CN114429314A - Scheduling system and scheduling method based on horizontal and vertical logistics equipment - Google Patents

Scheduling system and scheduling method based on horizontal and vertical logistics equipment Download PDF

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CN114429314A
CN114429314A CN202210341016.3A CN202210341016A CN114429314A CN 114429314 A CN114429314 A CN 114429314A CN 202210341016 A CN202210341016 A CN 202210341016A CN 114429314 A CN114429314 A CN 114429314A
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logistics equipment
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warehousing
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CN114429314B (en
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张胜
徐斌
张萌
焦健
隰潇
杨蕊
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Jike Science and Technology Co Ltd
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Abstract

The invention discloses a dispatching system and a dispatching method thereof based on horizontal and vertical logistics equipment, wherein the dispatching system comprises: each layer of horizontal logistics equipment unit comprises at least one horizontal logistics equipment, and the horizontal logistics equipment is used for conveying material containers in the horizontal direction; a plurality of vertical logistics devices for transporting the material containers in a vertical direction; the scheduling module is used for extracting job information, wherein the job information comprises a job type, a starting position and a target position of a job; the scheduling module is also used for decomposing the starting position of the operation and the target position of the operation and scheduling the horizontal logistics equipment and/or the vertical logistics equipment to work. The invention can improve the operation efficiency through the optimized decomposition of the dispatching operation, realize the high-efficiency and intelligent operation of the horizontal and vertical logistics equipment, realize the visual management and convenient operation and maintenance of the dispatching operation, and facilitate the dispatching monitoring and troubleshooting.

Description

Dispatching system and dispatching method based on horizontal and vertical logistics equipment
Technical Field
The invention relates to the technical field of a dispatching system and a dispatching method of logistics equipment, in particular to a dispatching system and a dispatching method thereof based on horizontal and vertical logistics equipment.
Background
With the development of science and technology, the dispatching system is widely applied to various application places such as manufacturing workshops and commercial warehouses. Chinese patent publication No. CN109858863A discloses a method and an apparatus for dispatching goods in and out of an elevated warehouse, wherein the device for dispatching goods in and out of an elevated warehouse transports goods by a stacker, determines idle storage bits around storage bits of next goods to be taken out based on current goods location arrangement information and goods location storage information in a target elevated warehouse by using a calculation module, and respectively estimates moving time required for the stacker to move from each idle storage bit to the storage bit of the next goods to be taken out; and selecting the smallest one of the moving times by using a control module, and storing the goods to be stored to the idle storage position corresponding to the smallest one. The method for dispatching goods in and out of the elevated warehouse comprises the following steps: determining idle storage positions around the storage position of the next goods to be taken out based on the current goods position arrangement information and the goods position storage information in the target elevated library, and respectively estimating the moving time required by the stacker to move from each idle storage position to the storage position of the next goods to be taken out; and selecting the smallest of the moving times, and storing the goods to be stored to the idle storage position corresponding to the smallest.
In addition, some existing dispatching systems also employ a Transport Vehicle (TV) to control the operation of the TV through a Programmable Logic Controller (PLC) equipped with the TV to Transport material containers.
However, when a material container (especially a material container with a heavy weight and a large volume) is transported on a multi-layer cargo body (the multi-layer cargo body is a cargo body with a plurality of storage spaces on horizontal layers with different heights, such as an automatic stereo garage, an automatic stereo public transportation warehouse, an automatic stereo container warehouse, etc.), the problem of low operation efficiency is often easily caused by the existing scheduling system, and the requirement of an application scenario cannot be met.
Disclosure of Invention
To overcome the disadvantages of the prior art, it is an object of the present invention to provide a dispatching system based on horizontal and vertical logistics equipment, which can improve the operation efficiency for transporting material containers on multi-level pallets.
In order to overcome the defects of the prior art, the invention also aims to provide a dispatching method which is applied to the dispatching system based on the horizontal and vertical logistics equipment and can improve the operation efficiency for transporting material containers on the multi-layer cargo body.
One of the purposes of the invention is realized by adopting the following technical scheme:
a scheduling system based on horizontal and vertical logistics equipment comprises:
the horizontal logistics equipment units are respectively positioned on the horizontal layers at different heights, each layer of horizontal logistics equipment unit comprises at least one horizontal logistics equipment, and the horizontal logistics equipment is used for conveying material containers in the horizontal direction;
a plurality of vertical logistics devices, all used for transporting material containers in the vertical direction;
the scheduling module is used for extracting job information, wherein the job information comprises a job type, a starting position of the job and a target position of the job; the dispatching module is also used for decomposing the starting position of the operation and the target position of the operation, and dispatching the horizontal logistics equipment and/or the vertical logistics equipment to work so as to convey the material container from the starting position to the target position.
The dispatching system based on the horizontal logistics equipment and the vertical logistics equipment also comprises an LED display screen used for displaying operation information.
The scheduling module is used for initializing the state of the horizontal logistics equipment, the state of the vertical logistics equipment and the state of the LED display screen when the system is started, so that the horizontal logistics equipment and the vertical logistics equipment in the execution operation can still continuously execute the operation after the initialization, and the horizontal logistics equipment and the vertical logistics equipment which do not execute the operation can be kept at original positions.
The scheduling module is configured to be an operation execution state display module, an operation adjustment and control module, an equipment communication state display module, a horizontal logistics equipment state display module, a vertical logistics equipment state display module and a background scheduling unit.
The second purpose of the invention is realized by adopting the following technical scheme:
the dispatching method is applied to the dispatching system based on the horizontal logistics equipment and the vertical logistics equipment, and each vertical logistics equipment comprises a cargo platform which is used for carrying material containers and moves along the vertical direction; the scheduling method comprises the following steps:
step S1: the scheduling module acquires state information of horizontal logistics equipment and vertical logistics equipment;
step S2: the scheduling module decomposes the starting position of the operation and the target position of the operation, and schedules the horizontal logistics equipment and/or the vertical logistics equipment to work so as to convey the material container from the starting position to the target position;
wherein the step S2 includes the following substeps:
step S21: when the scheduling module retrieves a new job, extracting the job type, the initial position and the target position of the job;
step S22: the scheduling module judges whether the job type is a warehousing job or an ex-warehouse job, if the job type is the warehousing job, the step S23 is executed, and if the job type is the ex-warehouse job, the step S26 is executed;
step S23: the scheduling module judges whether the starting position and the target position of the job are in the same horizontal layer, if so, the step S24 is executed, otherwise, the step S25 is executed;
step S24: the dispatching module acquires horizontal logistics equipment suitable for operation from horizontal logistics equipment of a horizontal layer where the initial position is located to form warehousing horizontal logistics equipment, decomposes the initial position and the target position to generate a horizontal warehousing subtask, and dispatches the warehousing horizontal logistics equipment to execute the horizontal warehousing subtask so as to convey the material container from the initial position to the target position;
step S25: the dispatching module acquires horizontal logistics equipment suitable for operation from horizontal logistics equipment of a horizontal layer where the initial position is located by integrating the state of the horizontal logistics equipment to form initial layer warehousing horizontal logistics equipment, decomposes the initial position and generates an initial layer horizontal warehousing subtask; the method comprises the steps that the state of vertical logistics equipment is integrated to obtain vertical logistics equipment suitable for operation, the vertical logistics equipment is formed into warehousing vertical logistics equipment, a vertical warehousing subtask is generated, the starting layer warehousing horizontal logistics equipment is scheduled to execute the starting layer horizontal warehousing subtask so that the starting layer warehousing horizontal logistics equipment extracts material containers from a starting position and then transfers the material containers to the position corresponding to the warehousing vertical logistics equipment for unloading, and the warehousing vertical logistics equipment is scheduled to execute the vertical warehousing subtask so that a loading platform of the warehousing vertical logistics equipment moves to the position where the starting layer warehousing horizontal logistics equipment unloads to extract the material containers, and then transfers the material containers to a horizontal layer where a target position is located and unloads the material containers; the dispatching module is also used for decomposing the unloading position and the target position of a loading platform of the warehousing vertical logistics equipment, acquiring horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target-layer warehousing horizontal logistics equipment, generating a target-layer horizontal warehousing subtask, and dispatching the target-layer warehousing horizontal logistics equipment to execute the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment extracts a material container from the unloading position of the loading platform of the warehousing vertical logistics equipment and transfers the material container to the target position for unloading, so that the material container is transferred to the target position;
step S26: the scheduling module judges whether the starting position and the target position of the job are in the same horizontal layer, if so, the step S27 is executed, otherwise, the step S28 is executed;
step S27: the dispatching module acquires horizontal logistics equipment suitable for operation from horizontal logistics equipment on a horizontal layer where the starting position is located to form ex-warehouse horizontal logistics equipment, decomposes the starting position and the target position to generate a horizontal ex-warehouse subtask, and dispatches the ex-warehouse horizontal logistics equipment to execute the horizontal ex-warehouse subtask so as to convey the material container from the starting position to the target position;
step S28: the dispatching module integrates the states of the horizontal logistics devices to obtain the horizontal logistics devices suitable for operation from the horizontal logistics devices of the horizontal layer where the starting position is located to form the horizontal logistics devices for the initial layer to get out of the warehouse, decomposing the initial position, generating an initial layer horizontal delivery subtask, acquiring a vertical logistics device suitable for operation by integrating the state of the vertical logistics device to form a delivery vertical logistics device, generating a vertical delivery subtask, scheduling the initial layer delivery horizontal logistics device to execute the initial layer horizontal delivery subtask so that the initial layer delivery horizontal logistics device extracts a material container from the initial position, then transfers the material container to the position corresponding to the delivery vertical logistics device and unloads the material container, scheduling the ex-warehouse vertical logistics equipment to execute a vertical ex-warehouse subtask so that a loading platform of the ex-warehouse vertical logistics equipment moves to a position for unloading of the ex-warehouse horizontal logistics equipment on an initial layer to extract a material container, and then transferring the material container to a horizontal layer where a target position is located and unloading; the dispatching module is used for further decomposing the unloading position and the target position of the goods carrying platform of the warehouse-out vertical logistics equipment, acquiring horizontal logistics equipment suitable for operation from the horizontal logistics equipment on the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target layer warehouse-out horizontal logistics equipment, generating a target layer horizontal warehouse-out subtask, and dispatching the target layer warehouse-out horizontal logistics equipment to execute the target layer horizontal warehouse-out subtask so that the target layer warehouse-out horizontal logistics equipment extracts the material container from the unloading position of the goods carrying platform of the warehouse-out vertical logistics equipment, then transports the material container to the target position and unloads the material container, and accordingly transports the material container to the target position.
The step S25 includes the following sub-steps:
step S251: the dispatching module acquires horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the initial position is located by integrating the state of the horizontal logistics equipment to form initial layer warehousing horizontal logistics equipment;
step S252: the dispatching module decomposes the initial position, generates an initial layer horizontal warehousing subtask, dispatches the initial layer warehousing horizontal logistics equipment to start executing the initial layer horizontal warehousing subtask, and moves the initial layer warehousing horizontal logistics equipment to the initial position to extract the material container;
step S253: the dispatching module judges whether the starting layer warehousing horizontal logistics equipment finishes the extraction of the material container at the starting position, if so, the step S254 is executed, otherwise, the judgment is circularly waited;
step S254: the dispatching module acquires vertical logistics equipment suitable for operation by integrating the state of the vertical logistics equipment to form warehousing vertical logistics equipment, generates a vertical warehousing subtask, continues to execute the starting layer horizontal warehousing subtask to move to the position corresponding to the warehousing vertical logistics equipment, and meanwhile, the dispatching module dispatches the warehousing vertical logistics equipment to start executing the vertical warehousing subtask to enable a cargo carrying platform of the warehousing vertical logistics equipment to move to the position where the starting layer warehousing horizontal logistics equipment unloads;
step S255: when the loading platform of the warehousing vertical logistics equipment reaches the unloading position of the starting-layer warehousing horizontal logistics equipment, the starting-layer warehousing horizontal logistics equipment continues to execute a starting-layer horizontal warehousing subtask for unloading, and the warehousing vertical logistics equipment continues to execute a vertical warehousing subtask for extracting material containers;
step S256: the dispatching module judges whether the goods loading platform of the warehousing vertical logistics equipment finishes the extraction of the material container, if so, the step S257 is executed, otherwise, the judgment is circularly waited;
step S257: the dispatching module decomposes the unloading position and the target position of the loading platform of the warehousing vertical logistics equipment, acquires the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target-layer warehousing horizontal logistics equipment, generates a target-layer horizontal warehousing subtask, and dispatches the target-layer warehousing horizontal logistics equipment to start executing the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment moves to the unloading position of the loading platform of the warehousing vertical logistics equipment;
step S258: when the target-layer warehousing horizontal logistics equipment reaches the unloading position of the loading platform of the warehousing vertical logistics equipment, the warehousing vertical logistics equipment continues to execute the vertical warehousing subtask for unloading, the target-layer warehousing horizontal logistics equipment continues to execute the target-layer horizontal warehousing subtask for extracting the material container, and after the target-layer warehousing horizontal logistics equipment finishes extracting the material container, the target-layer warehousing horizontal logistics equipment continues to execute the target-layer horizontal warehousing subtask and moves to the target position for unloading, so that the material container is conveyed to the target position.
In step S251, the scheduling module further integrates the initial position, the target position, and the current position factor of the horizontal logistics device of the job, and obtains the horizontal logistics device suitable for the job from the horizontal logistics device of the horizontal layer where the initial position is located, so as to form the horizontal logistics device for entering the warehouse of the initial layer;
in step S254, the scheduling module further integrates the distance between the cargo carrying platform of the vertical logistics equipment and the horizontal logistics equipment entering the warehouse at the starting layer and the physical location factor of the cargo carrying platform of the vertical logistics equipment to obtain vertical logistics equipment suitable for operation, and the vertical logistics equipment is formed into vertical logistics equipment entering the warehouse;
in step S257, the scheduling module further integrates the target position of the job and the current position factor of the horizontal logistics devices to obtain the horizontal logistics devices suitable for the job from the horizontal logistics devices of the horizontal layer where the target position is located, so as to form the target-layer warehousing horizontal logistics devices.
The step S28 includes the following sub-steps:
step S281: the dispatching module acquires the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the initial position is located by integrating the states of the horizontal logistics equipment to form initial layer warehouse-out horizontal logistics equipment;
step S282: the dispatching module decomposes the initial position, generates an initial layer horizontal warehouse-out subtask, dispatches the initial layer warehouse-out horizontal logistics equipment to start executing the initial layer horizontal warehouse-out subtask, so that the initial layer warehouse-out horizontal logistics equipment moves to the initial position to extract the material container;
step S283: the dispatching module judges whether the horizontal logistics equipment for the initial layer to leave the warehouse finishes the extraction of the material container at the initial position, if so, the step S284 is executed, otherwise, the dispatching module circularly waits for judgment;
step S284: the dispatching module integrates the state of the vertical logistics equipment to obtain vertical logistics equipment suitable for operation to form outbound vertical logistics equipment, generates a vertical outbound subtask, the starting layer outbound horizontal logistics equipment continues to execute the starting layer horizontal outbound subtask to move to a position corresponding to the outbound vertical logistics equipment, and meanwhile, the dispatching module dispatches the outbound vertical logistics equipment to start to execute the vertical outbound subtask so that a cargo carrying platform of the outbound vertical logistics equipment moves to a position where the starting layer outbound horizontal logistics equipment unloads;
step S285: when the loading platform of the ex-warehouse vertical logistics equipment reaches the unloading position of the ex-warehouse horizontal logistics equipment on the starting layer, the ex-warehouse horizontal logistics equipment on the starting layer continuously executes the horizontal ex-warehouse subtask on the starting layer for unloading, and the ex-warehouse vertical logistics equipment continuously executes the vertical ex-warehouse subtask for extracting material containers;
step S286: the dispatching module judges whether the goods carrying platform of the ex-warehouse vertical logistics equipment finishes the extraction of the material container, if so, the step S287 is executed, otherwise, the judgment is circularly waited;
step S287: the dispatching module decomposes the unloading position and the target position of the loading platform of the ex-warehouse vertical logistics equipment, acquires horizontal logistics equipment suitable for operation from the horizontal logistics equipment on the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target layer ex-warehouse horizontal logistics equipment, generates a target layer horizontal ex-warehouse subtask, dispatches the target layer ex-warehouse horizontal logistics equipment to start executing the target layer horizontal ex-warehouse subtask and enables the target layer ex-warehouse horizontal logistics equipment to move towards the unloading position of the loading platform of the ex-warehouse vertical logistics equipment;
step S288: when the target layer warehouse-out horizontal logistics equipment reaches the unloading position of the loading platform of the warehouse-out vertical logistics equipment, the warehouse-out vertical logistics equipment continues to execute the vertical warehouse-out subtask for unloading, the target layer warehouse-out horizontal logistics equipment continues to execute the target layer horizontal warehouse-out subtask for extracting the material container, and after the target layer warehouse-out horizontal logistics equipment finishes extracting the material container, the target layer warehouse-out horizontal logistics equipment continues to execute the target layer horizontal warehouse-out subtask for moving to the target position for unloading, so that the material container is conveyed to the target position.
In step S281, the scheduling module further integrates the starting position, the target position of the job, and the current position factor of the horizontal logistics device, and obtains the horizontal logistics device suitable for the job from the horizontal logistics device on the horizontal layer where the starting position is located to form the starting layer ex-warehouse horizontal logistics device;
in step S284, the scheduling module further integrates the distance between the cargo carrying platform of the vertical logistics equipment and the horizontal logistics equipment for ex-warehouse at the initial layer and the physical location factor of the cargo carrying platform of the vertical logistics equipment to obtain vertical logistics equipment suitable for operation to form vertical logistics equipment for ex-warehouse;
in step S287, the scheduling module further integrates the target position of the job, and the current location factor of the horizontal logistics device, and obtains the horizontal logistics device suitable for the job from the horizontal logistics devices of the horizontal layer where the target position is located, so as to form the horizontal logistics device for the target layer to be delivered out of the warehouse.
The dispatching module is configured to display the states of the horizontal logistics equipment and the vertical logistics equipment through the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment respectively; the step S1 includes the following sub-steps:
step S11: the horizontal logistics equipment and the vertical logistics equipment are sequentially communicated with the scheduling module, the state information of the horizontal logistics equipment and the vertical logistics equipment is obtained through the scheduling module and is sequentially stored in the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment;
step S12: and extracting the equipment state information from the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment, and displaying the equipment state information in a main interface of the scheduling module.
The steps S1, S2 are executed by the main scheduler of the scheduling module, and before the step S1 is started, there is further provided a step S0A: the scheduling module starts a main scheduling program and records the starting execution time of the main scheduling program; after completion of step S2, step S3 is also provided: and recording the finish execution time of the main scheduling program, and calculating the time consumed by scheduling and running.
The method of the invention has the following advantages: the invention provides a dispatching system and a dispatching method based on horizontal and vertical logistics equipment, which can utilize a dispatching module to decompose the initial position of operation and the target position of the operation by utilizing the cooperation of the horizontal logistics equipment, the vertical logistics equipment and the dispatching module, and dispatch the operation of the horizontal logistics equipment and the vertical logistics equipment, so that the horizontal logistics equipment and the vertical logistics equipment can convey material containers to the target position in a mutually matched and relayed mode, thereby improving the operation efficiency for conveying the material containers on a multilayer put object, realizing high-efficiency and intelligent operation, improving the use satisfaction degree of a system end user, having a very positive promoting effect on market popularization, improving the flexibility of the operation, realizing the visual management and operation and maintenance of the dispatching operation, and acquiring the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment on line for real-time display, and the operation and maintenance personnel can conveniently carry out scheduling monitoring and troubleshooting.
Drawings
FIG. 1 is a schematic diagram of the configuration of a dispatching system based on horizontal and vertical logistics equipment;
FIG. 2 is a flowchart illustrating the start-up operation of the scheduling system of the present invention;
FIG. 3 is a functional diagram of the dispatch system initialization of the present invention;
FIG. 4 is a flow chart of the state initialization of the horizontal and vertical logistics equipment of the dispatching system of the present invention;
FIG. 5 is a flowchart illustrating an initialization process of an LED display screen for on-site display of a scheduling system in accordance with the present invention;
FIG. 6 is a flowchart of a main scheduler of the present invention;
FIG. 7 is a flow chart of the LED display screen display of the present invention;
FIG. 8 is a flow chart of a scheduling method of the present invention;
FIG. 9 is a flow chart of the status update of the horizontal and vertical logistics apparatus of the present invention;
FIG. 10 is a schematic diagram of scheduling a warehousing job embodiment of the present invention;
FIG. 11 is a diagram illustrating scheduling of an outbound job according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below in connection with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present invention and should not be construed as limiting the scope 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.
As shown in fig. 1 to 9, the present invention discloses a scheduling system based on horizontal and vertical logistics equipment, comprising:
the horizontal logistics equipment units 11 are respectively positioned on the horizontal layers at different heights, each layer of horizontal logistics equipment unit 11 comprises at least one horizontal logistics equipment, and the horizontal logistics equipment is used for conveying material containers in the horizontal direction;
a plurality of vertical logistics apparatuses 12 for transporting the material containers in a vertical direction;
the scheduling module 13 is configured to extract job information, where the job information includes a job type, a start position of the job, and a target position of the job; the dispatching module 13 is also used for decomposing the starting position of the operation and the target position of the operation, and dispatching the horizontal logistics equipment and/or the vertical logistics equipment 12 to work so as to convey the material container from the starting position to the target position.
In actual design, the scheduling module 13 may generate a job according to actual conditions, and then extract job information. Besides, the job information can be transmitted to the scheduling module 13 through an external device, and the scheduling module 13 extracts the job information after receiving the job information.
The scheduling system based on the horizontal and vertical logistics equipment also comprises an LED display screen 14 for displaying job information. Specifically, the number of the LED display screens 14 is several, and the LED display screens are arranged at the warehouse-in/warehouse-out port of the multilayer cargo body.
The scheduling module 13 is configured as a job execution state display module, a job adjustment and control module, an equipment communication state display module, a horizontal logistics equipment state display module, a vertical logistics equipment state display module, and a background scheduling unit.
Specifically, the job execution state display module comprises a job requirement data set display module for displaying a job requirement data set and an executing job data set display module for displaying an executing job data set;
the operation demand data set comprises an operation code number, operation generation time, an operation type, an operation priority, an operation state, an initial position, a target position and a container number;
the executing job data set includes a job code, a job generation time, a job type, a job priority, a job status, a start layer, a start column, a start row, a target layer, a target column, a target row, a device number, and a container number.
The job adjusting and controlling module is used for adjusting and controlling the priority of the job, resending the job, setting the completion of the job, deleting the current job and deleting all job operations.
The priority comprises normal, priority and urgent and is used for controlling the sequence of the execution of the operation.
The device communication state display module is used for listing the communication states of all the horizontal logistics devices, the controllers of the vertical logistics devices 12 and the scheduling module 13 in the main interface of the scheduling module 13.
The horizontal logistics equipment state display module and the vertical logistics equipment state display module are based on the equipment state data dictionary and display respective equipment state data dictionaries in an independent mode in the scheduling module 13;
the equipment state data dictionary content comprises a communication state, a manual-automatic state, a fault state, a locking state, an idle-busy state, a started state, a goods taking point running state, a goods taking state, a goods loading state, a goods taking completion state, a goods taking point running state, a goods unloading completion state, a work completion state, a goods taking error state, a goods unloading error state, a work code number, a work type, a work state, a start layer, a start column, a start row, a target layer, a target column, a target row and a container number.
By adopting the arrangement, visual management and operation and maintenance of scheduling operation can be realized, and the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment 12 can be acquired on line for real-time display, so that operation and maintenance personnel can conveniently perform scheduling monitoring and troubleshooting.
The scheduling module 13 is configured with a main scheduling program timer, the LED display screen 14 is configured with an LED display screen display program timer, and when the scheduling module 13 is initialized, the main scheduling program timer is started, and the LED display screen display program timer is started.
The scheduling module 13 is configured to initialize states of the horizontal logistics devices, the vertical logistics devices 12, and the LED display 14 when the system is started, so that the horizontal logistics devices and the vertical logistics devices in the execution job continue to execute the job after the initialization, and the horizontal logistics devices and the vertical logistics devices that do not execute the job remain at original positions.
The initialization steps of the horizontal logistics equipment state and the vertical logistics equipment 12 state comprise:
step A1: circularly traversing the data sets of the corresponding devices executing the operation according to the number of the horizontal logistics devices and the vertical logistics devices 12;
step A2: determining whether the device is executing the job in the executing job data set, if yes, executing step A3, and if not, executing step A4;
step A3: assigning the code number, the type, the state, the starting layer, the starting column, the starting row, the target layer, the target row and the container number of the data in the execution operation to a device state data dictionary corresponding to the current device number;
step A4: and assigning the job code number, the job type, the job state, the starting layer, the starting column, the starting row, the target layer, the target row and the target row in the equipment state data dictionary corresponding to the current equipment number to be zero, and assigning the container number to be an empty character string.
The state initialization step of the LED display screen comprises the following steps:
step D1: circularly traversing the number of the LED display screens 14, acquiring definitions corresponding to the LED display screens from the LED display screen definition data dictionary according to the numbers of the LED display screens 14, and assigning the definitions to the LED display screen state data dictionary;
step D2: and turning on the LED display screen 14 to display the content.
The method for starting the LED display screen display program timer comprises the following steps:
step E1: acquiring display content from the LED display data set;
step E2: the content to be displayed is sent to the LED display screen 14.
Each vertical logistics apparatus 12 includes a cargo bed for carrying material containers and moving in a vertical direction.
The invention also discloses a scheduling method which is applied to the scheduling system based on the horizontal logistics equipment and the vertical logistics equipment, and the scheduling method comprises the following steps:
step S1: the scheduling module 13 acquires state information of the horizontal logistics equipment and the vertical logistics equipment 12;
step S2: the scheduling module 13 decomposes the starting position of the operation and the target position of the operation, and schedules the horizontal logistics equipment and/or the vertical logistics equipment 12 to work so as to convey the material container from the starting position to the target position;
wherein the step S2 includes the following substeps:
step S21: when the scheduling module 13 retrieves a new job, extracting the job type, the starting position and the target position of the job;
step S22: the scheduling module 13 determines whether the job type is a warehousing job or a ex-warehouse job, if the job type is a warehousing job, the step S23 is executed, and if the job type is an ex-warehouse job, the step S26 is executed;
step S23: the scheduling module 13 determines whether the start position and the target position of the job are on the same horizontal layer, if so, performs step S24, otherwise, performs step S25;
step S24: the dispatching module 13 acquires a horizontal logistics device suitable for operation from a horizontal logistics device of a horizontal layer where the initial position is located to form a warehousing horizontal logistics device, decomposes the initial position and the target position to generate a horizontal warehousing subtask, and dispatches the warehousing horizontal logistics device to execute the horizontal warehousing subtask so as to convey the material container from the initial position to the target position;
step S25: the dispatching module 13 synthesizes the state of the horizontal logistics equipment to obtain the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer with the initial position, so as to form initial layer warehousing horizontal logistics equipment, decomposes the initial position, so as to generate an initial layer horizontal warehousing subtask, synthesizes the state of the vertical logistics equipment to obtain the vertical logistics equipment suitable for operation, so as to form warehousing vertical logistics equipment, so as to generate a vertical warehousing subtask, dispatches the initial layer warehousing horizontal logistics equipment to execute the initial layer horizontal warehousing subtask, so that the initial layer warehousing horizontal logistics equipment extracts the material container from the initial position, transfers the material container to the position corresponding to the warehousing vertical logistics equipment and unloads the material container, dispatches the warehousing vertical logistics equipment to execute the vertical warehousing subtask, so that the loading platform of the warehousing vertical logistics equipment moves to the position for unloading the initial layer warehousing horizontal logistics equipment to extract the material container, transfers the material container to the horizontal layer with the target position and unloads the material container (ii) a The dispatching module is also used for decomposing the unloading position and the target position of a loading platform of the warehousing vertical logistics equipment, acquiring horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target-layer warehousing horizontal logistics equipment, generating a target-layer horizontal warehousing subtask, and dispatching the target-layer warehousing horizontal logistics equipment to execute the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment extracts a material container from the unloading position of the loading platform of the warehousing vertical logistics equipment and transfers the material container to the target position for unloading, so that the material container is transferred to the target position;
step S26: the scheduling module 13 determines whether the start position and the target position of the job are on the same horizontal layer, if so, performs step S27, otherwise, performs step S28;
step S27: the dispatching module 13 acquires a horizontal logistics device suitable for operation from the horizontal logistics device on the horizontal layer where the starting position is located to form an ex-warehouse horizontal logistics device, decomposes the starting position and the target position to generate a horizontal ex-warehouse subtask, and dispatches the ex-warehouse horizontal logistics device to execute the horizontal ex-warehouse subtask so as to convey the material container from the starting position to the target position;
step S28: the dispatching module 13 integrates the states of the horizontal logistics devices to obtain the suitable operation horizontal logistics devices from the horizontal logistics devices of the horizontal layer where the starting position is located to form the starting layer warehouse-out horizontal logistics devices, decomposing the initial position, generating an initial layer horizontal delivery subtask, acquiring a vertical logistics device 12 suitable for operation by integrating the state of the vertical logistics device to form a delivery vertical logistics device, generating a vertical delivery subtask, scheduling the initial layer delivery horizontal logistics device to execute the initial layer horizontal delivery subtask so that the initial layer delivery horizontal logistics device extracts a material container from the initial position, then transfers the material container to the position corresponding to the delivery vertical logistics device and unloads the material container, dispatching the ex-warehouse vertical logistics equipment to execute a vertical ex-warehouse subtask so that the ex-warehouse vertical logistics equipment moves to the unloading position of the ex-warehouse horizontal logistics equipment on the initial layer to extract the material container, and then transferring the material container to the horizontal layer where the target position is located and unloading the material container; the dispatching module is also used for decomposing the unloading position and the target position of the goods carrying platform of the warehouse-out vertical logistics equipment, acquiring horizontal logistics equipment suitable for operation from the horizontal logistics equipment on the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target layer warehouse-out horizontal logistics equipment, generating a target layer horizontal warehouse-out subtask, and dispatching the target layer warehouse-out horizontal logistics equipment to execute the target layer horizontal warehouse-out subtask so that the target layer warehouse-out horizontal logistics equipment extracts the material container from the unloading position of the goods carrying platform of the warehouse-out vertical logistics equipment, then transports the material container to the target position and unloads the material container, and accordingly transports the material container to the target position.
As shown in fig. 10, when the scheduling module 13 retrieves that there is a new job, if the extracted job type is a warehousing job, the start position is 108 and the target position is 509, and it is determined as a warehousing job in step S22, and step S23 is executed, and it is determined in step S23 that the start position and the target position of the job are not in the same horizontal layer, step S25 is executed, in step S25, a horizontal logistics apparatus suitable for the job is obtained from the horizontal logistics apparatus (i.e., the first horizontal layer) of the horizontal layer where the start position 108 is located as a start-layer warehousing horizontal logistics apparatus L11, the start position 108 is decomposed, a start-layer horizontal warehousing subtask is generated, a vertical logistics apparatus V2 suitable for the job is obtained as a warehousing vertical logistics apparatus V2, a vertical warehousing subtask is generated, and the start-layer horizontal logistics apparatus L11 is scheduled to execute the start-layer horizontal warehousing subtask so that the start-layer warehousing horizontal logistics apparatus L11 extracts a material container from the start position 108 and then extracts the material container from the start position 108 The containers are transferred to the position (fifth row) corresponding to the warehousing vertical logistics equipment and unloaded, and the warehousing vertical logistics equipment V2 is scheduled to execute a vertical warehousing subtask so that the loading platform of the warehousing vertical logistics equipment V2 moves to the unloading position 108 of the initial layer warehousing horizontal logistics equipment L11 to extract the material containers, and then the material containers are transferred to the horizontal layer (fifth row) where the target position is located and unloaded; decomposing a loading platform unloading position 505 and a target position 509 of warehousing vertical logistics equipment, obtaining horizontal logistics equipment suitable for operation from horizontal logistics equipment of a horizontal layer (namely a fifth horizontal layer) where the target position 509 is located to form target-layer warehousing horizontal logistics equipment L51, generating a target-layer horizontal warehousing subtask, and scheduling the target-layer warehousing horizontal logistics equipment L51 to execute the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment L51 extracts material containers from the loading platform unloading position 505 of the warehousing vertical logistics equipment and transfers the material containers to the target position 509 for unloading, so that the material containers are conveyed to the target position 509.
As shown in fig. 11, when the scheduling module 13 retrieves that there is a new job, if the extracted job type is an ex-warehouse job, the start position is 308 and the target position is 109, and it is determined that the job is an ex-warehouse job in step S22, and step S26 is performed, and it is determined that the start position and the target position of the job are not in the same horizontal layer in step S26, step S28 is performed, in step S28, a horizontal logistics apparatus suitable for the job is obtained from a horizontal logistics apparatus in the horizontal layer (i.e., the third horizontal layer) in which the start position 308 is located as a start-layer ex-warehouse horizontal logistics apparatus L31, the start position 308 is decomposed, a start-layer horizontal ex-warehouse subtask is generated, a vertical logistics apparatus suitable for the job is obtained as an ex-warehouse vertical logistics apparatus V2, a vertical ex-warehouse subtask is generated, and the start-layer ex-warehouse horizontal logistics apparatus L31 is scheduled to perform a start-layer horizontal ex-warehouse subtask so that the start-warehouse horizontal logistics apparatus L31 extracts a material container from the start position 308 and transfers the material container to the out horizontal logistics apparatus L31 and then to the material container The column (the fifth column) where the warehouse vertical logistics equipment V2 is located is unloaded, and the dispatching out-warehouse vertical logistics equipment V2 executes a vertical warehouse-out subtask to enable the loading platform of the warehouse vertical logistics equipment V2 to move to the position 305 where the starting layer warehouse horizontal logistics equipment L31 is unloaded, so that the material container is extracted, transferred to the horizontal layer (the first horizontal layer) where the target position 109 is located and unloaded; the unloading position 105 and the target position 109 of the unloading vertical logistics equipment are decomposed, the horizontal logistics equipment suitable for operation is obtained from the horizontal logistics equipment of the horizontal layer (the first horizontal layer) where the target position is located to form the target layer unloading horizontal logistics equipment L11, a target layer horizontal unloading subtask is generated, and the target layer unloading horizontal logistics equipment L11 is scheduled to execute the target layer horizontal unloading subtask so that the target layer unloading horizontal logistics equipment L11 extracts the material container from the unloading platform unloading position 105 of the unloading vertical logistics equipment, transfers the material container to the target position 109 and unloads the material container, so that the material container is conveyed to the target position 109.
The scheduling method provided by the invention has the advantages that the steps S1 and S2 are adopted, the step S2 is reasonably arranged, the cooperation of the horizontal logistics equipment, the vertical logistics equipment 12 and the scheduling module 13 is utilized, the scheduling module 13 can be utilized to decompose the starting position of the operation and the target position of the operation, and the horizontal logistics equipment and the vertical logistics equipment 12 are scheduled to work, so that the horizontal logistics equipment and the vertical logistics equipment 12 can convey the material container to the target position in a mutually matched and relayed mode, and the operation efficiency can be improved for conveying the material container on the multilayer cargo body.
The step S25 includes the following sub-steps:
step S251: the dispatching module acquires horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the initial position is located by integrating the state of the horizontal logistics equipment to form initial layer warehousing horizontal logistics equipment;
step S252: the scheduling module decomposes the initial position, generates an initial layer horizontal warehousing subtask, and schedules the initial layer horizontal warehousing logistics equipment to start executing the initial layer horizontal warehousing subtask so that the initial layer horizontal warehousing logistics equipment moves to the initial position to extract the material container;
step S253: the dispatching module judges whether the starting layer warehousing horizontal logistics equipment finishes the extraction of the material container at the starting position, if so, the step S254 is executed, otherwise, the judgment is circularly waited;
step S254: the dispatching module acquires vertical logistics equipment suitable for operation by integrating the state of the vertical logistics equipment to form warehousing vertical logistics equipment, generates a vertical warehousing subtask, continues to execute the starting layer horizontal warehousing subtask to move to the position corresponding to the warehousing vertical logistics equipment, and meanwhile, the dispatching module dispatches the warehousing vertical logistics equipment to start executing the vertical warehousing subtask to enable a cargo carrying platform of the warehousing vertical logistics equipment to move to the position where the starting layer warehousing horizontal logistics equipment unloads;
step S255: when the loading platform of the warehousing vertical logistics equipment reaches the unloading position of the starting layer warehousing horizontal logistics equipment, the starting layer warehousing horizontal logistics equipment continues to execute the starting layer horizontal warehousing subtask for unloading, and the warehousing vertical logistics equipment continues to execute the vertical warehousing subtask for extracting the material container;
step S256: the dispatching module judges whether the goods loading platform of the warehousing vertical logistics equipment finishes the extraction of the material container, if so, the step S257 is executed, otherwise, the judgment is circularly waited;
step S257: the dispatching module decomposes the unloading position and the target position of the loading platform of the warehousing vertical logistics equipment, acquires the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target-layer warehousing horizontal logistics equipment, generates a target-layer horizontal warehousing subtask, and dispatches the target-layer warehousing horizontal logistics equipment to start executing the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment moves to the unloading position of the loading platform of the warehousing vertical logistics equipment;
step S258: when the target layer warehousing horizontal logistics equipment reaches the unloading position of the loading platform of the warehousing vertical logistics equipment, the warehousing vertical logistics equipment continues to execute the vertical warehousing subtask for unloading, the target layer warehousing horizontal logistics equipment continues to execute the target layer horizontal warehousing subtask for extracting the material container, and after the target layer warehousing horizontal logistics equipment finishes extracting the material container, the target layer warehousing horizontal logistics equipment continues to execute the target layer horizontal warehousing subtask and moves to the target position for unloading, so that the material container is conveyed to the target position.
By adopting the steps S251 to S257 in the step S25, the material container can be accurately transported to the target position.
Preferably, in step S251, the scheduling module further integrates the starting position, the target position of the job, and the current position factor of the horizontal logistics device to obtain a horizontal logistics device suitable for the job from the horizontal logistics device of the horizontal layer where the starting position is located, so as to form a starting-layer warehousing horizontal logistics device. Preferably, in actual use, the horizontal logistics equipment in the idle, non-fault and non-operation state of the horizontal layer where the starting position is located and closest to the starting position is selected to form the starting-layer warehousing horizontal logistics equipment.
In step S254, the scheduling module further integrates the distance between the cargo platform of the vertical logistics apparatus 12 and the horizontal logistics apparatus of the initial layer warehouse entry, and the physical location factor of the cargo platform of the vertical logistics apparatus 12 to obtain the vertical logistics apparatus 12 suitable for the operation, so as to form the warehouse entry vertical logistics apparatus. Preferably, in actual use, the vertical logistics device 12 in an idle, non-failure and non-operation state and closest to the warehousing horizontal logistics device of the starting layer is selected to form the warehousing vertical logistics device.
In step S257, the scheduling module further integrates the target position of the job and the current position factor of the horizontal logistics devices to obtain the horizontal logistics devices suitable for the job from the horizontal logistics devices of the horizontal layer where the target position is located, so as to form the target-layer warehousing horizontal logistics devices. Preferably, in actual use, the horizontal logistics equipment in the idle, non-fault and non-operation state of the horizontal layer where the target position is located and closest to the target position is selected to form the target layer warehousing horizontal logistics equipment.
In step S24, the scheduling module further integrates the start position, the target position, and the current location factor of the horizontal logistics equipment on the horizontal layer where the start position is located, and acquires the horizontal logistics equipment suitable for the job from the horizontal logistics equipment on the horizontal layer where the start position is located, so as to form the warehousing horizontal logistics equipment. Preferably, in actual use, the horizontal logistics equipment which is in an idle, non-failure and non-operation state of the horizontal layer where the starting position is located and is closest to the starting position is selected to form the warehousing horizontal logistics equipment.
The step S28 includes the following sub-steps:
step S281: the dispatching module acquires the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the initial position is located by integrating the states of the horizontal logistics equipment to form initial layer warehouse-out horizontal logistics equipment;
step S282: the dispatching module decomposes the initial position, generates an initial layer horizontal warehouse-out subtask, dispatches the initial layer warehouse-out horizontal logistics equipment to start executing the initial layer horizontal warehouse-out subtask, so that the initial layer warehouse-out horizontal logistics equipment moves to the initial position to extract the material container;
step S283: the dispatching module judges whether the horizontal logistics equipment for the initial layer out of the warehouse finishes the extraction of the material container at the initial position, if so, the step S284 is executed, otherwise, the judgment is waited circularly;
step S284: the dispatching module integrates the state of the vertical logistics equipment to obtain vertical logistics equipment suitable for operation to form outbound vertical logistics equipment, a vertical outbound subtask is generated, the starting layer outbound horizontal logistics equipment continues to execute the starting layer horizontal outbound subtask to move to the position corresponding to the outbound vertical logistics equipment, and meanwhile, the dispatching module dispatches the outbound vertical logistics equipment to start to execute the vertical outbound subtask so that a cargo carrying platform of the outbound vertical logistics equipment moves to the position where the starting layer outbound horizontal logistics equipment unloads;
step S285: when the loading platform of the ex-warehouse vertical logistics equipment reaches the unloading position of the ex-warehouse horizontal logistics equipment on the starting layer, the ex-warehouse horizontal logistics equipment on the starting layer continuously executes the horizontal ex-warehouse subtask on the starting layer for unloading, and the ex-warehouse vertical logistics equipment continuously executes the vertical ex-warehouse subtask for extracting material containers;
step S286: the dispatching module judges whether the goods loading platform of the ex-warehouse vertical logistics equipment finishes the extraction of the material container, if so, the step S287 is executed, otherwise, the judgment is circularly waited;
step S287: the dispatching module decomposes the unloading position and the target position of the loading platform of the ex-warehouse vertical logistics equipment, acquires horizontal logistics equipment suitable for operation from the horizontal logistics equipment on the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target layer ex-warehouse horizontal logistics equipment, generates a target layer horizontal ex-warehouse subtask, dispatches the target layer ex-warehouse horizontal logistics equipment to start executing the target layer horizontal ex-warehouse subtask and enables the target layer ex-warehouse horizontal logistics equipment to move to the unloading position of the loading platform of the ex-warehouse vertical logistics equipment;
step S288: when the target layer warehouse-out horizontal logistics equipment reaches the unloading position of the loading platform of the warehouse-out vertical logistics equipment, the warehouse-out vertical logistics equipment continues to execute the vertical warehouse-out subtask for unloading, the target layer warehouse-out horizontal logistics equipment continues to execute the target layer horizontal warehouse-out subtask for extracting the material container, after the target layer warehouse-out horizontal logistics equipment extracts the material container, the target layer warehouse-out horizontal logistics equipment continues to execute the target layer horizontal warehouse-out subtask for moving to the target position for unloading, and therefore the material container is conveyed to the target position.
By employing steps S281-S287 in step S28, accurate delivery of the material container to the target location is ensured.
In step S284, the dispatching module further integrates the distance between the cargo carrying platform of the vertical logistics device 12 and the horizontal logistics device at the initial floor for ex-warehouse, and the physical location factor of the cargo carrying platform of the vertical logistics device 12 to obtain the vertical logistics device 12 suitable for operation, so as to form the vertical logistics device for ex-warehouse. Preferably, in practical use, the vertical logistics device 12 which is in an idle, non-failure and non-operation state and is closest to the horizontal logistics device of the initial layer is selected to form the vertical logistics device of the warehouse.
In step S281, the scheduling module further integrates the starting position of the job, the target position, and the current location factor of the horizontal logistics devices on the horizontal layer where the starting position is located, and obtains the horizontal logistics devices suitable for the job from the horizontal logistics devices on the horizontal layer where the starting position is located, so as to form the starting-layer warehouse-out horizontal logistics devices. Preferably, in practical use, the horizontal logistics equipment in the idle, non-failure and non-operation state of the horizontal layer where the starting position is located and closest to the starting position is selected to form the starting-layer delivery horizontal logistics equipment.
In step S27, the scheduling module further integrates the target position of the job and the current position factor of the horizontal logistics equipment on the horizontal layer where the starting position is located, and obtains the horizontal logistics equipment suitable for the job from the horizontal logistics equipment on the horizontal layer where the starting position is located to form the outbound horizontal logistics equipment. Preferably, in practical use, the vertical logistics device 12 in the idle, non-failure and non-operation state of the horizontal layer where the starting position is located and closest to the starting position is selected to form the ex-warehouse vertical logistics device.
In step S287, the scheduling module further integrates the target position of the job, and the current location factor of the horizontal logistics device, and obtains the horizontal logistics device suitable for the job from the horizontal logistics devices of the horizontal layer where the target position is located, so as to form the horizontal logistics device for the target layer to be delivered out of the warehouse. Preferably, in actual use, the horizontal logistics equipment which is in an idle, non-fault and non-operation state of the horizontal layer where the target position is located and is closest to the target position is selected to form the horizontal logistics equipment for delivery from the target layer.
Step S21a is also provided before the start of step S21: if the scheduling module 13 has retrieved a new job, it executes step S21 if it has, and repeats step S21a if it has not. Specifically, the scheduling module 13 searches whether there is a new job in the job requirement data set.
The scheduling module 13 is configured to display the states of each horizontal logistics device and each vertical logistics device 12 through the state data dictionaries of each horizontal logistics device and each vertical logistics device 12; the step S1 includes the following sub-steps:
step S11: the horizontal logistics equipment and the vertical logistics equipment 12 are sequentially communicated with the scheduling module 13, the state information of the horizontal logistics equipment and the vertical logistics equipment is acquired through the scheduling module 13 and is sequentially stored in the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment 12;
step S12: and extracting the equipment state information from the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment 12, and displaying the equipment state information in the main interface of the scheduling module 13.
The steps S1, S2 are executed by the main scheduler of the scheduling module 13, and before the step S1 is started, there is further provided a step S0A: the scheduling module starts a main scheduling program and records the starting execution time of the main scheduling program; after completion of step S2, step S3 is also provided: and recording the finish execution time of the main scheduling program, and calculating the time consumed by scheduling and running.
Before starting step S0A, there is also provided step S0B: the master scheduler timer is turned off. After completion of step S3, step S4 is also provided: the master scheduler timer is started.
The scheduling module 13 is further configured to update the states of the horizontal logistics devices and the vertical logistics devices 12 according to the operation conditions, specifically, the main scheduler timer of the scheduling module 13 is configured to update the states of the horizontal logistics devices and the vertical logistics devices 12 according to the operation conditions, and the state updating steps are as follows:
step C1: if the scheduling module 13 has a job to be scheduled, executing step C2, otherwise ending the step;
step C2: according to the equipment numbers of the horizontal logistics equipment and the vertical logistics equipment 12, the operation information of the horizontal logistics equipment and the vertical logistics equipment 12 is retrieved from the execution operation data set of the scheduling module 13 according to the priority and the operation code sequence;
step C3: judging whether the operation is a new operation, if so, executing the step C4, otherwise, executing the step C5;
step C4: issuing operation data in an operation execution data set to the logistics equipment and the vertical logistics equipment 12, setting the horizontal logistics equipment 12 and the vertical logistics equipment 12 in a busy state, issuing an execution starting instruction and updating the data set state to a sent state;
step C5: acquiring equipment states in state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment 12, comparing the equipment states with the operation state in the current operation data set, and updating the operation state in the operation data set by using the operation state in the state data dictionary if the equipment states are different from the operation state in the current operation data set;
step C6: judging whether the current operation state is a finished state, if so, executing the step C7, otherwise, executing the step C5 in a circulating manner;
step C7: deleting and filing the current operation data, resetting information related to the operation in the equipment state data dictionary, and setting the horizontal logistics equipment state and the vertical logistics equipment state as idle states.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (11)

1. A dispatching system based on horizontal and vertical logistics equipment is characterized in that: the method comprises the following steps:
the horizontal logistics equipment units are respectively positioned on the horizontal layers at different heights, each layer of horizontal logistics equipment unit comprises at least one horizontal logistics equipment, and the horizontal logistics equipment is used for conveying material containers in the horizontal direction;
a plurality of vertical logistics devices, all used for transporting material containers in the vertical direction;
the scheduling module is used for extracting job information, wherein the job information comprises a job type, a starting position of the job and a target position of the job; the dispatching module is also used for decomposing the starting position of the operation and the target position of the operation, and dispatching the horizontal logistics equipment and/or the vertical logistics equipment to work so as to convey the material container from the starting position to the target position.
2. The scheduling system based on horizontal and vertical logistics apparatuses of claim 1, wherein: the scheduling system based on the horizontal logistics equipment and the vertical logistics equipment further comprises an LED display screen used for displaying operation information.
3. The scheduling system based on horizontal and vertical logistics apparatuses of claim 2, wherein: the scheduling module is used for initializing the state of the horizontal logistics equipment, the state of the vertical logistics equipment and the state of the LED display screen when the system is started, so that the horizontal logistics equipment and the vertical logistics equipment in the execution operation can still continuously execute the operation after the initialization, and the horizontal logistics equipment and the vertical logistics equipment which do not execute the operation can be kept at original positions.
4. The scheduling system of claim 1 wherein the scheduling system is based on horizontal and vertical logistics equipment, and wherein: the scheduling module is configured to a job execution state display module, a job adjustment and control module, an equipment communication state display module, a horizontal logistics equipment state display module, a vertical logistics equipment state display module and a background scheduling unit.
5. A scheduling method applied to the scheduling system based on the horizontal and vertical logistics equipment of any one of claims 1-4, wherein: the scheduling method comprises the following steps:
step S1: the scheduling module acquires state information of horizontal logistics equipment and vertical logistics equipment;
step S2: the scheduling module decomposes the starting position of the operation and the target position of the operation, and schedules the horizontal logistics equipment and/or the vertical logistics equipment to work so as to convey the material container from the starting position to the target position;
wherein the step S2 includes the following substeps:
step S21: when a new job is retrieved by the scheduling module, extracting the job type, the initial position and the target position of the job;
step S22: the scheduling module judges whether the job type is a warehousing job or an ex-warehouse job, if the job type is the warehousing job, the step S23 is executed, and if the job type is the ex-warehouse job, the step S26 is executed;
step S23: the scheduling module judges whether the starting position and the target position of the job are in the same horizontal layer, if so, the step S24 is executed, otherwise, the step S25 is executed;
step S24: the dispatching module acquires horizontal logistics equipment suitable for operation from horizontal logistics equipment of a horizontal layer where the initial position is located to form warehousing horizontal logistics equipment, decomposes the initial position and the target position to generate a horizontal warehousing subtask, and dispatches the warehousing horizontal logistics equipment to execute the horizontal warehousing subtask so as to convey the material container from the initial position to the target position;
step S25: the dispatching module acquires horizontal logistics equipment suitable for operation from horizontal logistics equipment of a horizontal layer where the initial position is located by integrating the state of the horizontal logistics equipment to form initial layer warehousing horizontal logistics equipment, decomposes the initial position and generates an initial layer horizontal warehousing subtask; the method comprises the steps that the state of vertical logistics equipment is integrated to obtain vertical logistics equipment suitable for operation, the vertical logistics equipment is formed into warehousing vertical logistics equipment, a vertical warehousing subtask is generated, starting layer warehousing horizontal logistics equipment is scheduled to execute the starting layer horizontal warehousing subtask so that the starting layer warehousing horizontal logistics equipment extracts material containers from starting positions and then transfers the material containers to positions corresponding to warehousing vertical logistics equipment for unloading, and the warehousing vertical logistics equipment is scheduled to execute the vertical warehousing subtask so that a loading platform of the warehousing vertical logistics equipment moves to the position where the starting layer warehousing horizontal logistics equipment unloads to extract the material containers, and then transfers the material containers to a horizontal layer where a target position is located and unloads the material containers; the dispatching module is used for further decomposing the unloading position and the target position of a loading platform of the warehousing vertical logistics equipment, acquiring horizontal logistics equipment suitable for operation from horizontal logistics equipment of a horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target-layer warehousing horizontal logistics equipment, generating a target-layer horizontal warehousing subtask, and dispatching the target-layer warehousing horizontal logistics equipment to execute the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment extracts a material container from the unloading position of the loading platform of the warehousing vertical logistics equipment and transfers the material container to the target position and unloads the material container, so that the material container is transferred to the target position;
step S26: the scheduling module judges whether the starting position and the target position of the job are in the same horizontal layer, if so, the step S27 is executed, otherwise, the step S28 is executed;
step S27: the dispatching module acquires horizontal logistics equipment suitable for operation from horizontal logistics equipment on a horizontal layer where the starting position is located to form ex-warehouse horizontal logistics equipment, decomposes the starting position and the target position to generate a horizontal ex-warehouse subtask, and dispatches the ex-warehouse horizontal logistics equipment to execute the horizontal ex-warehouse subtask so as to convey a material container from the starting position to the target position;
step S28: the dispatching module is used for acquiring horizontal logistics equipment suitable for operation from horizontal logistics equipment on a horizontal layer where an initial position is located in a comprehensive state of the horizontal logistics equipment to form initial layer ex-warehouse horizontal logistics equipment, decomposing the initial position to generate an initial layer horizontal ex-warehouse subtask, acquiring vertical logistics equipment suitable for operation from a state of the comprehensive vertical logistics equipment to form ex-warehouse vertical logistics equipment to generate a vertical ex-warehouse subtask, dispatching the initial layer ex-warehouse horizontal logistics equipment to execute the initial layer horizontal ex-warehouse subtask to enable the initial layer ex-warehouse horizontal logistics equipment to extract material containers from the initial position, transferring the material containers to positions corresponding to the ex-warehouse vertical logistics equipment to unload the materials, dispatching the ex-warehouse vertical logistics equipment to execute the vertical ex-warehouse subtask to enable a loading platform of the ex-warehouse vertical logistics equipment to move to the position where the initial layer ex-warehouse horizontal logistics equipment unloads the material containers, transferring the material containers to a horizontal layer where a target position is located, and unloading the material containers; the dispatching module is used for further decomposing the unloading position and the target position of the goods carrying platform of the warehouse-out vertical logistics equipment, acquiring horizontal logistics equipment suitable for operation from the horizontal logistics equipment on the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target layer warehouse-out horizontal logistics equipment, generating a target layer horizontal warehouse-out subtask, and dispatching the target layer warehouse-out horizontal logistics equipment to execute the target layer horizontal warehouse-out subtask so that the target layer warehouse-out horizontal logistics equipment extracts the material container from the unloading position of the goods carrying platform of the warehouse-out vertical logistics equipment, then transports the material container to the target position and unloads the material container, and accordingly transports the material container to the target position.
6. The scheduling method of claim 5, wherein: the step S25 includes the following sub-steps:
step S251: the dispatching module acquires horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the initial position is located by integrating the state of the horizontal logistics equipment to form initial layer warehousing horizontal logistics equipment;
step S252: the dispatching module decomposes the initial position, generates an initial layer horizontal warehousing subtask, dispatches the initial layer warehousing horizontal logistics equipment to start executing the initial layer horizontal warehousing subtask, and moves the initial layer warehousing horizontal logistics equipment to the initial position to extract the material container;
step S253: the dispatching module judges whether the starting layer warehousing horizontal logistics equipment finishes the extraction of the material container at the starting position, if so, the step S254 is executed, and if not, the judgment is circularly waited;
step S254: the method comprises the steps that a scheduling module acquires vertical logistics equipment suitable for operation by integrating the state of the vertical logistics equipment to form warehousing vertical logistics equipment, generates a vertical warehousing subtask, continues to execute a starting layer horizontal warehousing subtask to move to a position corresponding to the warehousing vertical logistics equipment, and simultaneously schedules the warehousing vertical logistics equipment to start to execute the vertical warehousing subtask so that a cargo carrying platform of the warehousing vertical logistics equipment moves to a position where the starting layer warehousing horizontal logistics equipment unloads;
step S255: when the loading platform of the warehousing vertical logistics equipment reaches the unloading position of the starting layer warehousing horizontal logistics equipment, the starting layer warehousing horizontal logistics equipment continues to execute the starting layer horizontal warehousing subtask for unloading, and the warehousing vertical logistics equipment continues to execute the vertical warehousing subtask for extracting the material container;
step S256: the dispatching module judges whether the goods loading platform of the warehousing vertical logistics equipment finishes the extraction of the material container, if so, the step S257 is executed, otherwise, the judgment is circularly waited;
step S257: the dispatching module decomposes the unloading position and the target position of the loading platform of the warehousing vertical logistics equipment, acquires the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the target position is located by integrating the state of the horizontal logistics equipment to form target-layer warehousing horizontal logistics equipment, generates a target-layer horizontal warehousing subtask, and dispatches the target-layer warehousing horizontal logistics equipment to start executing the target-layer horizontal warehousing subtask so that the target-layer warehousing horizontal logistics equipment moves to the unloading position of the loading platform of the warehousing vertical logistics equipment;
step S258: when the target layer warehousing horizontal logistics equipment reaches the unloading position of the loading platform of the warehousing vertical logistics equipment, the warehousing vertical logistics equipment continues to execute the vertical warehousing subtask for unloading, the target layer warehousing horizontal logistics equipment continues to execute the target layer horizontal warehousing subtask for extracting the material container, and after the target layer warehousing horizontal logistics equipment finishes extracting the material container, the target layer warehousing horizontal logistics equipment continues to execute the target layer horizontal warehousing subtask and moves to the target position for unloading, so that the material container is conveyed to the target position.
7. The scheduling method of claim 6, wherein: in step S251, the scheduling module further integrates the initial position, the target position, and the current position factor of the horizontal logistics device of the job, and obtains the horizontal logistics device suitable for the job from the horizontal logistics device of the horizontal layer where the initial position is located, so as to form the horizontal logistics device for entering the warehouse of the initial layer;
in step S254, the scheduling module further integrates the distance between the cargo carrying platform of the vertical logistics equipment and the horizontal logistics equipment entering the warehouse at the starting layer and the physical location factor of the cargo carrying platform of the vertical logistics equipment to obtain vertical logistics equipment suitable for operation, and the vertical logistics equipment is formed into vertical logistics equipment entering the warehouse;
in step S257, the scheduling module further integrates the target position of the job and the current position factor of the horizontal logistics devices to obtain the horizontal logistics devices suitable for the job from the horizontal logistics devices of the horizontal layer where the target position is located, so as to form the target-layer warehousing horizontal logistics devices.
8. The scheduling method of claim 5, wherein: the step S28 includes the following sub-steps:
step S281: the dispatching module acquires the horizontal logistics equipment suitable for operation from the horizontal logistics equipment of the horizontal layer where the initial position is located by integrating the states of the horizontal logistics equipment to form initial layer warehouse-out horizontal logistics equipment;
step S282: the dispatching module decomposes the initial position, generates an initial layer horizontal ex-warehouse subtask, dispatches the initial layer horizontal ex-warehouse logistics equipment to start executing the initial layer horizontal ex-warehouse subtask, and enables the initial layer horizontal ex-warehouse logistics equipment to move to the initial position to extract the material container;
step S283: the dispatching module judges whether the horizontal logistics equipment for the initial layer to leave the warehouse finishes the extraction of the material container at the initial position, if so, the step S284 is executed, otherwise, the judgment is waited circularly;
step S284: the dispatching module integrates the state of the vertical logistics equipment to obtain vertical logistics equipment suitable for operation to form outbound vertical logistics equipment, a vertical outbound subtask is generated, the starting layer outbound horizontal logistics equipment continues to execute the starting layer horizontal outbound subtask to move to a position corresponding to the outbound vertical logistics equipment, and meanwhile, the dispatching module dispatches the outbound vertical logistics equipment to start to execute the vertical outbound subtask so that a cargo carrying platform of the outbound vertical logistics equipment moves to a position where the starting layer outbound horizontal logistics equipment unloads;
step S285: when the loading platform of the ex-warehouse vertical logistics equipment reaches the unloading position of the ex-warehouse horizontal logistics equipment on the starting layer, the ex-warehouse horizontal logistics equipment on the starting layer continuously executes the horizontal ex-warehouse subtask on the starting layer for unloading, and the ex-warehouse vertical logistics equipment continuously executes the vertical ex-warehouse subtask for extracting material containers;
step S286: the dispatching module judges whether the goods loading platform of the ex-warehouse vertical logistics equipment finishes the extraction of the material container, if so, the step S287 is executed, otherwise, the judgment is circularly waited;
step S287: the dispatching module decomposes the unloading position and the target position of the loading platform of the ex-warehouse vertical logistics equipment, acquires horizontal logistics equipment suitable for operation from the horizontal logistics equipment on the horizontal layer where the target position is located by integrating the states of the horizontal logistics equipment to form target-layer ex-warehouse horizontal logistics equipment, generates a target-layer horizontal ex-warehouse subtask, dispatches the target-layer ex-warehouse horizontal logistics equipment to start to execute the target-layer horizontal ex-warehouse subtask, and enables the target-layer ex-warehouse horizontal logistics equipment to move towards the unloading position of the loading platform of the ex-warehouse vertical logistics equipment;
step S288: when the target layer warehouse-out horizontal logistics equipment reaches the unloading position of the loading platform of the warehouse-out vertical logistics equipment, the warehouse-out vertical logistics equipment continues to execute the vertical warehouse-out subtask for unloading, the target layer warehouse-out horizontal logistics equipment continues to execute the target layer horizontal warehouse-out subtask for extracting the material container, after the target layer warehouse-out horizontal logistics equipment extracts the material container, the target layer warehouse-out horizontal logistics equipment continues to execute the target layer horizontal warehouse-out subtask for moving to the target position for unloading, and therefore the material container is conveyed to the target position.
9. The scheduling method of claim 8, wherein: in step S281, the scheduling module further integrates the starting position, the target position, and the current position factor of the horizontal logistics device of the job, and obtains the horizontal logistics device suitable for the job from the horizontal logistics device of the horizontal layer where the starting position is located to form the starting layer warehouse-out horizontal logistics device;
in step S284, the scheduling module further integrates the distance between the cargo carrying platform of the vertical logistics device and the horizontal logistics device for ex-warehouse at the initial layer and the physical location factor of the cargo carrying platform of the vertical logistics device to obtain a vertical logistics device suitable for operation, and forms the vertical logistics device for ex-warehouse;
in step S287, the scheduling module further integrates the target position of the job and the current location factor of the horizontal logistics equipment, and obtains the suitable job horizontal logistics equipment from the horizontal logistics equipment of the horizontal layer where the target position is located to form the target layer ex-warehouse horizontal logistics equipment.
10. The scheduling method of claim 5, wherein: the dispatching module is configured to display the states of the horizontal logistics equipment and the vertical logistics equipment through the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment respectively; the step S1 includes the following sub-steps:
step S11: the horizontal logistics equipment and the vertical logistics equipment are sequentially communicated with the scheduling module, the state information of the horizontal logistics equipment and the vertical logistics equipment is obtained through the scheduling module and is sequentially stored in the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment;
step S12: and extracting the equipment state information from the state data dictionaries of the horizontal logistics equipment and the vertical logistics equipment, and displaying the equipment state information in a main interface of the scheduling module.
11. The scheduling method of claim 5, wherein: the steps S1, S2 are executed by the main scheduler of the scheduling module, and before the step S1 is started, there is further provided a step S0A: the scheduling module starts a main scheduling program and records the starting execution time of the main scheduling program; after completion of step S2, step S3 is also provided: and recording the finish execution time of the main scheduling program, and calculating the time consumed by scheduling and running.
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