CN114418461B - Task allocation method and device for shuttle vehicle and electronic equipment - Google Patents
Task allocation method and device for shuttle vehicle and electronic equipment Download PDFInfo
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Abstract
The invention provides a task allocation method and device of a shuttle vehicle and electronic equipment, and relates to the technical field of logistics.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a task allocation method and device of a shuttle vehicle and electronic equipment.
Background
The shuttle car is an intelligent robot, can realize tasks such as getting goods, transporting, placing by programming, realizes functions such as automatic discernment, access. For the shuttle vehicle provided with the multilayer cargo carrying platform, a plurality of containers of cargos can enter and exit simultaneously.
At present, the shuttle vehicle with the multilayer cargo carrying platforms simply receives and sequentially executes tasks according to the time sequence of task generation (or delivery), however, the shuttle vehicle can move back and forth in a warehouse due to the task distribution mode, the moving distance and the cargo taking and placing time are increased, the advantages of the shuttle vehicle are not fully exerted, and the operation efficiency of the shuttle vehicle for warehouse exit is still required to be improved.
Disclosure of Invention
The invention aims to provide a task allocation method and device of a shuttle vehicle and electronic equipment, so as to improve the operation efficiency of the shuttle vehicle.
In a first aspect, an embodiment of the present invention provides a task allocation method for a shuttle car, which is applied to a shuttle car with a multi-layer cargo carrying platform, wherein the shuttle car moves in a roadway of a warehouse; the task allocation method of the shuttle car comprises the following steps:
determining an operation layer of the shuttle vehicle according to the current task of the shuttle vehicle, wherein the operation layer is a cargo carrying platform layer which is provided with tasks in the shuttle vehicle;
determining selectable storage positions in a storage rack of the warehouse according to the operation layer;
and determining a target storage position from all the selectable storage positions according to the principle that the total time consumption of the shuttle car for executing all the tasks is the shortest, so that the shuttle car can execute the current task to the target storage position.
Further, determining the selectable bin positions in the shelves of the warehouse according to the operation layer comprises:
determining available storage positions in a storage rack of a warehouse according to the task type of the current task;
and determining all available library positions corresponding to the operation layer as selectable library positions.
Further, determining a target bin from all of the selectable bins includes:
determining the roadways related to all the optional storage positions as operation roadways;
selecting a first roadway from all the operation roadways as a target roadway, wherein the first roadway is the roadway with the largest roadway layer coefficient, and the roadway layer coefficient is the number of layers related to all the optional storage positions in the corresponding roadway;
and selecting a target library position from the selectable library positions of the target roadway.
Further, selecting a first roadway from all the operation roadways as a target roadway, including:
and when a plurality of first tunnels are available, selecting a second tunnel from the plurality of first tunnels as a target tunnel, wherein the second tunnel is the first tunnel which has the shortest time consumption from the current position of the shuttle vehicle to the execution of all tasks in the corresponding tunnel.
Further, the task allocation method of the shuttle car further comprises the following steps:
and when the second roadway is multiple, selecting a second roadway which is closest to the roadway where the shuttle vehicle is currently located from the multiple second roadways as a target roadway.
Further, the second roadway comprises a working roadway with a plurality of selectable storage positions corresponding to the goods positions in the vertical direction of the goods shelf.
Further, selecting a second lane from the plurality of first lanes as a target lane includes:
determining an optimal storage position combination of each first tunnel, wherein the optimal storage position combination is selected according to the principle that the number of selectable storage positions at the corresponding goods positions in the vertical direction of the goods shelf is the largest and the distance from the optimal storage position combination to the near end of the tunnel is the smallest, and the near end of the tunnel is the end, closest to the current position of the shuttle, of the corresponding tunnel;
the total time consumption for executing all tasks in the corresponding roadway from the current position of the shuttle vehicle to the optimal storage position combination of each first roadway is compared with the total time consumption for executing all tasks in the corresponding roadway;
and taking the first roadway where the optimal library position combination with the shortest total time consumption is located as a second roadway.
Further, the vertical direction of the shelf is recorded as the column direction of the shelf; determining an optimal bin combination for each first lane, comprising:
for each first lane, traversing all columns containing selectable storage positions of the corresponding goods shelves from the near end of the lane to the far end of the lane of the first lane; the far end of the tunnel is the end of the corresponding tunnel, which is farthest from the current position of the shuttle car;
when each layer of the corresponding goods shelf corresponding to the operation layer is traversed to at least one optional storage position, determining each currently traversed optional storage position as a storage position group to be selected of the first roadway;
exhaustively selecting all combinations of one optional library position in each layer in the library position candidate group to obtain at least one library position combination;
calculating to obtain the total time consumption of the shuttle vehicle for executing all tasks in the first roadway from the current position to each warehouse location combination, wherein the total time consumption comprises the time consumption for driving, the time consumption for positioning, the time consumption for turning and the time consumption for picking and placing goods;
and determining the library position combination with the shortest total time consumption in at least one library position combination as the optimal library position combination of the first roadway.
Further, the task allocation method of the shuttle car further comprises the following steps:
when the number of the determined target library positions in the optional library positions of the target roadway does not reach the number of the operation layers, performing matching updating on the operation layers and the optional library positions according to all the current target library positions to obtain updated operation layers and updated optional library positions;
and based on the updated operation layer and the updated optional library positions, re-executing the step of determining the tunnels related to all the optional library positions as the operation tunnels.
Furthermore, each roadway has roadway numbers obtained according to position sequencing; the target storage space is multiple, and after the target storage space is determined from all the selectable storage spaces, the task allocation method of the shuttle car further comprises the following steps:
determining a minimum roadway and a maximum roadway from the target roadways to which the target storage positions belong, wherein the minimum roadway is the roadway with the minimum number, and the maximum roadway is the roadway with the maximum number;
calculating to obtain a first roadway distance between the minimum roadway and the roadway where the shuttle car is currently located and a second roadway distance between the maximum roadway and the roadway where the shuttle car is currently located;
and sequencing the target storage positions according to the size relationship between the first roadway distance and the second roadway distance to obtain an operation sequence of the shuttle vehicle to execute the current task to each target storage position, so that the shuttle vehicle starts to operate from the closest roadway in the minimum roadway and the maximum roadway.
In a second aspect, an embodiment of the present invention further provides a task allocation device for a shuttle car, which is applied to a shuttle car provided with a multi-layer cargo carrying platform, wherein the shuttle car moves in a roadway of a warehouse; the task allocation device of the shuttle car comprises:
the first determining module is used for determining an operation layer of the shuttle vehicle according to the current task of the shuttle vehicle, wherein the operation layer is a cargo carrying platform layer which is allocated with the task in the shuttle vehicle;
the second determination module is used for determining the selectable warehouse positions in the goods shelves of the warehouse according to the operation layer;
and the third determining module is used for determining the target storage position from all the selectable storage positions according to the principle that the total time consumption of the shuttle vehicle for executing all the tasks is the shortest, so that the shuttle vehicle can execute the current task to the target storage position.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program that is executable on the processor, and the processor implements the task allocation method for the shuttle car according to the first aspect when executing the computer program.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for task allocation of a shuttle car according to the first aspect is performed.
When the task allocation method, the device and the electronic equipment for the shuttle vehicle are used for allocating tasks to the shuttle vehicle provided with the multilayer cargo carrying platforms, an operation layer of the shuttle vehicle is determined according to the current task of the shuttle vehicle, and the operation layer is a cargo carrying platform layer allocated with tasks in the shuttle vehicle; then determining the selectable storage positions in the storage rack of the warehouse according to the operation layer; and determining a target storage position from all the selectable storage positions according to the principle that the total time consumption of the shuttle vehicle for executing all tasks is shortest, so that the shuttle vehicle can execute the current task to the target storage position. Therefore, the target storage position is determined according to the principle that the total consumed time of all tasks of the shuttle car is the shortest, on one hand, the moving distance of the shuttle car with the multilayer goods carrying platforms when multiple tasks are carried out at one time is reduced, on the other hand, the function that multiple boxes of goods can enter and exit simultaneously of the shuttle car can be fully utilized, the multiple boxes of goods can be taken and placed simultaneously as far as possible, the consumed time of taking and placing the goods is reduced, and therefore the operating efficiency of the shuttle car is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a shuttle vehicle having a multi-deck cargo bed;
fig. 2a is a perspective view of a warehouse according to an embodiment of the present invention;
FIG. 2b is a perspective view of another warehouse provided by an embodiment of the present invention;
fig. 3 is a warehouse shelf layout diagram of a shuttle provided in an embodiment of the present invention;
fig. 4 is a task movement diagram of a shuttle vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a task allocation method for a shuttle provided in an embodiment of the present invention;
fig. 6 is a schematic cross-sectional view of an available position distribution corresponding to a roadway according to an embodiment of the present invention;
fig. 7 is a block diagram of a task allocation device of a shuttle vehicle according to an embodiment of the present invention;
fig. 8 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a shuttle provided with a multi-layer cargo carrying platform is shown, the shuttle includes a vehicle body 101, a top plate 108 is provided on the top of the vehicle body 101, upper guide wheels 107 are provided on the top plate 108, the upper guide wheels 107 are disposed on four side surfaces of the top plate 108, and a group of relatively parallel upper guide wheels 107 are provided, and are matched with upper guide rails in a warehouse to keep the vehicle body stable in operation. The two walls of the vehicle body 101 are provided with supporting plates 106, the vehicle body 101 is internally provided with a multi-layer cargo carrying platform 103, two sides of the inner wall of the cargo carrying platform 103 are provided with tracks, a slidable guide plate 104 is arranged in the tracks, and the guide plate 104 can slide in the front and back directions, so that the shuttle vehicle can take and place cargos on two sides of a straight passage (roadway); the two ends of the guide plate 104 are provided with a shifting rod 105, the guide plate 104 is movably connected with the shifting rod 105, and the shifting rod 105 can be used for shifting or pushing a material box for storing goods, and the material box is taken and placed along with the extension and retraction of the guide plate 104. The base of the vehicle body 101 is provided with wheels 102, the wheels 102 are arranged on four sides of the vehicle body 101, each parallel two sides are in one group, only one group of wheels 102 runs on the shelf rail at a time, one group of wheels 102 parallel to the length direction of the vehicle body are main running wheels, one group of wheels 102 parallel to the goods carrying platform 103 and the guide plate 104 are roadway-changing running wheels, the roadway-changing running wheels can be lifted, the roadway-changing running wheels are lifted to be emptied when running on a straight-running channel, the roadway-changing stations are lowered, and the vehicle body is jacked up to enable the main running wheels to be emptied. The shuttle car can complete autonomous movement, roadway transformation and positioning to a cargo space under the instruction of an upper position; the shuttle car can take and place multiple boxes simultaneously by arranging the multilayer cargo carrying platform 103 and matching the guide plate 104 with the shifting rod 105.
The shuttle car may move within a lane 201 of a warehouse as shown in fig. 2a and 2b, the lane 201 being flanked by shelves 202 (the warehouse including a plurality of rows of shelves 202). The rack 202 is a multi-deck rack, and the deck of the rack 202 corresponds to the deck of the cargo bed 103 of the shuttle. For example, the shuttle car comprises five layers of cargo platforms 103, the cargo shelf 202 is a 10-layer cargo shelf, and the cargo shelf 202 can be divided into an upper layer and a lower layer, counting from bottom to top, wherein the lower layer is a1 st-5 th layer of cargo shelf, and the upper layer is a 6 th-10 th layer of cargo shelf; when the shuttle car is positioned at the lower layer of the goods shelf 202, the 1 st to 5 th goods shelves respectively correspond to the 1 st to 5 th goods carrying platforms 103; when the shuttle car moves to the upper layer of the goods shelf 202 through the layer changing elevator, the goods shelves on the 6 th layer to the 10 th layer correspond to the goods carrying platforms 103 on the 1 st layer to the 5 th layer respectively.
As shown in fig. 2a, 2b, 3 and 4, at least one warehousing port 203 and at least one delivery port 204 are provided in the warehouse (for example, the warehouse includes two warehousing ports 203 and two delivery ports 204). As shown in fig. 3, the channel where the solid line arrow is located is a straight channel, i.e., a roadway, and the channel where the dotted line arrow is located is a turning channel. As shown in fig. 4, during warehousing, the shuttle car takes the bin from the warehousing port 203 and transports the bin to the corresponding warehouse location of the shelf 202 through the straight channel, the turning channel and the straight channel (in other embodiments, the bin may also be directly transported to the corresponding warehouse location through the straight channel); during delivery, the shuttle car takes the bins from the corresponding positions of the shelves 202 and transports the bins to the delivery port 204 through the straight passage, the diversion passage, and the straight passage (in other embodiments, the bins may be transported to the delivery port 204 directly through the straight passage).
At present, the shuttle car simply receives the tasks according to the time sequence issued by the tasks and executes the tasks in sequence, so that the shuttle car can move back and forth in a warehouse, the moving distance and the goods taking and placing time are increased, and the advantages of the shuttle car are not fully exerted. Based on this, the task allocation method and apparatus for the shuttle provided by the embodiments of the present invention can reduce the moving distance of the shuttle in the transverse direction (i.e., the direction of the turning passage) and the longitudinal direction (i.e., the direction of the straight passage) by screening and allocating the tasks to be executed by the shuttle, and simultaneously enable multiple containers of goods to enter and exit simultaneously as much as possible, thereby reducing the time consumed by picking and placing the goods, and further improving the efficiency of entering and exiting the warehouse of the shuttle (i.e., improving the operation efficiency of the shuttle).
For the convenience of understanding the embodiment, a task allocation method of the shuttle car disclosed by the embodiment of the invention is first described in detail.
The embodiment of the invention provides a task allocation method of a shuttle vehicle, which can be executed by electronic equipment with data processing capacity. The task allocation method of the shuttle car can be applied to the shuttle car provided with the multilayer cargo carrying platform as shown in figure 1, and the shuttle car moves in a roadway of a warehouse. It should be noted that, although only five loading platforms 103 are shown in fig. 1, the scope of the present invention is not limited thereto, and the number of loading platforms 103 in the shuttle car to which the present invention is applied may be set according to actual requirements.
Referring to fig. 5, a schematic flow chart of a task allocation method for a shuttle car mainly includes the following steps S502 to S506:
and S502, determining an operation layer of the shuttle vehicle according to the current task of the shuttle vehicle, wherein the operation layer is a cargo carrying platform layer which is allocated with the task in the shuttle vehicle.
And determining the operation layer of the shuttle vehicle, namely determining the set of all layers of the shuttle vehicle which need to execute the ex-warehouse task or the in-warehouse task. For example, suppose that a shuttle car has 5 layers of cargo carrying platforms, and the layer numbers of the cargo carrying platforms are sequentially marked as 1, 2, 3, 4 and 5 from bottom to top; if the shuttle car is currently executing warehousing tasks, 1 material box is loaded on each layer of cargo carrying platform, and the operation layer is as follows: 1. 2, 3, 4, 5; if the shuttle car currently executes the ex-warehouse task, and the ex-warehouse tasks exist in the 1 st, 2 nd, 3 th and 5 th layers at the moment, the operation layer is as follows: 1. 2, 3 and 5.
And step S504, determining the selectable warehouse positions in the shelves of the warehouse according to the operation layer.
All selectable warehouse positions in the corresponding operation roadway of each operation layer of the shuttle car can be screened out according to the type of the task currently executed by the shuttle car. Based on the method, the available storage positions in the storage rack of the warehouse can be determined according to the task type of the current task, and then all the available storage positions corresponding to the operation layer are determined as optional storage positions.
If the shuttle car currently executes the ex-warehouse task, screening out the warehouse positions where the ex-warehouse workbins of all the ex-warehouse tasks are currently located in the shuttle car operation area (the operation area of a single shuttle car is limited by an operation layer and an operation roadway); and if the shuttle vehicle currently executes the warehousing task, screening out all available empty warehouse positions in the shuttle vehicle operation area.
And S506, determining a target storage position from all the selectable storage positions according to the principle that the total time consumption of the shuttle car for executing all the tasks is the shortest, so that the shuttle car can execute the current task to the target storage position.
The target bin screening means that m (m is equal to the number of the operation layers of the shuttle) bins are selected from the selectable bins extracted in step S504 as bins for task execution. If five different target stock locations k1, k2, k3, k4 and k5 are selected, if the shuttle car currently executes the ex-warehouse tasks, the ex-warehouse tasks of the bin corresponding to the five stock locations k1, k2, k3, k4 and k5 are allocated to the shuttle car; if the shuttle car currently executes the warehousing task, 5 bins loaded by the shuttle car are respectively put into five empty warehouse positions of k1, k2, k3, k4 and k 5.
The total time consumption refers to the time consumption required by the shuttle vehicle to execute all tasks, and the total time consumption can include the time consumption for driving, the time consumption for positioning, the time consumption for turning, the time consumption for picking and placing goods and the like. The target storage position is determined according to the principle that the total time consumption of the shuttle car for executing all tasks is the shortest, the moving distance of the shuttle car in each direction (namely the moving distance in the transverse direction and the longitudinal direction) and the time consumption for changing a roadway are considered when a plurality of tasks are executed at one time, and the function of simultaneously getting in and out multiple boxes of goods of the shuttle car can be fully utilized, so that the time consumption for taking and placing the goods is reduced.
When the task allocation method of the shuttle vehicle is used for allocating tasks to the shuttle vehicle provided with the multilayer cargo carrying platforms, an operation layer of the shuttle vehicle is determined according to the current task of the shuttle vehicle, and the operation layer is the cargo carrying platform layer allocated with the tasks in the shuttle vehicle; then determining the selectable storage positions in the storage rack of the warehouse according to the operation layer; and determining a target storage position from all the selectable storage positions according to the principle that the total time consumption of the shuttle car for executing all tasks is the shortest, so that the shuttle car can execute the current task to the target storage position. Therefore, the target storehouse position is determined according to the principle that the total consumed time of all tasks of the shuttle car is the shortest, on one hand, the moving distance of the shuttle car with the multilayer goods carrying platforms when the multiple tasks are carried out at one time is reduced, on the other hand, the function that multiple goods can enter and exit simultaneously of the shuttle car can be fully utilized, the goods taking and placing actions of the multiple goods can be carried out simultaneously as far as possible, the consumed time of the goods taking and placing is reduced, and therefore the operating efficiency of the shuttle car is improved.
In some possible embodiments, the step S506 may be implemented by the following sub-steps:
step a1, determining the roadways related to all the optional storage positions as operation roadways.
And a2, determining a target roadway from all the operation roadways.
Specifically, a first roadway can be selected from all the operation roadways as a target roadway, the first roadway is the roadway with the largest roadway layer coefficient, and the roadway layer coefficient is the layer number related to all the optional positions in the corresponding roadway; when a plurality of first roadways exist, selecting a second roadway from the plurality of first roadways as a target roadway, wherein the second roadway is the first roadway which consumes the shortest time from the starting of the shuttle car from the current position to the completion of all tasks in the corresponding roadway; and when the number of the second roadways is multiple, selecting the second roadway closest to the roadway where the shuttle vehicle is currently located from the multiple second roadways as the target roadway.
Therefore, the roadway with the largest roadway layer number is preferentially selected, the number of the roadways when all tasks are finally completed can be reduced, and the time consumption for replacing the roadway is reduced; the roadway with the shortest time consumption for executing all tasks in the corresponding roadway is selected as much as possible, so that the total time for completing the tasks can be reduced; the tunnel closest to the current tunnel of the shuttle vehicle is selected as much as possible, so that the shuttle vehicle can start to execute the task as soon as possible.
And a3, selecting a target library position from the selectable library positions of the target roadway.
And a4, judging whether the number of the currently determined target library positions reaches the number of the operation layers. When the judgment result is yes, the target library position screening is finished, and the process is ended; and when the judgment result is negative, executing the step a5.
And a5, matching and updating the operation layer and the optional library position according to all current target library positions to obtain an updated operation layer and an updated optional library position. And then, based on the updated job layer and the updated optional library bit, re-executing the step a1.
Preferably, the second lane includes a working lane having a plurality of selectable storage positions corresponding to the cargo positions in the vertical direction of the rack. Like this, the shuttle can get the action of putting the goods to many casees goods simultaneously.
Further, an embodiment of the present invention further provides a specific manner of selecting a second roadway as a target roadway from the plurality of first roadways in step a2, which is as follows:
and b1, determining an optimal storage position combination of each first roadway, wherein the optimal storage position combination is selected according to the principle that the number of the selectable storage positions at the corresponding goods positions in the vertical direction of the goods shelf is the largest and the distance from the optimal storage position combination to the near end of the roadway is the smallest, and the near end of the roadway is the end, closest to the current position of the shuttle car, of the corresponding roadway.
And b2, comparing the total time consumption of the shuttle car from the current position to the optimal position combination of each first roadway to execute all tasks in the corresponding roadway.
And b3, taking the first roadway where the optimal reservoir position combination with the shortest total time consumption is located as a second roadway.
In some possible embodiments, the vertical direction of the shelf is denoted as the column direction of the shelf, and the step b1 can be implemented by the following process:
step c1, traversing all the rows containing the selectable storage positions of the corresponding goods shelves from the near end of the lane to the far end of the lane of each first lane; the far end of the tunnel is the end of the corresponding tunnel which is farthest from the current position of the shuttle car.
And c2, when each layer of the corresponding goods shelf corresponding to the operation layer at least traverses to one optional storage position, determining each currently traversed optional storage position as a storage position candidate group of the first roadway.
And c3, exhaustively selecting all combinations of one optional library position from each layer in the library position group to be selected to obtain at least one library position combination.
And c4, calculating to obtain the total time consumption of the shuttle vehicle from the current position to each warehouse location combination to execute all tasks in the first roadway, wherein the total time consumption comprises the time consumption of driving, the time consumption of positioning, the time consumption of turning and the time consumption of goods taking and placing.
And c5, determining the library position combination with the shortest total time consumption in at least one library position combination as the optimal library position combination of the first roadway.
For example, referring to the schematic cross-sectional view of available library bit distribution corresponding to a lane shown in fig. 6, library bits A, B, C, D, E, F, G, H, I represent optional library bits, and assuming that the end where the 1 st column is located is the near end of the lane, the library bit candidate group obtained by traversing from the near end of the lane to the far end of the lane includes library bits A, B, C, D, E, F, G, and four library bit combinations can be formed: the position combination 1 composed of A, G, C, F, B, the position combination 2 composed of A, G, C, F, D, the position combination 3 composed of E, G, C, F, B, and the position combination 4 composed of E, G, C, F, D, and the position combination 1 with the shortest total time consumption is determined as the optimal position combination for the lane.
On this basis, the step a3 may specifically be: and determining each optional position in the optimal position combination of the target roadway as a target position. Therefore, the selected target storage position can meet the principle that the total time consumption of the shuttle vehicle for executing all tasks is shortest.
Considering that there may be a plurality of target library positions, the target library positions may be sorted, and the sequence of the operations of the target library positions may be determined. Considering that executing one lane followed by executing another lane may be "S" shaped walking, the target slots may be sorted according to the target lane to which the target slot belongs, based on which, in some possible embodiments, each lane has a lane number sorted according to position, and after step S506, the task allocation method for the shuttle car further includes: determining a minimum roadway and a maximum roadway from the target roadways to which the target storage positions belong, wherein the minimum roadway is the roadway with the minimum number, and the maximum roadway is the roadway with the maximum number; calculating to obtain a first roadway distance between the minimum roadway and the roadway where the shuttle car is currently located and a second roadway distance between the maximum roadway and the roadway where the shuttle car is currently located; and sequencing the target storage positions according to the size relationship between the first roadway distance and the second roadway distance to obtain an operation sequence of the shuttle vehicle to execute the current task to each target storage position, so that the shuttle vehicle starts to operate from the closest roadway in the minimum roadway and the maximum roadway.
Specifically, when the first roadway distance is smaller than the second roadway distance, the target library positions are sorted from small to large according to the target roadways to which the target library positions belong; when the first roadway distance is larger than the second roadway distance, sequencing the target storage positions from large to small according to the target roadways to which the target storage positions belong; and when the first roadway distance is equal to the second roadway distance, sequencing the target storage positions from small to large or from large to small according to the target roadways to which the target storage positions belong.
For convenience of understanding, a task allocation method of the shuttle car is described in detail by taking the example that the shuttle car has 5 layers of cargo carrying platforms and the current task of the shuttle car is a plurality of warehousing tasks. The task allocation method of the shuttle vehicle comprises four steps of determining an operation layer, screening optional library positions, screening target library positions and performing task sequencing, and is specifically as follows.
1. Determining a job target layer
If every layer of cargo bed of shuttle all loaded 1 workbin, then the operation layer is: 1. 2, 3, 4 and 5.
2. Selectable bin screening
And screening out all available empty warehouse positions in the shuttle car operation area, wherein the operation area is limited by an operation layer and an operation roadway.
3. Target library location screening
3.1 index definition
* Roadway layer coefficient: the number of layers involved by all the optional positions in the corresponding lane. If the 1 st layer of the 1 st roadway has 3 selectable warehouse positions, the 2 nd layer has 1 selectable warehouse position, the 3 rd layer has 0 selectable warehouse position, the 4 th layer has 0 selectable warehouse position, and the 5 th layer has 6 selectable warehouse positions, the roadway layer coefficient of the 1 st roadway is 3.
* Vehicle body position (i.e., the above current position): the shuttle is in the position before executing the target library position to be screened.
* Roadway near end: and each lane is arranged in a row which is closest to the position of the vehicle body in the direction of the shelf row.
* Roadway far end: and each roadway is arranged in a row farthest from the position of the vehicle body in the direction of the shelf row.
* The library position to be selected: and (5) starting screening from the near end of the tunnel to the far end of the tunnel, and traversing all columns containing the optional library positions. And adding columns with the selectable library positions in sequence from the column traversed each time, and stopping when all the layers of the selectable library positions have at least one selectable library position.
* Optimal bin combination: traversing all the warehouse position candidate groups, exhaustively exhausting all combinations of one optional warehouse position in each group, calculating and recording the total time consumption of the shuttle vehicle from the vehicle body position to all the combinations for executing tasks (the task time consumption comprises driving time consumption, positioning time consumption, turning time consumption and goods taking and placing time consumption), and selecting the combination with the shortest total time consumption as the optimal warehouse position combination.
* Roadway distance: and the index representing the distance between the two roadways is equal to the absolute value of the difference between the roadway numbers of the two roadways. For example, the lane distance between the 1 st lane and the 5 th lane is 4.
3.2 screening Process
a) And calculating the lane coefficient of each operation lane in the corresponding operation lane of the shuttle vehicle, and selecting the lane with the largest lane coefficient as a target lane. And if the number of the lanes with the largest lane layer number is multiple, selecting the lane with the shortest time consumption for the shuttle vehicle to reach the optimal storage position combination to execute the task as the target lane. And if the roadway layer coefficient is equal to the time consumption of the optimal reservoir position combination for executing the task, selecting the roadway with the smallest distance from the roadway where the shuttle car is located as the target roadway.
b) And taking each optional position in the optimal position combination in the target roadway obtained in the last step as a target position.
c) If the number of the target storage positions of the shuttle vehicles is equal to the number of the operation layers of the shuttle vehicles, the target storage positions are screened and finished, and a task execution sequencing step is carried out; and if the number of the target storehouse positions of the shuttle car is less than the number of the operation layers of the shuttle car, removing the layer of which the target storehouse positions are already screened from the operation layers of the shuttle car to form a new operation layer, and repeating the steps 2 and 3.
4. Task execution ordering
a) And (4) determining the smallest roadway with the smallest roadway number and the largest roadway with the largest roadway number in the roadways to which the target library positions obtained in the step (3) belong.
b) And calculating the distance between the minimum roadway and the current roadway of the shuttle car and the distance between the maximum roadway and the current roadway of the shuttle car. If the former is smaller than the latter, the target storage positions are sorted from small to large according to the roadway to which the target storage positions belong, and the target storage positions in the same roadway are sorted from small to large according to the goods position column value (obtained by sorting the columns of the goods shelves from the near end of the roadway to the far end of the roadway); if the former is larger than the latter, the target storage positions are sorted from large to small according to the belonged roadway, and the target storage positions of the same roadway are sorted from small to large according to the goods position column value.
c) Determining a shuttle vehicle task execution sequence according to the target storage position sequence obtained in the previous step, and if the shuttle vehicle currently executes the warehousing task, taking the target storage position as the warehousing storage position of the warehousing task of the loading bin of the shuttle vehicle and executing the tasks in sequence; and if the shuttle vehicle currently executes the ex-warehouse tasks, sorting the ex-warehouse tasks of the inventory boxes corresponding to the target inventory positions according to the target inventory positions and executing the tasks in sequence.
Corresponding to the task allocation method of the shuttle car, the embodiment of the invention also provides a task allocation device of the shuttle car, the task allocation device of the shuttle car is applied to the shuttle car with a multilayer cargo carrying platform, and the shuttle car moves in a roadway of a warehouse. Referring to fig. 7, a block diagram of a task assigning apparatus of a shuttle vehicle is shown, the task assigning apparatus of the shuttle vehicle includes:
the first determining module 72 is configured to determine an operation layer of the shuttle vehicle according to the current task of the shuttle vehicle, where the operation layer is a cargo platform layer allocated with tasks in the shuttle vehicle;
a second determining module 74, configured to determine, according to the job floor, an optional storage position in a shelf of the warehouse;
and a third determining module 76, configured to determine a target depot from all the selectable depots according to a principle that the total time consumption for the shuttle to execute all the tasks is the shortest, so that the shuttle executes the current task to the target depot.
When the task allocation device of the shuttle vehicle provided by the embodiment of the invention is used for allocating tasks to the shuttle vehicle provided with a plurality of layers of cargo carrying platforms, an operation layer of the shuttle vehicle is determined according to the current task of the shuttle vehicle, and the operation layer is the cargo carrying platform layer allocated with the tasks in the shuttle vehicle; then determining the selectable storage positions in the storage rack of the warehouse according to the operation layer; and determining a target storage position from all the selectable storage positions according to the principle that the total time consumption of the shuttle car for executing all tasks is the shortest, so that the shuttle car can execute the current task to the target storage position. Therefore, the target storage position is determined according to the principle that the total consumed time of all tasks of the shuttle car is the shortest, on one hand, the moving distance of the shuttle car with the multilayer goods carrying platforms when multiple tasks are carried out at one time is reduced, on the other hand, the function that multiple boxes of goods can enter and exit simultaneously of the shuttle car can be fully utilized, the multiple boxes of goods can be taken and placed simultaneously as far as possible, the consumed time of taking and placing the goods is reduced, and therefore the operating efficiency of the shuttle car is improved.
Optionally, the second determining module 74 is specifically configured to: determining available warehouse positions in a goods shelf of a warehouse according to the task type of the current task; and determining all available library positions corresponding to the operation layer as selectable library positions.
Optionally, the third determining module 76 is specifically configured to: determining the roadways related to all the optional storage positions as operation roadways; selecting a first roadway from all the operation roadways as a target roadway, wherein the first roadway is the roadway with the largest roadway layer coefficient, and the roadway layer coefficient is the number of layers related to all optional storage positions in the corresponding roadway; and selecting a target library position from the selectable library positions of the target roadway.
Optionally, the third determining module 76 is further configured to: and when a plurality of first tunnels are available, selecting a second tunnel from the plurality of first tunnels as a target tunnel, wherein the second tunnel is the first tunnel which has the shortest time consumption from the current position of the shuttle vehicle to the execution of all tasks in the corresponding tunnel.
Optionally, the third determining module 76 is further configured to: and when the second roadway is multiple, selecting a second roadway which is closest to the roadway where the shuttle vehicle is currently located from the multiple second roadways as a target roadway.
Optionally, the second lane includes a working lane having a plurality of selectable storage positions corresponding to the cargo positions in the vertical direction of the rack.
Optionally, the third determining module 76 is further configured to: determining an optimal storage position combination of each first tunnel, wherein the optimal storage position combination is selected according to the principle that the number of selectable storage positions at the corresponding goods positions in the vertical direction of the goods shelf is the largest and the distance from the optimal storage position combination to the near end of the tunnel is the smallest, and the near end of the tunnel is the end, closest to the current position of the shuttle, of the corresponding tunnel; the total time consumption for executing all tasks in the corresponding roadway from the current position of the shuttle vehicle to the optimal storage position combination of each first roadway is compared with the total time consumption for executing all tasks in the corresponding roadway; and taking the first roadway where the optimal library position combination with the shortest total time consumption is located as a second roadway.
Optionally, the vertical direction of the shelf is denoted as the column direction of the shelf; the third determining module 76 is further configured to: for each first lane, traversing all columns containing selectable storage positions of the corresponding goods shelves from the near end of the lane to the far end of the lane of the first lane; the far end of the tunnel is the end of the corresponding tunnel, which is farthest from the current position of the shuttle car; when each layer of the corresponding goods shelf corresponding to the operation layer is traversed to at least one optional storage position, determining each currently traversed optional storage position as a storage position group to be selected of the first roadway; exhaustively selecting all combinations of one optional library position in each layer in the library position candidate group to obtain at least one library position combination; calculating to obtain the total time consumption of the shuttle vehicle for executing all tasks in the first roadway from the current position to each warehouse location combination, wherein the total time consumption comprises the time consumption for driving, the time consumption for positioning, the time consumption for turning and the time consumption for picking and placing goods; and determining the library position combination with the shortest total time consumption in at least one library position combination as the optimal library position combination of the first roadway.
Optionally, the third determining module 76 is further configured to: when the number of the determined target library positions in the optional library positions of the target roadway does not reach the number of the operation layers, performing matching updating on the operation layers and the optional library positions according to all the current target library positions to obtain updated operation layers and updated optional library positions; and based on the updated operation layer and the updated optional library positions, re-executing the step of determining the tunnels related to all the optional library positions as the operation tunnels.
Optionally, each lane has a lane number obtained by sorting according to position, the number of target storage locations is multiple, the task allocation apparatus of the shuttle further includes a task sorting module connected to the third determining module 76, and the task sorting module is configured to: determining a minimum roadway and a maximum roadway from the target roadways to which the target reservoir positions belong, wherein the minimum roadway is the minimum roadway with the minimum roadway number, and the maximum roadway is the roadway with the maximum roadway number; calculating to obtain a first roadway distance between the minimum roadway and the roadway where the shuttle car is currently located and a second roadway distance between the maximum roadway and the roadway where the shuttle car is currently located; and sequencing the target storage positions according to the size relationship between the first roadway distance and the second roadway distance to obtain an operation sequence of the shuttle vehicle to execute the current task to each target storage position, so that the shuttle vehicle starts to operate from the closest roadway in the minimum roadway and the maximum roadway.
The implementation principle and the generated technical effect of the task allocation device of the shuttle provided by this embodiment are the same as those of the task allocation method embodiment of the shuttle, and for brief description, reference may be made to the corresponding contents in the task allocation method embodiment of the shuttle, where no mention is made in part of the embodiment of the task allocation device of the shuttle.
Referring to fig. 8, an embodiment of the present invention further provides an electronic device 100, including: the device comprises a processor 80, a memory 81, a bus 82 and a communication interface 83, wherein the processor 80, the communication interface 83 and the memory 81 are connected through the bus 82; the processor 80 is arranged to execute executable modules, such as computer programs, stored in the memory 81.
The Memory 81 may include a Random Access Memory (RAM) or a non-volatile Memory (NVM), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 83 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus 82 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
The memory 81 is used for storing a program, the processor 80 executes the program after receiving an execution instruction, and the method performed by the apparatus defined by the flow disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 80, or implemented by the processor 80.
The processor 80 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 80. The Processor 80 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in a memory 81, and the processor 80 reads the information in the memory 81 and performs the steps of the above method in combination with its hardware.
Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the task allocation method for a shuttle car described in the foregoing method embodiments. The computer-readable storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A task allocation method of a shuttle car is characterized in that the method is applied to the shuttle car with a multilayer cargo carrying platform, and the shuttle car moves in a roadway of a warehouse; the task allocation method of the shuttle car comprises the following steps:
determining an operation layer of the shuttle vehicle according to the current task of the shuttle vehicle, wherein the operation layer is a cargo carrying platform layer which is distributed with tasks in the shuttle vehicle;
determining an optional storage position in a storage rack of the warehouse according to the operation layer;
determining a target position from all the optional positions according to the principle that the total time consumption of the shuttle car for executing all tasks is shortest, so that the shuttle car can execute the current task to the target position;
the determining a target library position from all the selectable library positions comprises:
determining all the lanes related to the optional storage positions as operation lanes;
selecting a first roadway from all the operation roadways as a target roadway, wherein the first roadway is the roadway with the largest roadway layer coefficient, and the roadway layer coefficient is the layer number related to all the optional positions in the corresponding roadway;
when a plurality of first tunnels are available, selecting a second tunnel from the plurality of first tunnels as a target tunnel, wherein the second tunnel is the first tunnel which takes the shortest time from the starting of the shuttle car from the current position to the completion of all tasks in the corresponding tunnel;
when a plurality of second roadways exist, selecting a second roadway closest to the current roadway where the shuttle car is located from the plurality of second roadways as a target roadway;
and determining each optional storage position in the optimal storage position combination of the target roadway as a target storage position, wherein the optimal storage position combination is selected according to the principle that the number of the optional storage positions at the corresponding storage positions in the vertical direction of the goods shelf is the largest and the distance from the optimal storage position combination to the near end of the roadway is the smallest, and the near end of the roadway is the end of the corresponding roadway closest to the current position of the shuttle vehicle.
2. The method of task assignment for a shuttle of claim 1, wherein the determining selectable positions in the rack of the warehouse based on the job floor comprises:
determining available storage positions in a shelf of the warehouse according to the task type of the current task;
and determining all available library positions corresponding to the operation layer as selectable library positions.
3. The method of assigning tasks to a shuttle car according to claim 1 wherein the second lane comprises a work lane having a plurality of selectable bay positions at corresponding cargo positions in a vertical direction of the rack.
4. The method of claim 1, wherein selecting a second lane from the plurality of first lanes as a target lane comprises:
determining an optimal bin combination of each first roadway;
comparing the total time consumption of the shuttle car from the current position to the optimal storage position combination of each first roadway to execute all tasks in the corresponding roadway;
and taking the first roadway where the optimal library position combination with shortest total time consumption is located as a second roadway.
5. The task assigning method for a shuttle according to claim 4, wherein a vertical direction of the rack is denoted as a column direction of the rack; the determining the optimal bin combination of each first lane comprises:
for each first lane, traversing all columns of the corresponding shelf containing the selectable storage positions from the near end of the lane to the far end of the lane of the first lane; the far end of the tunnel is the end of the corresponding tunnel, which is farthest from the current position of the shuttle car;
when each layer of the corresponding goods shelf corresponding to the operation layer is traversed to at least one optional storage position, determining each currently traversed optional storage position as a storage position candidate group of the first roadway;
selecting all combinations of one optional library position in each layer in the library position group to be selected to obtain at least one library position combination;
calculating to obtain total time consumption of the shuttle vehicle for executing all tasks in the first roadway from the current position to each storage position combination, wherein the total time consumption comprises driving time consumption, positioning time consumption, turning time consumption and goods taking and placing time consumption;
and determining the library position combination with the shortest total time consumption in the at least one library position combination as the optimal library position combination of the first roadway.
6. The task assigning method of a shuttle according to claim 1, further comprising:
when the number of the determined target library positions in the selectable library positions of the target roadway does not reach the number of the operation layers, performing matching updating on the operation layers and the selectable library positions according to all the current target library positions to obtain updated operation layers and updated selectable library positions;
and based on the updated operation layer and the updated optional library positions, re-executing the step of determining all the tunnels related to the optional library positions as operation tunnels.
7. The task allocation method for a shuttle according to claim 1, wherein each of the lanes has lane numbers ordered by location; the target storage space is multiple, and after the target storage space is determined from all the selectable storage spaces, the task allocation method of the shuttle car further comprises the following steps:
determining a minimum roadway and a maximum roadway from the target roadways to which the target library positions belong, wherein the minimum roadway is the roadway with the minimum roadway number, and the maximum roadway is the roadway with the maximum roadway number;
calculating to obtain a first roadway distance between the minimum roadway and the roadway where the shuttle vehicle is currently located, and a second roadway distance between the maximum roadway and the roadway where the shuttle vehicle is currently located;
and sequencing the target storage positions according to the size relationship between the first roadway distance and the second roadway distance to obtain an operation sequence of the shuttle car to execute the current task to each target storage position, so that the shuttle car starts to operate from the roadway with the closest distance in the minimum roadway and the maximum roadway.
8. The task distribution device of the shuttle car is characterized by being applied to the shuttle car with a multilayer cargo carrying platform, and the shuttle car moves in a roadway of a warehouse; the task allocation device of the shuttle car comprises:
the first determination module is used for determining an operation layer of the shuttle vehicle according to the current task of the shuttle vehicle, wherein the operation layer is a cargo platform layer which is allocated with the task in the shuttle vehicle;
the second determination module is used for determining selectable storage positions in the storage rack of the warehouse according to the operation layer;
a third determining module, configured to determine a target depot from all the selectable depots according to a principle that a total time consumed for the shuttle to execute all the tasks is shortest, so that the shuttle executes the current task to the target depot;
the third determining module is to: determining all the lanes related to the optional storage positions as operation lanes; selecting a first roadway from all the operation roadways as a target roadway, wherein the first roadway is the roadway with the largest roadway layer coefficient, and the roadway layer coefficient is the layer number related to all the optional positions in the corresponding roadway; when a plurality of first tunnels are available, selecting a second tunnel from the plurality of first tunnels as a target tunnel, wherein the second tunnel is the first tunnel which takes the shortest time from the starting of the shuttle car from the current position to the completion of all tasks in the corresponding tunnel; when a plurality of second roadways exist, selecting a second roadway closest to the current roadway where the shuttle car is located from the plurality of second roadways as a target roadway; and determining each optional position in the optimal position combination of the target roadway as a target position, wherein the optimal position combination is selected according to the principle that the number of the optional positions at the corresponding goods positions in the vertical direction of the goods shelf is the largest and the distance from the optimal position combination to the near end of the roadway is the smallest, and the near end of the roadway is the end of the corresponding roadway closest to the current position of the shuttle car.
9. An electronic device comprising a memory, a processor, a computer program stored in the memory and executable on the processor, the processor implementing the method of task assignment for a shuttle car according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs a method of task assignment for a shuttle car according to any one of claims 1 to 7.
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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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| CN111210069B (en) * | 2020-01-06 | 2022-05-03 | 浙江工业大学 | Goods space allocation and operation scheduling integrated optimization method for multi-layer shuttle system |
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