task, control the first stacker to run to a row opening position corresponding to the pickup row address, and apply for a pickup row position from the warehousing management system after the row opening position is reached, to obtain a second task based on the pickup row position application return, where the second task carries a pickup row position of the target transport item.

And the second target task execution module 1303 is configured to execute the second task, control the first stacker to move to the pickup row position to pick up the goods, and transport the target transport item to the target destination position.

According to the scheduling device of the one-rail multi-vehicle stacker, the storage control system sends the goods taking task application to the storage management system according to the position of the first stacker, and the storage management system can screen the first task which is not crossed with other stackers in a path according to the position of the first stacker. When the first stacker crane is determined to run to the goods taking row opening, the warehousing control system applies a second task carrying the goods taking row position and the target end point position to the warehousing management system, controls the first stacker crane to execute the second task, and transports the target transported goods to the target end point position from the goods taking row position. Because the condition that the path in the row direction is crossed and avoided is considered earlier when the first stacker crane carries out the task, therefore the first stacker crane does not need to avoid other stackers when moving to the goods taking row position, and other stackers do not need to avoid or stop waiting, carries the second task of getting the goods row position after the first stacker crane moves to the goods taking row position, can effectually avoid the condition that the storage control system carries out more tasks of dodging to take place, has promoted the conveying efficiency of pipe tobacco article greatly.

In one embodiment, the scheduling apparatus of the one-rail multi-car stacker further comprises: the execution requirement judging module is used for judging whether the first task meets the execution requirement of the first stacker according to a preset scheduling algorithm; if the execution requirement is met, issuing a first task to the first stacker crane, and modifying the state of the first stacker crane into a working state; if the execution requirement is not met, storing the first task into a local second task pool; modifying the state of the first stacker to an idle state.

In one embodiment, the scheduling apparatus of the one-rail multi-car stacker further comprises: the executable task searching module is used for searching whether an executable task exists in the second task pool, and the executable task meets the execution requirement of the first stacker; if the executable task exists in the second task pool, the executable task is issued to the first stacker crane, and the state of the first stacker crane is modified into a working state; and if the executable task does not exist in the second task pool, executing a step of applying for a goods taking task to the warehousing management system according to the position of the first stacker.

In one embodiment, there is provided a scheduling apparatus of a one-rail multi-car stacker, including: the task application receiving module, the first task generating module and the second task generating module, wherein:

and the task application receiving module is used for receiving a goods taking task application sent by the warehousing control system, and the goods taking task application is generated by the warehousing control system according to the position of the first stacker.

The first task generation module is used for screening out tasks to be executed, which do not have path intersection with other stackers, from the first task pool based on the goods taking task application and a preset screening strategy, generating first tasks according to the goods taking row positions of the tasks to be executed, and sending the first tasks to the storage control system, wherein the first tasks indicate the first stacker to run to the goods taking row positions.

The second task generation module is used for receiving the goods taking position application sent by the storage control system, generating a second task according to the goods taking position and the target end point position of the target transported goods, sending the second task to the storage control system, and instructing the first stacker crane to operate to the goods taking position to take the goods and transport the target transported goods to the target end point position by the second task.

In one embodiment, the scheduling apparatus of the one-rail multi-car stacker further comprises: the to-be-executed task generating module is used for receiving a task generating instruction sent by the storage control system, wherein the task generating instruction is generated based on the position information of an idle platform when the storage control system monitors that the idle platform exists in an article transportation destination area; generating a task to be executed without carrying a goods taking address of a target transport object according to the position information of the idle platform in the task generation instruction; and storing the tasks to be executed into a first task pool.

In one embodiment, the scheduling apparatus of the one-rail multi-car stacker further comprises: the task verification module is used for simultaneously storing the tasks to be executed into a second task pool of the warehousing control system; before the first task or the second task is issued to the warehousing control system, the task to be executed in the first task pool and the task to be executed in the second task pool are verified, and whether the task to be executed exists in the second task pool is confirmed; if the first task or the second task exists, the first task or the second task is issued to the warehousing control system; if not, suspending the task issuing, generating task missing information and prompting that the task is missing in the second task pool.

All modules in the dispatching device of the one-rail multi-vehicle stacker can be completely or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 14. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data of the warehousing management system and the warehousing control system. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a scheduling method of the one-rail multi-vehicle stacker.

Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the scheduling method of the one-rail multi-vehicle stacker according to the foregoing embodiments when executing the computer program.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of the scheduling method of the one-rail multi-car stacker of the above embodiments.

In one embodiment, a computer program product is provided, which comprises a computer program that when executed by a processor implements the steps of the scheduling method of the one-rail multi-car stacker of the above embodiments.

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more 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 scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A scheduling method of a one-rail multi-vehicle stacker is applied to a storage control system and is characterized by comprising the following steps:

2. The method of claim 1, wherein the executing the first task, prior to controlling the first stacker to travel to the mouth position corresponding to the pick line address, further comprises:

judging whether the first task meets the execution requirement of the first stacker according to a preset scheduling algorithm;

if the execution requirement is met, the first task is sent to the first stacker, and the state of the first stacker is modified into a working state;

if the execution requirement is not met, storing the first task into a local second task pool;

modifying a state of the first stacker to an idle state.

3. The method of claim 2, wherein prior to applying for a pick task from a warehouse management system based on the position of the first stacker, further comprising:

searching whether an executable task exists in a second task pool, wherein the executable task is a task meeting the execution requirement of the first stacker;

if the executable task exists in the second task pool, the executable task is issued to the first stacker, and the state of the first stacker is modified into a working state;

and if the executable task does not exist in the second task pool, executing a step of applying for a goods taking task from a warehousing management system according to the position of the first stacker.

4. A scheduling method of a one-rail multi-vehicle stacker is applied to a warehousing management system and is characterized by comprising the following steps:

5. The method of claim 4, wherein the task to be performed is a task of a pickup location that does not carry a target transportation item;

the method further comprises the following steps:

receiving a task generation instruction sent by the warehousing control system, wherein the task generation instruction is generated based on position information of an idle platform when the warehousing control system monitors that the idle platform exists in an article transportation terminal area;

generating a task to be executed without a goods taking address of a target transport object according to the position information of the idle platform in the task generation instruction;

and storing the task to be executed into the first task pool.

6. The method of claim 5, further comprising:

simultaneously storing the tasks to be executed into a second task pool of the warehousing control system;

before the first task or the second task is issued to the warehousing control system, the task to be executed in the first task pool and the task to be executed in the second task pool are verified, and whether the task to be executed exists in the second task pool is confirmed;

if the first task or the second task exists, the first task or the second task is issued to the warehousing control system;

and if not, suspending the task issuing, generating task missing information and prompting that the task is missing in the second task pool.

7. A scheduling apparatus for a one-rail multiple-car stacker, the apparatus comprising:

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.