CN114590508A

CN114590508A - Stacker task scheduling method, device and system for three-dimensional library

Info

Publication number: CN114590508A
Application number: CN202210331839.8A
Authority: CN
Inventors: 林子平; 张�杰; 于兴林
Original assignee: Zhejiang Xitumeng Digital Technology Co ltd
Current assignee: Zhejiang Xitumeng Digital Technology Co ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-06-07

Abstract

The invention relates to the technical field of logistics scheduling, and provides a method, a device and a system for scheduling tasks of a stacker for a three-dimensional warehouse. The method for scheduling the pilers comprises the steps of firstly obtaining a piler task set, sequentially determining the piler running paths of all the piler tasks in the piler task set according to the sequence of the plurality of piler tasks in the piler task set, determining a plurality of paths by one piler task, determining the path with the shortest required time from the paths, and determining the path as a target path, so that the task path determined based on the method avoids frequent unstacking in the tasks, and the overall efficiency is improved.

Description

Stacker task scheduling method, device and system for three-dimensional library

Technical Field

The invention relates to the technical field of logistics scheduling, in particular to a method, a device and a system for scheduling tasks of a stacker for a three-dimensional warehouse.

Background

The three-dimensional warehouse can realize intelligent management such as storage, management, scheduling of goods, can improve the space utilization of warehouse, still can realize the large-scale goods storage and transportation, has greatly improved the demand of modern industrial production and life.

With the expansion of the warehouse scale of the three-dimensional warehouse, in order to improve the production efficiency, the research on the scheduling efficiency of the three-dimensional warehouse is mainly performed at present. Generally, for tasks in the three-dimensional library, most algorithms only solve the problem of single task, for example, a near-end algorithm, that is, after a system receives a warehouse-out request, the system acquires the partition information of the three-dimensional library and acquires the nearest goods position in a partition. However, because only single-task optimal scheduling is considered, when a plurality of ex-warehouse tasks exist, the three-dimensional warehouse is easily blocked, the scheduling efficiency is low, and generally, only the scene of a single row of shelves is considered, so that the method is not suitable for the multi-row shelves which are closely arranged.

Disclosure of Invention

The invention aims to solve the technical problems that the application scene of a scheduling algorithm in the prior art is single, and the scheduling efficiency is low.

In order to solve the above technical problem, in one aspect, the present application discloses a method for scheduling a task of a stacker for a stereo library, which includes:

acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position;

sequentially determining a plurality of running paths of the pilers corresponding to each piler task based on the goods position and the target position of each piler task in the plurality of piler tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is completed;

determining a target path dataset from the path dataset; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of the stacker tasks is the sum of the time corresponding to the target running path of each stacker task;

and executing the corresponding stacker tasks according to the arrangement sequence of each stacker task and the corresponding target running path.

Optionally, the attribute information further includes a task type; the task type comprises ex-warehouse;

the cargo position comprises cargo coordinate information and attribute information; the attribute information comprises an inside shelf and an outside shelf; the outer side goods shelf is close to the roadway;

sequentially determining a plurality of running paths of the pilers corresponding to each piler task based on the goods position and the target position of each piler task in the plurality of piler tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of operation paths corresponding to each stacker task and the time required by the stacker when each operation path in the plurality of operation paths is completed, and the path data set comprises the following steps:

for each stacker task, if the task type of the stacker task is warehouse-out, determining the position of the warehouse location where the goods are located as the goods position;

if the goods position is located on the inner side goods shelf, determining scene state information of the goods based on the goods coordinate information and the storage position state of the goods within a first preset range;

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and a first empty storage position exists on the inner side goods shelf within a second preset range of the shelter; moving the shelter to the first empty warehouse location, and determining a path of the goods to the target position as a running path of the stacker task;

acquiring the running speed of the stacker;

and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

Optionally, the attribute information further includes information on a single row of shelves; the roadway is arranged between the single-row goods shelf and the outside goods shelf;

should be if this goods position is for being located inboard goods shelves, after confirming the scene state information of this goods based on this goods coordinate information and the position state of storehouse within the first preset scope of this goods, still include:

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and a second empty storage position exists on the single-row goods shelf within a second preset range of the shelter; moving the shelter to the second empty warehouse location, and determining a path of the goods to the target position as a running path of the stacker task;

acquiring the running speed of the stacker;

Optionally, if the cargo position is located on the inner shelf, after determining the scene state information of the cargo based on the cargo coordinate information and the storage position state of the cargo within the first preset range, the method further includes:

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and empty storage positions do not exist on the single-row goods shelf and the outer-row goods shelf within a second preset range of the shelter; moving the shelter to a target stack-reversing storage position, and determining a path of moving the goods to the target position as a running path of the stacker task; and the target stack-reversing storage position is a storage position on a stack-reversing shelf close to the goods;

acquiring the running speed of the stacker;

Optionally, the task type further includes warehousing;

for each stacker task, if the task type of the stacker task is warehousing and the target position is a shelf positioned at the inner side, determining scene state information of the goods based on the coordinate information of the goods and the position state of the goods within a first preset range;

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods and the first empty storage position exists on the inner side goods shelf within a second preset range of the shelter; moving the shelter to the first empty warehouse location, and determining a path of the goods to the target position as a target running path of the stacker task;

acquiring the running speed of the stacker;

Optionally, the method includes acquiring a stacker task set, where the stacker task set includes attribute information of a plurality of stacker tasks and an arrangement order of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position, and comprises the following steps:

acquiring the priority level of each stacker task;

sequencing the plurality of stacker tasks based on the priority level of each stacker task to obtain a stacker task to-be-processed set;

acquiring attribute information of each stacker task; the attribute information includes a cargo position and a target position; the target position is a position for moving the goods to a specified position;

and determining the stacker task set based on the arrangement sequence of a plurality of stacker tasks in the stacker task to-be-processed set and the attribute information of each stacker task.

In another aspect, the present application further discloses a stereo library task scheduling device, which includes:

the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a stacker task set, and the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position;

a path determining module, configured to sequentially determine multiple operation paths of the stacker corresponding to each of the plurality of stacker tasks based on the cargo position and the target position of each of the plurality of stacker tasks and the arrangement order, to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is finished;

a target path determination module for determining a target path data set from the path data set; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of the stacker tasks is the sum of the time corresponding to the target running path of each stacker task;

and the execution module is used for executing the corresponding stacker tasks according to the arrangement sequence of each stacker task and the corresponding target running path.

In another aspect, the present application further discloses a stereoscopic warehouse task scheduling system, which includes a warehouse management system and a stereoscopic warehouse control system;

the warehouse management system is used for acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position; sequentially determining a plurality of running paths of the pilers corresponding to each piler task based on the goods position and the target position of each piler task in the plurality of piler tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is finished; determining a target path dataset from the path dataset; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of the stacker tasks is the sum of the time corresponding to the target running path of each stacker task; determining tasks to be executed according to the arrangement sequence of each stacker task and the corresponding target running path; sending the task to be executed to a three-dimensional library control system;

the stereo library control system is used for generating a control instruction based on the task to be executed; and controlling the conveyor based on the control instruction so as to finish the transportation in the task to be executed.

In another aspect, the present application also discloses an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the above-mentioned method for scheduling a task of a stacker.

In another aspect, the present application further discloses a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the method for scheduling a task of a stacker.

By adopting the technical scheme, the method for scheduling the tasks of the stacker has the following beneficial effects:

the method for scheduling the pilers comprises the steps of firstly obtaining a piler task set, sequentially determining the piler running paths of all the piler tasks in the piler task set according to the sequence of the plurality of piler tasks in the piler task set, determining a plurality of paths by one piler task, determining the path with the shortest required time from the paths, and determining the path as a target path, so that the task path determined based on the method avoids frequent unstacking in the tasks, and the overall efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a diagram of an alternative application scenario of the present application;

FIG. 2 is a flowchart of an alternative stacker task scheduling method according to the present application;

FIG. 3 is a top view of an alternative stereoscopic library of the present application;

FIG. 4 is a top view of another alternative embodiment of the stereoscopic library of the present application

FIG. 5 is a flowchart of another alternative stacker task scheduling method of the present application;

fig. 6 is a schematic structural diagram of an alternative stereoscopic library task scheduling device according to the present application.

The following is a supplementary description of the drawings:

10-a first processing device; 20-second treatment means.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1, fig. 1 is an alternative application scenario diagram of the present application. The scene comprises a stereo library task scheduling system; the three-dimensional warehouse task scheduling system comprises a warehouse management system and a three-dimensional warehouse control system; the first processing device 10 of the warehouse management system is configured to obtain a stacker task set, where the stacker task set includes attribute information of a plurality of stacker tasks and an arrangement order of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position; sequentially determining a plurality of running paths of the pilers corresponding to each piler task based on the goods position and the target position of each piler task in the plurality of piler tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is finished; determining a target path dataset from the path dataset; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of the stacker tasks is the sum of the time corresponding to the target running path of each stacker task; determining tasks to be executed according to the arrangement sequence of each stacker task and the corresponding target running path; and sends the task to be executed to the second processing device 20 of the stereo library control system; the second processing device 20 is configured to generate a control instruction based on the task to be executed; and controlling the conveyor based on the control instruction so as to finish the transportation in the task to be executed.

Alternatively, the first processing device and the second processing device may be disposed in a server or a terminal.

Optionally, in this embodiment, the transporter may be a stacker or other equipment capable of carrying goods.

Optionally, the terminal may be a desktop computer, a notebook computer, a mobile phone, a tablet computer, a digital assistant, an intelligent wearable device, or other types of entity devices; wherein, wearable equipment of intelligence can include intelligent bracelet, intelligent wrist-watch, intelligent glasses, intelligent helmet etc..

The terminal may include a display screen, a storage device, and a processor connected by a data bus. The display screen is used for virtual images of the equipment to be monitored and connection relations among all sub-equipment in the equipment to be monitored, and the display screen can be a touch screen of a mobile phone or a tablet computer and the like. The storage device is used for storing program codes, data and data of the shooting device, and the storage device may be a memory of the terminal, and may also be a storage device such as a smart media card (smart media card), a secure digital card (secure digital card), and a flash memory card (flash card). The processor may be a single core or multi-core processor.

The following is an explanation of the relevant terms referred to in this application.

OPCUA (Unified Architecture) is the next generation OPC standard that provides a complete, secure and reliable cross-platform Architecture to capture real-time and historical data and time. Techniques that may be used to connect hardware devices are used to control and operate the devices.

The RFID is an abbreviation of Radio Frequency Identification, namely Radio Frequency Identification, and is a scanning device with a built-in chip of field scanning equipment.

Quartz is an open source third party timer component.

Redis is a memory database that reads and writes quickly and is thread safe.

The following describes a specific embodiment of a method for scheduling a stacker task according to the present application, and fig. 2 is a schematic flow chart of an alternative method for scheduling a stacker task according to the present application, where the present specification provides the method operation steps according to the embodiment or the flow chart, but the method may include more or less operation steps based on conventional or non-creative labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:

s201: acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target location is a location where the cargo needs to be moved to a designated location.

In one possible embodiment, step S201 can be specifically expressed as: the method comprises the steps of obtaining the priority level of each stacker task, sequencing the plurality of stacker tasks based on the priority level of each stacker task to obtain a to-be-processed set of the stacker tasks, obtaining attribute information of each stacker task, wherein the attribute information comprises a goods position and a target position, the target position is a position for moving the goods to a specified position, and determining the stacker task set based on the arrangement sequence of the plurality of stacker tasks in the to-be-processed set of the stacker tasks and the attribute information of each stacker task. The method has the advantages that the task set is formed by selecting a certain number of tasks to the task pool, and the method has the following effects; firstly, an emergency task can be inserted into the task pool at any time, the emergency degree of the emergency task can be adjusted, priority processing of the emergency task is guaranteed, secondly, a reasonable convergence range can be guaranteed, the number of the operation tasks in the limited task pool can be calculated, and the phenomenon that the algorithm is slowed down due to excessive calculation data can be avoided. By calculating the operation path of the tasks in the whole task pool, the optimal operation track is selected, and the influence on the subsequent tasks caused by only calculating one let task is avoided. That is to say, the optimal warehousing and ex-warehousing path of the batch tasks can be calculated controllably and efficiently, and the problem that the efficiency is influenced by the slow calculation speed of the algorithm caused by excessive tasks is avoided.

It should be noted that the task arrangement order in the task pool can set the operation order of the tasks, especially the emergency tasks, according to the actual situation of the field, thereby really realizing real-time scheduling of the tasks, and avoiding that the emergency tasks cannot be executed in time, and can only be executed according to the specified task order, which causes that the emergency tasks cannot be delivered from the warehouse.

In this embodiment, the attribute information further includes three types of task types, which are respectively an ex-warehouse type, an in-warehouse type, and a move-warehouse type.

The delivery refers to a process of transferring goods in the three-dimensional warehouse to a delivery port.

Warehousing means that the warehousing port/the ex-warehouse port is acquired and placed in a three-dimensional warehouse.

The step of transferring the goods in the three-dimensional warehouse is to transfer the goods in the three-dimensional warehouse.

The meaning of the cargo position and the target position are different based on different task types.

For a stacker task with a task type of ex-warehouse, the cargo position includes cargo coordinate information and attribute information, the attribute information includes a rack located on the inner side and a rack located on the outer side, and the rack on the outer side is close to the roadway, refer to fig. 3, where fig. 3 is a top view of an optional three-dimensional warehouse in the present application.

In this embodiment, the inner side shelf may also be referred to as an inner row and the outer side shelf may also be referred to as an outer row. The cargo coordinate information may be three-dimensional coordinate data, such as xyz coordinate data; and can also be data of rows, columns and layers, and a specific library bit can be positioned based on the characteristic, such as 001-. Referring to fig. 4, fig. 4 is a top view of another alternative stereoscopic library of the present application. The bin positions 2-1-10 represent the 10 th level of row 2, column 1.

Alternatively, the attribute information may be determined based on the cargo coordinate information and the position of each row.

And for the stacker task with the task type of warehousing, the cargo position is the position coordinate of the cargo at the warehousing port. The target position includes target library bit coordinate information, which may be the three-dimensional coordinate data of the above example, and attribute information including an inner row and an outer row.

For a stacker task with a task type of moving the warehouse, the cargo position comprises the cargo coordinate information and the attribute information, and the target position comprises the target warehouse position coordinate information and the attribute information.

It should be noted that if the stacker needs to move out the goods in the inner row of storage positions, the goods must first pass through the outer row of storage positions, and if the field is limited, only one row of shelves may be provided, that is, a single row of shelves, see fig. 4.

When the goods of a certain stacker task need to be discharged from the warehouse at the inner row and the goods exist at the outer row of warehouse positions, the stacker needs to transfer the goods to other warehouse positions, namely, the stacking is carried out.

When goods of a certain stacker task are discharged from the warehouse in the warehouse, the stacking needs to be carried out, the calculated first target warehouse position is the outer-discharging warehouse position, and is just the outer-discharging warehouse position of the goods position to be discharged from the warehouse of the subsequent task, so that the goods of the subsequent task are discharged from the warehouse again and need to be stacked again, and secondary shielding can be formed. If there will be such secondary occlusion, the path may need to be re-planned.

S202: sequentially determining a plurality of running paths of the pilers corresponding to each piler task based on the goods position and the target position of each piler task in the plurality of piler tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the plurality of running paths is completed.

The current mainstream algorithm only solves the problem of single task, does not consider secondary shielding caused by the influence of the algorithm on subsequent warehousing and ex-warehouse tasks, is fixed, cannot be flexibly configured, is not suitable for the comprehensive condition of multi-row or single-row goods shelves, does not consider the influence of machine transportation time and goods handling on the optimal road strength, does not consider the warehousing condition after the pallets bearing the goods are warehoused, and the like.

The method and the device can be based on the overall multi-task consideration in task concentration, so that the optimal path can be determined, and the condition that the tray returns to the warehouse after being delivered from the warehouse can be considered.

When calculating the running path of the task of the stacker, besides the task type, the structure of the three-dimensional warehouse needs to be considered, namely the structure shown in fig. 3 or the structure shown in fig. 4, or the three-dimensional warehouse is provided with a stack-falling shelf, the storage position of the shelf can not store goods for temporary stack-falling and transfer use, and the problem that the stack-falling cannot be finished because no empty warehouse is available in a roadway is avoided.

Embodiments of the above-described stereo library scenarios and task types will be set forth below, respectively.

In a possible embodiment, referring to fig. 5, fig. 5 is a schematic flow chart of another alternative stacker task scheduling method according to the present application. Step S202 may be specifically stated as:

s2021: and for each stacker task, if the task type of the stacker task is warehouse-out, determining the position of the position where the goods are located as the position of the goods.

In this embodiment, the cargo space position may be the three-dimensional data, and referring to fig. 4, the storage spaces 2-1-10 are the positions of the cargo to be delivered.

It should be noted that the white library bit in fig. 4 is a free library bit, and the gray library bit is an occupied library bit.

S2022: and if the goods position is located on the inner side goods shelf, determining scene state information of the goods based on the goods coordinate information and the storage position state of the goods within the first preset range.

That is to say, when the goods is located in the inner row, it is necessary to determine whether the corresponding outer row is occupied, and if occupied and a blocking object exists, the goods must be moved out for being stacked, and at this time, the optimal stacking position of the blocked goods needs to be determined.

Optionally, the storage position determined by the first preset range may be a storage position including an inner row, an outer row and a single row closest to the storage position of the cargo.

In this embodiment, the library position status includes that the library position is occupied or the library position is unoccupied; the scene state information of the goods at least comprises the following three conditions: firstly, a shielding object is arranged on an outer side goods shelf corresponding to goods, and a first empty storage position is arranged on an inner side goods shelf within a second preset range of the shielding object; secondly, a shielding object exists on the outer side goods shelf corresponding to the goods, a first empty storage position does not exist on the inner side goods shelf within a second preset range of the shielding object, and a third empty storage position exists on the outer side goods shelf; thirdly, no shielding object is stored on the outer side goods shelf corresponding to the goods.

In the third case, the blocking object can be directly moved out without being inverted, and the first and second cases must be inverted, wherein the second case can directly move the blocking object to the third storage location, and the first case needs to move the goods to the first storage location.

It should be noted that, in fact, in the present application, a path condition of a next task of the current task is considered, if the current task is the second condition, but an outward-discharge bin position of goods to be delivered from a bin of a subsequent task is the third bin position, secondary shielding of the subsequent task is caused, an optimal path of the current task needs to be re-planned, and a long time is required for completing a task in a task set due to the secondary shielding.

The first case described above will be mainly explained below.

For example, referring to fig. 4, assuming that the warehouse location to be shipped is 2-1-10, the warehouse locations 2-1-9 are empty warehouse locations, and the single row of shelves is in a full row state, and the other warehouse locations are as shown in fig. 4, since the outer row warehouse location corresponding to the warehouse location 2-1-10 is occupied 2-2-10, i.e. a shelter exists, the goods to be moved out of the warehouse location 2-1-10 will necessarily need to be stacked upside down, at this time, it can be seen that the adjacent optimal stacking warehouse location of 2-2-10 includes 2-1-9,2-2-9,2-1-11,2-2-11, 2-3-10, and since 2-2-9,2-1-11,2-2-11, 2-3-10 are all occupied, 2-1-9 is the optimal warehouse location, however, since the outer row of the warehouse locations 2-2-9 corresponding to the warehouse locations 2-1-9 is occupied, at this time, the goods at the warehouse locations 2-2-9 need to be firstly stacked, based on the above-mentioned principle of stacking, the warehouse locations 2-2-9 adjacent to the optimal stacking position include 2-1-9, 2-2-8, 2-2-10 and 2-3-9, and since the warehouse locations 2-2-10 and 2-3-9 are occupied, and based on the stacking sequence, the single row > inner row > outer row is followed, then 2-1-9 is the optimal stacking position, that is, the goods at 2-2-9 needs to be moved to 2-1-9 first, at this time, 2-2-9 is an empty warehouse location, that is, the above-mentioned first empty warehouse location, and then the goods 2-2-10 are moved to the first empty storage position, so that the goods 2-1-10 can be moved to the target position.

The utility model provides an above-mentioned definite rule of optimum storehouse position of falling a jam is single row > interior row > outer row, because single row storehouse position only has a row goods shelves, and outer row storehouse position has two goods shelves, and follow-up probably has the secondary to shelter from, if have interior row and outer circumstances of arranging simultaneously, the interior row of preferred selection avoids appearing outer row and has the goods and the interior condition that does not have the goods, causes the waste in space.

Optionally, a weight may be added to the algorithm for determining single row > inner row > outer row, that is, when the optimal path is calculated, the weight is added to the calculated value, for example, the single row 0, the inner row 1, the outer row 2, and then the optimal value is selected, so that it is ensured that the target location under the same path is still according to the single row > inner row > outer row rule, and the optimal path is finally calculated.

S2023: if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and a first empty storage position exists on the inner side goods shelf within a second preset range of the shelter; the shelter is moved to the first empty warehouse location, and the path of moving the goods to the target position is determined as the running path of the stacker task.

In this embodiment, since there may be a plurality of times of stack inversions, the blocking object moved to the first empty storage location may be on an adjacent outer-row storage location corresponding to the cargo (see the above example), or may be on an outer-row storage location directly corresponding to the cargo, for example, when the 2-2-9 storage location is unoccupied.

In another possible embodiment, step 2023 may be replaced by the following process: if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and a second empty storage position exists on the single-row goods shelf within a second preset range of the shelter; the shelter is moved to the second empty warehouse location, and the path of moving the goods to the target position is determined as the running path of the stacker task.

For example, referring to fig. 4, 2-1-10 is the warehouse location to be ex warehouse, gray is the occupied warehouse location, if 2-1-10 goods need to be ex warehouse, 2-2-10 warehouse location must be stacked, so 5 warehouse locations of 2-2-10 are calculated as the optimal solution, but 2-2-9.2-2-11, 1-2-10, 2-3-10, 3-2-10, and 5 warehouse locations are calculated as the optimal solution, and the final optimal solution is 2-3-10, and all the stacked warehouse locations are transferred to 2-3-10 and then ex warehouse according to the rule of single row > inner row > outer row, and all the stacked warehouse locations are 2-2-10.

S2024: and acquiring the running speed of the stacker.

Optionally, due to the fact that different stereoscopic warehouse equipment and different places on the market are different, the running speed and the goods forking time are different, time consumed by each task for leaving the warehouse can be accurately calculated by designing the two parameters, and once the subsequent tasks are subjected to secondary shielding conditions, paths can be recalculated according to optimal time by comparing with the subsequent tasks.

In this embodiment, the running speed of the stacker can be defined as the stacking speed and the moving speed. The time required for the corresponding path may subsequently be determined based on the determined number of times of stack inversions and the path length.

S2025: and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

The three-dimensional warehouse is mainly explained by the conditions of the figures 3 and 4, and in order to improve the application flexibility of the stacker task scheduling method, and avoid the situation that the first preset range of the goods to be discharged from the warehouse needs to be too wide, or the first preset range cannot find the goods which can be stacked upside down and cannot timely take out the goods in the inner row, the three-dimensional warehouse is further provided with a stacking-reversing shelf. In another possible embodiment, the step S2023 may be replaced by:

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and empty storage positions do not exist on the single-row goods shelf and the outer-row goods shelf within a second preset range of the shelter; moving the shelter to a target stack-reversing storage position, and determining a path of moving the goods to the target position as a running path of the stacker task; and the target stack-reversing storage position is a storage position on the stack-reversing shelf close to the goods.

It should be noted that, based on the position of the destacking storage location, the destacking storage location may also be included in the arrangement priority of the destacking storage location, that is, the arrangement rule may be single row > inner row > outer row > destacking storage location.

Through the design of the goods shelves in the three-dimensional warehouse as the inner row, the outer row and the single row, the shielding and the calculation of the optimal path can be flexibly and quickly identified, and the position of the warehouse to be stacked is set up again, so that the situation that no empty warehouse is available in a roadway and the stacking can not be completed is avoided.

The above is an explanation of the case that the task type is warehouse-out, and the following description will be made on the case that the task type is warehouse-in.

In one possible embodiment, step S202 can be specifically expressed as: for each stacker task, if the task type of the stacker task is warehousing and the target position is located on an inner side goods shelf, determining scene state information of the goods based on the goods coordinate information and the state of the goods at the position in a first preset range, and if the scene state information indicates that a shielding object exists on an outer side goods shelf corresponding to the goods and the first empty position exists on an inner side goods shelf in a second preset range of the shielding object; moving the shelter to the first empty warehouse location, and determining a path of the goods to the target position as a target running path of the stacker task; acquiring the running speed of the stacker; and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

It should be noted that the process and principle of moving the goods to the target position of the shelf in the warehousing process are the same as those of taking out the goods, and the difference from the above-mentioned warehousing task lies in that the definitions of the goods position and the target position are different, and are not described herein again. In the case of the moving warehouse, because the goods in the three-dimensional warehouse are transferred in the warehouse, the goods can be taken out and stored according to the inverted stacking rule of single row > inner row > outer row.

In fact, in order to avoid task congestion when a large amount of warehouse exits occur and a tail support returns the warehouse, or the tail support cannot return the warehouse during machine operation, so that the inventory is occupied, subsequent warehouse exits are affected, and the state information of the stacker is required to be determined. That is, when a plurality of stackers operate in parallel, the state of each stacker needs to be acquired in real time, that is, whether the stacker is occupied or not, so as to ensure efficient and orderly execution of tasks.

S203: determining a target path dataset from the path dataset; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running path of each stacker task.

Optionally, a segmented multi-concurrent timing mechanism can be introduced, firstly, tasks can be disassembled at regular time, one task can be disassembled through a task lock, the task to be executed is guaranteed to be the highest priority forever, secondly, the disassembled operation instruction can be executed in sequence at regular time, and as three conditions are possible after the task is disassembled, 1, one task which is not required to be stacked and is directly delivered out of a warehouse is not needed, 2, the task which is required to be stacked is related, and 3, the position of the stacking warehouse is a temporary position, and the task which is subjected to the warehouse returning instruction is added. The sequential execution can be ensured, and the recovery work instruction can be ensured to continue executing after the machine crashes by using a Redis distributed cache mechanism, so that the high availability of programs and algorithms is ensured.

In an alternative embodiment, step S203 may calculate all achievable target operation paths of each stacker task, arrange and combine the target operation paths corresponding to all stacker tasks, and determine the time of all feasible combinations, so as to determine the operation path with the shortest time after combination as the following target path.

By setting the moving speed and the stacking time of the stacker, when the optimal path is calculated, secondary shielding is often performed on subsequent tasks to cause stacking of the subsequent tasks, the single task may be the optimal path, but the task pool is not always the whole task pool, so that the number of the target running paths which can be realized by each stacker task is reduced while the whole optimal path in the task pool can be determined, the calculated amount is reduced, and the efficiency is improved. In another optional embodiment, in step S203, when the optimal path of the current stacker task is calculated each time, the optimal path bin of the next stacker task needs to be calculated at the same time, the current task is compared with the subsequent tasks, whether secondary occlusion exists is determined, if so, the secondary occlusion time is added, then the minimum time of each path is calculated, and the task path with the minimum time is taken out, so that the optimal solution of the task in the task pool is obtained. And sequentially according to the mode until the target paths of all the tasks in the task set are determined.

S204: and executing the corresponding stacker tasks according to the arrangement sequence of each stacker task and the corresponding target running path.

The following provides an embodiment of a method for scheduling a task of a stacker according to the present application, which includes the following steps:

1) and (3) task convergence determination: the number of tasks is set in advance according to the transporting capacity of the stacker, and the timer takes a specific number of tasks as a task pool each time.

2) And (3) timing calculation tasks: and starting a timer, and periodically judging whether the executed job assignment exists in the Redis task lock or not, and if not, starting the calculation task.

3) Operating the tasks according to the priority: and reading the task with the highest priority according to the set task priority, and then calculating and analyzing the ex-warehouse path of the task.

4) Judging a shielding storage position: and if the target storage position is not shielded (namely the storage positions of the objects to be delivered are in a single row and are discharged outwards, or the storage positions in the inner row but correspond to the discharged storage positions without the objects), directly generating an operation instruction, and if the target storage position is shielded, continuing to analyze the task of the task pool.

5) And calculating the optimal operation time.

And taking out the current task and the next task according to the task arrangement sequence in the task pool, if the task needs to be reversed, determining a target reversing storage position, comparing the target reversing storage position with the target storage position of the subsequent task, and calculating the time for needing secondary reversing and the time for completing the path.

Meanwhile, according to the initially set operation speed of the stacker rail, the operation path of each storage position is calculated by combining three-dimensional modeling, the route operation time and the stack-reversing time of each target storage position can be calculated, the total operation time is comprehensively calculated, and the target stack-reversing storage position with the optimal time is taken out, so that the optimal solution is obtained (see the example).

When calculating the objective warehouse location of falling a pile simultaneously, still need judge the objective warehouse location of falling a pile whether interim warehouse location: due to the fact that the temporary transfer warehouse location is set, if the optimal target warehouse location for transferring the stack is the temporary warehouse location, an operation instruction for returning to the warehouse needs to be added once, and the fact that the subsequent temporary warehouse location is occupied is avoided.

6) Generating a job instruction: a total of three job instructions can be generated according to different situations: 1. the method comprises the steps of a stack-reversing instruction, a warehouse-out instruction, a warehouse-back instruction and a final operation instruction which are combined under different conditions.

Another embodiment of the method for scheduling a task of a stacker of the present application is provided as follows, which includes the steps of:

1) preparing a software environment: and deploying the program to a server, wherein the server is a Linux server, installing a MYSQL database, installing a Redis cache database, debugging the connection condition of the equipment and the program, and the like.

2) Preparing basic data: and determining the three-dimensional coordinates of the library positions according to the actual arrangement of the field library positions (see the example), and configuring the temporary turnover library positions. And setting the running speed and the stack reversing time of the stacker. And setting the task quantity of the task pool and setting task priority parameters.

3) Receiving a Warehouse Management System (WMS) task: receiving a WMS task, storing the data into a task database, and automatically calculating according to the time sequence to generate a task priority, wherein the task has a task state, a task ID, a task tray, a task priority, a corresponding stacker and the like. Here, data is received through the WEBAPI interface and algorithmic calculations and tasks are triggered and generated through the mechanisms of subscription publishing.

4) And (4) generating a task pool, namely starting corresponding timer threads according to different stackers to generate the task pool corresponding to the stacker. And judging the task types (ex-warehouse, in-warehouse and moving warehouse), wherein the ex-warehouse task enters a task pool, and the in-warehouse task directly enters a warehouse task Redis cache. And starting corresponding timer threads according to the number of stackers by using a third party open source component Quartz open source components, and writing the corresponding timer threads into a Redis database cache.

5) And (3) timing consumption tasks: and inquiring the tasks in the task pool through a timer, firstly judging whether a task lock which is executed by the tasks exists, and if not, taking out the task with the highest task priority. And calculating an optimal ex-warehouse path, resolving a job instruction, writing the job instruction into a Redis task cache, and adding a task lock. Here, the task is also processed concurrently through the Quartz timer mechanism, and the task lock is skillfully established by utilizing the mechanism of Redis lock.

6) And (3) executing a job instruction at regular time: according to the execution sequence of the operation instructions: and (4) a stack-reversing instruction, a warehouse-out instruction and a warehouse-back instruction sequentially pass through an OPCUA issuing device to execute tasks. The next job instruction can only be triggered after each execution of one. And after the operation is finished, releasing the task lock and beginning to consume the next task.

7) The operation condition of the stacker is monitored in real time by subscribing OPCUA data

7.1, a stack reversing instruction: the ex-warehouse trays are arranged in the inner row, and goods are arranged at the warehouse positions outside the outer row, so that the ex-warehouse trays need to be transferred to other warehouse positions to facilitate ex-warehouse of the trays inside.

7.2, a warehouse-out instruction is that the pallets to be delivered out of the warehouse can be directly delivered out of the warehouse after the outer warehouse position is completely inverted.

7.3: a library returning instruction: if the tray in the warehouse position of the reverse stack is transferred to the temporary warehouse position, the tray needs to be moved into the warehouse position of the delivery warehouse for the subsequent task to continue the reverse stack.

7.4: executing the operation instruction: and through timing scheduling, judging the running state of the stacker at regular time, if the stacker is idle, acquiring the job instruction to be executed, and acquiring the state which has the highest priority and is not executed according to the sequence of the job instruction. And then, issuing task information into a three-dimensional coordinate, tray codes and the like to the stacker through the OPCUA, calling back a completion state after the stacker finishes executing, finishing updating the operation instruction, and enabling the stacker to be idle. The timer continues to execute the next instruction. And if the instructions are completely executed, updating the task lock, and beginning to consume the next ex-warehouse task by the timer.

8) Changing task priority: the WMS issues an instruction for changing the task priority, after the WCS receives the instruction, the WCS firstly judges whether the task is not executed, directly changes the task priority into emergency execution, if the task is not in the task pool, the WMS is directly inserted into the task pool, and waits for the next cycle to preferentially execute the task.

9) Inserting an emergency task: the WMS issues a new emergency ex-warehouse task. After receiving the instruction, the Warehouse Control System (WCS) directly inserts the task into the task pool, and the priority is changed to emergency execution, and the emergency degree is the highest. Waiting for the next cycle to preferentially execute the task

10) And (4) executing a warehousing task:

10.1 the RFID in storage scans the storage tray, firstly, whether the stacker is idle or not is judged, if the stacker is idle, the execution is continued, and if the stacker is busy, the next execution is waited.

10.2 receiving the tray number scanned by the RFID, inquiring a warehousing task of Redis, calculating an optimal warehousing path, and calculating rules according to the single row > inner row > outer row. And obtaining an optimal library position. And issuing an instruction to the stacker, wherein the instruction comprises information such as a tray, a task ID, a storage position and the like. And directly finishing the execution of the stacker, and calling back to finish the updating task.

On the other hand, referring to fig. 6, fig. 6 is a schematic structural diagram of an alternative stereoscopic library task scheduling device according to the present application. The application also discloses a three-dimensional storehouse task scheduling device, it includes:

an obtaining module 601, configured to obtain a stacker task set, where the stacker task set includes attribute information of a plurality of stacker tasks and an arrangement order of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position;

a path determining module 602, configured to sequentially determine multiple running paths of the stacker corresponding to each stacker task based on the cargo position and the target position of each stacker task in the plurality of stacker tasks and the arrangement order, so as to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is finished;

a target path determining module 603, configured to determine a target path data set from the path data set; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of the stacker tasks is the sum of the time corresponding to the target running path of each stacker task;

and an executing module 604, configured to execute the corresponding stacker task according to the arrangement order of each stacker task and the corresponding target operation path.

In one possible embodiment, the attribute information further includes a task type, the task type includes an ex-warehouse;

the goods position comprises goods coordinate information and attribute information, the attribute information comprises a goods shelf positioned at the inner side and a goods shelf positioned at the outer side, and the goods shelf at the outer side is close to the roadway;

the path determining module is used for determining the position of the warehouse where the goods are located as the goods position if the task type of the stacker task is warehouse-out aiming at each stacker task; if the goods position is located on the goods shelf on the inner side, determining scene state information of the goods based on the goods coordinate information and the storage position state of the goods within a first preset range; if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and a first empty storage position exists on the inner side goods shelf within a second preset range of the shelter; moving the shelter to the first empty warehouse location, and determining a path of the goods to the target position as a running path of the stacker task; acquiring the running speed of the stacker; and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

In one possible embodiment, the attribute information further includes information on a single row of shelves; the roadway is arranged between the single-row goods shelf and the outside goods shelf; the route determining module is used for determining whether the single-row goods shelf is provided with a first empty storage position within a first preset range or not according to the scene state information; moving the shelter to the second empty warehouse location, and determining a path of the goods to the target position as a running path of the stacker task; acquiring the running speed of the stacker; and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

In a possible embodiment, the path determining module is configured to determine that no empty storage location exists on the single-row shelf and the outward-row shelf within the second preset range of the shelter if the scene state information indicates that a shelter exists on the outer-side shelf corresponding to the goods; moving the shelter to a target stack-reversing storage position, and determining a path of moving the goods to the target position as a running path of the stacker task; and the target stack-reversing storage position is a storage position on a stack-reversing shelf close to the goods; acquiring the running speed of the stacker; and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

In one possible embodiment, the task type further includes binning;

a path determining module, configured to determine, for each of the stacker tasks, scene state information of the cargo based on the cargo coordinate information and a storage location state of the cargo within a first preset range if the task type of the stacker task is warehousing and the target location is on an inner shelf; if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods and the first empty storage position exists on the inner side goods shelf within a second preset range of the shelter; moving the shelter to the first empty warehouse location, and determining a path of the goods to the target position as a target running path of the stacker task; acquiring the running speed of the stacker; and determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

In a possible embodiment, the acquiring module is configured to acquire a priority level of each of the stacker tasks; sequencing the plurality of stacker tasks based on the priority level of each stacker task to obtain a stacker task to-be-processed set; acquiring attribute information of each stacker task; the attribute information includes a cargo position and a target position; the target position is a position for moving the goods to a specified position; and determining the stacker task set based on the arrangement sequence of a plurality of stacker tasks in the stacker task to-be-processed set and the attribute information of each stacker task.

Embodiments of the present application further provide an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the method for scheduling a task of a stacker as described above.

Embodiments of the present application further provide a computer storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or an instruction set related to implementing a method for scheduling a task of a stacker in the method embodiments, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the method for scheduling a task of a stacker.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for scheduling tasks of a stacker for a three-dimensional library is characterized by comprising the following steps:

acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information comprises a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position;

determining a target path dataset from the path dataset; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running path of each stacker task;

2. The stacker task scheduling method according to claim 1, wherein the attribute information further includes a task type; the task type comprises ex-warehouse;

the cargo position comprises cargo coordinate information and attribute information; the attribute information comprises an inner shelf and an outer shelf; the outer side goods shelf is close to the roadway;

for each stacker task, if the task type of the stacker task is ex-warehouse, determining the position of the warehouse where the goods are located as the goods position;

if the goods position is located on an inner side goods shelf, determining scene state information of the goods based on the goods coordinate information and a storage position state of the goods within a first preset range;

acquiring the running speed of the stacker;

3. The stacker task scheduling method according to claim 2, wherein the attribute information further comprises being located on a single row of shelves; the roadway is arranged between the single-row goods shelf and the outer-side goods shelf;

if the cargo level is located on the inner side shelf, after determining the scene state information of the cargo based on the cargo coordinate information and the storage level state of the cargo within the first preset range, the method further includes:

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and a second empty storage position exists on the single-row goods shelf within a second preset range of the shelter; moving the shelter to the second empty warehouse location, and determining the path of the goods to the target position as the running path of the stacker task;

acquiring the running speed of the stacker;

4. The stacker task scheduling method according to claim 3, wherein after determining the scene state information of the cargo based on the cargo coordinate information and the position state of the cargo within the first preset range if the cargo position is located on an inner shelf, the method further comprises:

if the scene state information indicates that a shielding object exists on the outer side shelf corresponding to the goods, and empty storage positions do not exist on the single-row shelf and the outer-row shelf within a second preset range of the shielding object; moving the shielding object to a target stack-reversing storage position, and determining the path of the goods to the target position as the running path of the stacker task; and the target stack-reversing storage position is a storage position on a stack-reversing shelf close to the goods;

acquiring the running speed of the stacker;

5. The stacker task scheduling method according to claim 2, wherein the task type further comprises warehousing;

if the scene state information indicates that a shelter exists on the outer side goods shelf corresponding to the goods, and the first empty storage position exists on the inner side goods shelf within a second preset range of the shelter; moving the shielding object to the first empty warehouse position, and determining the path of the goods to the target position as a target running path of the stacker task;

acquiring the running speed of the stacker;

6. The method according to claim 1, wherein the method comprises the steps of obtaining a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement order of the plurality of stacker tasks; the attribute information comprises a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position, and the method comprises the following steps:

acquiring the priority level of each stacker task;

acquiring attribute information of each stacker task; the attribute information comprises a cargo position and a target position; the target position is a position for moving the goods to a specified position;

and determining the stacker task set based on the arrangement sequence of a plurality of stacker tasks in the stacker task set to be processed and the attribute information of each stacker task.

7. A stereoscopic library task scheduling apparatus, comprising:

the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a stacker task set, and the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information comprises a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position;

a path determining module, configured to sequentially determine multiple operation paths of the stacker corresponding to each stacker task based on the cargo position and the target position of each stacker task in the plurality of stacker tasks and the arrangement order, so as to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is completed;

a target path determination module for determining a target path data set from the path data set; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running path of each stacker task;

8. A three-dimensional warehouse task scheduling system is characterized by comprising a warehouse management system and a three-dimensional warehouse control system;

the warehouse management system is used for acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information comprises a cargo position and a target position; the target position is a position where the goods need to be moved to a specified position; sequentially determining a plurality of running paths of the pilers corresponding to each piler task based on the goods position and the target position of each piler task in the plurality of piler tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and the time required by the stacker when each running path in the running paths is completed; determining a target path dataset from the path dataset; the target path data set comprises a target operation path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of the stacker tasks is the sum of the time corresponding to the target running path of each stacker task; determining tasks to be executed according to the arrangement sequence of each stacker task and the corresponding target running path; sending the task to be executed to a three-dimensional library control system;

9. An electronic device comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the stacker task scheduling method according to any one of claims 1 to 6.

10. A computer storage medium having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the method of scheduling a stacker task according to any one of claims 1 to 6.