CN114841549A

CN114841549A - Method and device for dispatching vehicles, electronic equipment and storage medium

Info

Publication number: CN114841549A
Application number: CN202210449812.9A
Authority: CN
Inventors: 杨文祥
Original assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Current assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-08-02

Abstract

The embodiment of the invention discloses a method and a device for dispatching vehicles, electronic equipment and a storage medium, wherein the method comprises the following steps: when a vehicle dispatching signal is received, determining the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched in each storage area; if the total number of the vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, determining a target storage position of each vehicle to be dispatched in the current storage area according to a preset first objective function and a first constraint condition, and controlling the corresponding vehicle to be dispatched to run to the target storage position. According to the technical scheme of the embodiment of the invention, when emergencies such as fire disasters occur, the vehicles can be controlled to run to a relatively safe area, so that not only are the transport vehicles and other equipment protected, but also the fire disaster range is prevented from being further expanded, and the safety of the storage production environment is improved.

Description

Method and device for dispatching vehicles, electronic equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of unmanned vehicles, in particular to a method and a device for dispatching vehicles, electronic equipment and a storage medium.

Background

In the storage production environment, various devices such as an Automatic Guided Vehicle (AGV) can be used for assisting production, and meanwhile, as the scale of the automatic device is increased, the logistics storage scene is more and more complex, and the fire safety problem in the production process becomes more and more important.

When the present invention is implemented based on the above-described embodiments, the inventors have found that the following problems occur:

when taking place the conflagration in the logistics storage environment, equipment such as AGV can self-closing power and stop moving, however, the transport vechicle itself also carries the battery, still can carry the goods on the vehicle, based on this, if the parking position of vehicle is close with the fire source distance in the storage environment, the goods that the vehicle bore and the battery of carrying just probably are ignited, when causing equipment to damage, still can lead to the conflagration scope to further enlarge, consequently, in the scheme that prior art provided, equipment such as AGV is relatively poor to emergency's strainability, the logistics storage region has the potential safety hazard.

Disclosure of Invention

The invention provides a method, a device, electronic equipment and a storage medium for dispatching vehicles, which can control each vehicle to run to a relatively safe area when an emergency (such as a fire disaster) occurs, thereby not only protecting equipment such as transport vehicles and the like, but also avoiding the further expansion of the fire disaster range and improving the safety of the storage production environment.

In a first aspect, an embodiment of the present invention provides a method for dispatching a vehicle, where the method includes:

when a vehicle dispatching signal is received, determining the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched in each storage area;

if the total number of the vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, determining a target storage position of each vehicle to be dispatched in the current storage area according to a preset first objective function and a first constraint condition, and controlling the corresponding vehicle to be dispatched to run to the target storage position;

the first objective function is determined according to the position of the vehicle, the storage position information of the storage positions and the storage position information of the vehicle to be dispatched, wherein the vehicle to be dispatched runs from the position of the vehicle to the corresponding storage positions, and the first constraint condition comprises that each storage position stores one vehicle to be dispatched.

Further, the method for dispatching vehicles further comprises the following steps:

when detecting that the data to be monitored acquired by at least one sensor meets a preset alarm signal, generating a vehicle dispatching signal, and sending the vehicle dispatching signal to a vehicle dispatching system, so that the vehicle dispatching system determines the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched, which are located in each storage area, when receiving the vehicle dispatching signal.

Further, the determining a target storage location of each vehicle to be scheduled in the current storage area according to a preset first objective function and a first constraint condition, and controlling the corresponding vehicle to be scheduled to travel to the target storage location includes:

respectively determining the time length information of each vehicle to be scheduled to run to each storage bit of the current storage area based on a first objective function;

under the condition that a first constraint condition is met, determining at least one piece of total running time length information to be selected according to each piece of time length information;

and determining target total duration information according to at least one piece of total duration information to be selected, and determining target storage positions of all vehicles to be dispatched, which correspond to the target total duration information.

Further, the determining, based on the first objective function, the time length information of each vehicle to be scheduled traveling to each storage location in the current storage area includes:

aiming at each vehicle to be dispatched, determining at least one piece of running path information according to the vehicle position of the current vehicle to be dispatched and the storage position information of each storage position; the driving path information comprises turning times, waiting times and distance information from the vehicle position to the corresponding storage position;

determining time length information of the current vehicle to be scheduled, which travels from the vehicle position to the corresponding storage position, according to the at least one travel path information;

and the number of the duration information is consistent with the number of the storage bits in the current storage area.

if the total number of vehicles to be dispatched in the current storage area is larger than the preset temporary storage threshold value, determining at least two associated storage areas associated with the current storage area and target dispatching vehicles dispatched to the at least two associated storage areas;

and controlling the target dispatching vehicles to travel from the current storage area to the corresponding associated storage area, so as to determine the target storage positions of the vehicles to be dispatched in the current storage area according to the first target function and the first constraint condition when the total number of the vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold value.

Further, the determining at least two associated reserves associated with the current reserve and a target dispatch vehicle dispatched to the at least two associated reserves comprises:

determining at least two associated storage areas associated with the current storage area, rolling door position information of each associated storage area and a preset temporary storage threshold according to the area position information of the current storage area;

determining scheduled vehicles to pass through corresponding rolling doors and a first scheduling number according to the vehicle positions of the vehicles to be scheduled in the current storage area, the rolling door position information and preset closing time corresponding to the rolling doors;

and determining target dispatching vehicles dispatched to the at least two associated storage areas from the dispatching vehicles to be passed according to the total number of the vehicles to be dispatched in each associated storage area, a preset temporary storage threshold value and the first dispatching number.

Further, the determining the scheduled vehicles to be passed through the corresponding rolling doors and the first scheduling number according to the vehicle positions of the vehicles to be scheduled in the current storage area, the rolling door position information and the preset closing time corresponding to the rolling doors includes:

aiming at each vehicle to be scheduled, determining the time length required for passing through the corresponding rolling door according to the vehicle position of the current vehicle to be scheduled and the rolling door position information of at least two associated storage areas;

if the waiting time is shorter than the preset closing time of the corresponding rolling door, determining that the current vehicle to be scheduled is the vehicle to be scheduled for passing;

and binding the dispatching vehicles to be passed with the corresponding rolling doors, and accumulating the number of the passing vehicles corresponding to the rolling doors to update the first dispatching number corresponding to the rolling doors.

Further, the determining a waiting time period for passing through the corresponding rolling doors according to the vehicle position of the current vehicle to be dispatched and the rolling door position information of the at least two associated storage areas includes:

determining a passing parameter corresponding to each rolling shutter door according to the vehicle position of the current vehicle to be dispatched and the position information of each rolling shutter door; the passing parameters comprise first distance information, first turning times and first queuing times;

and determining the waiting time of the current vehicle to be scheduled for passing through the corresponding rolling doors according to the first distance information, the vehicle running speed, the first turning times, the time required for turning, the first queuing times and the time required for queuing.

Further, the determining, according to the total number of vehicles to be scheduled, the preset temporary storage threshold value and the first scheduling number of each associated storage area, a target scheduling vehicle scheduled to the at least two associated storage areas from the vehicles to be scheduled to pass includes:

determining a target scheduling quantity scheduled from the current storage area to each associated storage area according to the total scheduling vehicle quantity of each associated storage area, the corresponding first scheduling quantity and a preset temporary storage threshold value;

and determining the vehicles to be passed corresponding to the target dispatching quantity from the dispatching vehicles to be passed bound with each roller shutter door to be used as the target dispatching vehicles.

and if the vehicle to be dispatched is located corresponding to the rolling door position information, determining the storage area to which the vehicle to be dispatched belongs and the target storage position in the storage area according to the total number of the vehicles to be dispatched in the two storage areas associated with the rolling door position information.

In a second aspect, an embodiment of the present invention further provides an apparatus for dispatching a vehicle, where the apparatus includes:

the system comprises a to-be-dispatched vehicle determining module, a dispatching module and a dispatching module, wherein the to-be-dispatched vehicle determining module is used for determining the vehicle positions of the to-be-dispatched vehicles in all storage areas and the total number of the to-be-dispatched vehicles when vehicle dispatching signals are received;

the system comprises a to-be-dispatched vehicle control module, a to-be-dispatched vehicle control module and a dispatching center control module, wherein the to-be-dispatched vehicle control module is used for determining a target storage position of each to-be-dispatched vehicle in a current storage area according to a preset first target function and a first constraint condition and controlling the corresponding to-be-dispatched vehicle to run to the target storage position if the total number of the to-be-dispatched vehicles in the current storage area is smaller than or equal to a preset temporary storage threshold corresponding to the current storage area; the first objective function is determined according to the position of the vehicle, the storage position information of the storage positions and the storage position information of the vehicle to be dispatched, wherein the vehicle to be dispatched runs from the position of the vehicle to the corresponding storage positions, and the first constraint condition comprises that each storage position stores one vehicle to be dispatched.

In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a method of dispatching a vehicle as in any of the embodiments of the invention.

In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method of dispatching a vehicle according to any of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, when a vehicle dispatching signal is received, the vehicle position and the total number of the vehicles to be dispatched in each storage area are determined, further, if the total number of the vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, the target storage position of each vehicle to be dispatched in the current storage area is determined according to a preset first target function and a preset first constraint condition, and the corresponding vehicle to be dispatched is controlled to run to the target storage position, so that the automatic dispatching of the vehicles in the warehousing production environment is realized when an emergency (such as a fire disaster) occurs, and therefore, each vehicle is controlled to run to a relatively safe area, so that not only are devices such as transport vehicles protected, but also the fire disaster range is prevented from being further expanded, and the safety of the warehousing production environment is improved.

Drawings

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.

FIG. 1 is a schematic flow chart illustrating a method for dispatching vehicles according to an embodiment of the present invention;

fig. 2 is a schematic plan view of a logistics storage area provided in an embodiment of the invention;

fig. 3 is a schematic diagram illustrating distribution and arrangement of storage locations of fire safety partitions in each storage area according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a method for dispatching vehicles according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart illustrating a method for dispatching vehicles according to an embodiment of the present invention;

FIG. 6 is a schematic illustration of a vehicle dispatch flow direction between various zones as provided by an embodiment of the present invention;

fig. 7 is a block diagram illustrating an apparatus for dispatching vehicles according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Fig. 1 is a schematic flow chart of a method for dispatching vehicles according to an embodiment of the present invention, which is applicable to a situation where vehicles in each storage area are automatically dispatched when an emergency (e.g., a fire) occurs in a storage area, and the method may be implemented by a device for dispatching vehicles, where the device may be implemented in the form of software and/or hardware, and the hardware may be an electronic device, such as a mobile terminal, a PC terminal, or a server.

In order to clearly understand the technical solution of the embodiment of the present invention, an exemplary description of the warehousing area and the application scenario to which the present disclosure is applied may be first provided with reference to fig. 2.

In this embodiment, the storage area may be pre-divided into one or more storage areas, that is, as shown in fig. 2, a first storage area, a second storage area, a third storage area, and a fourth storage area, where a grid for storing goods may be further divided in each storage area, after the storage area and the grid in each storage area are divided, an automated device (such as a transport AGV) such as a transport vehicle for performing a goods transport operation may be deployed in each storage area, and after the transport vehicle receives a transport task issued by the system, the transport vehicle may travel in the storage area according to a travel path corresponding to the task, so as to transport the goods to a designated grid. It will be appreciated that such an environment places high demands on fire safety operations and vehicle dispatch systems.

In the process of carrying operation is carried out at a large amount of transport vechicles in the storage area, in order to strengthen the ability of answering of storage area to the conflagration, on the one hand, AGV safety fire prevention region need be planned out in advance in each storage area, four AGV safety fire prevention regions as shown in fig. 2 promptly, this region can keep certain distance with the net of the storage goods in the storage area, and is further, divide out a plurality of storage positions in safe fire prevention region, can park an AGV on every storage position. It can be understood that when a fire occurs, if the vehicle is controlled by the vehicle dispatching system to travel to the storage location of the safe fire-protection area based on the scheme of the embodiment, the vehicle damage and the further expansion of the fire can be avoided to a great extent.

On the other hand, still install fire control rolling slats door between each storage area, as shown in fig. 2, install fire control rolling slats door between storage area one and the storage area two, also install fire control rolling slats door between storage area one and the storage area four, when the conflagration takes place, fire control rolling slats door can drop gradually until closing completely, thereby realize the isolation between the storage area, simultaneously can understand, before the rolling slats door has not closed completely, if the vehicle in certain storage area is more and lead to its unable whole removal to the safe fire prevention region in current storage area, can also control wherein part of vehicle to pass through fire control rolling slats door based on the scheme of this embodiment, thereby move to the safe fire prevention region in other storage areas, this kind of mode can realize avoiding the vehicle to damage and the effect that the intensity of a fire enlarges equally.

As shown in fig. 1, the method specifically includes the following steps:

and S110, when the vehicle dispatching signal is received, determining the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched in each storage area.

The vehicles in the storage area may be automated guided vehicles AGVs for transporting or transferring goods, which are suitable for use in situations where the goods loading/unloading location is frequently changed, and may be equipped with wired/wireless communication devices, positioning devices, and electromagnetic or optical automatic navigation devices, based on which the vehicles can travel along a predetermined navigation route. It will be appreciated that in this embodiment, the AGV vehicles in the storage area are the vehicles to be dispatched.

In this embodiment, a vehicle dispatching system for controlling the movement of vehicles in each storage area may be set up in advance, and accordingly, a vehicle dispatching signal is a control signal issued by the system to each vehicle when a fire condition occurs in one or more storage areas.

In this embodiment, when a vehicle dispatching signal is received, it indicates that a fire disaster occurs in a storage area, at this time, the vehicle dispatching system needs to determine the number of AGVs in each storage area, that is, the total number of vehicles to be dispatched, at the same time, in order to control each vehicle to travel to a specific storage location in a subsequent process, the vehicle dispatching system needs to determine the position of each AGV at the current time, that is, the vehicle position of the vehicle to be dispatched. Taking fig. 2 as an example, when receiving the vehicle dispatching signal, the vehicle dispatching system needs to determine the total number of vehicles to be dispatched corresponding to the first storage area, the second storage area, the third storage area and the fourth storage area, and also needs to determine coordinate values of the AGVs, so as to determine the positions of the transportation vehicles in the storage areas where the transportation vehicles are located at the current time.

Optionally, when it is detected that the data to be monitored acquired by the at least one sensor meets a preset alarm signal, a vehicle scheduling signal is generated and sent to the vehicle scheduling system, so that when the vehicle scheduling signal is received by the vehicle scheduling system, the vehicle positions of the vehicles to be scheduled and the total number of the vehicles to be scheduled in the storage areas are determined.

The at least one sensor may be a fire sensor or a smoke alarm previously installed in the storage area, the sensors may be installed at certain intervals, and accordingly, the data to be monitored is data collected by the sensors in real time, for example, for the smoke alarm, the collected data is signals of smoke concentration and the like of a scene at the current time. It should be understood by those skilled in the art that in the practical application process, when the sensors installed in the storage areas are different, the types of the data to be monitored acquired by the device and the corresponding types of the alarm signals also differ, and the embodiment of the present disclosure is not described herein again.

Furthermore, an alarm signal can be preset for the data acquired by the sensor, and when the data acquired by the sensor is judged to meet the alarm signal, a vehicle dispatching signal is generated and sent to the vehicle dispatching system. Taking fig. 2 as an example, ten smoke sensors may be installed at intervals according to a certain distance in the first storage area, and when the concentration of any one or more of the smoke sensors collected in real time is greater than a preset concentration value, a vehicle dispatching signal may be generated and transmitted to a vehicle dispatching system.

In this embodiment, after the vehicle dispatching system receives the vehicle dispatching signal, it is necessary to control each vehicle to move to a pre-planned safe fire area in each storage area. Specifically, before issuing a corresponding control instruction to each vehicle, the vehicle dispatching system first needs to count the relevant information of the vehicles in the storage area, that is, determine the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched in each storage area, where the vehicle positions may be coordinate values of each vehicle in a two-dimensional plane coordinate system or a three-dimensional space coordinate system which is constructed in advance and corresponds to the storage area.

Continuing to take fig. 2 as an example, after the vehicle dispatching system receives the vehicle dispatching signal, it is first necessary to determine the number of vehicles in the four storage areas at the current time, for example, there are 6 AGVs in the first storage area, 16 AGVs in the second storage area 2, 8 AGVs in the third storage area 3, and no AGV in the third storage area 4, and at the same time, it is also necessary to determine the coordinate values of the 30 transport vehicles in the two-dimensional plane coordinate system corresponding to the storage area. Those skilled in the art should understand that before the transportation vehicles are put into use, corresponding identifiers may be allocated to the transportation vehicles in advance, and meanwhile, in the data storage space corresponding to the vehicle scheduling system, the determined coordinate values of the respective vehicles are also associated with the corresponding vehicle identifiers, so that the system can distinguish and control the respective vehicles conveniently, which is not described herein again.

S120, if the total number of the vehicles to be dispatched in the current storage area is smaller than or equal to a preset temporary storage threshold corresponding to the current storage area, determining a target storage position of each vehicle to be dispatched in the current storage area according to a preset first objective function and a first constraint condition, and controlling the corresponding vehicle to be dispatched to run to the target storage position.

It should be noted that, one or more storage areas may be pre-divided in the logistics storage area, and when there are a plurality of storage areas, for clarity of describing the solution of the present embodiment, a storage area is taken as an example for description, and it should be understood by those skilled in the art that in the practical application, for other storage areas, the method for scheduling vehicles may also be performed according to the vehicle scheduling method of the example storage area.

In this embodiment, the pre-planned safe fire protection area in each storage area can accommodate a certain number of vehicles, and based on this, it can be understood that, for the safe fire protection area pre-divided in each storage area, the number of vehicles that can be accommodated by the area is the preset temporary storage threshold. Taking fig. 3 as an example, there are 20 storage locations of the AGV in a certain storage area, each storage location is provided with a specific storage location identifier, based on which it can be determined that the preset temporary storage threshold of the storage area is 20, and when a fire occurs in the storage area, the above-mentioned safety fire area containing 20 storage locations can park 20 transport vehicles at most.

In this embodiment, after the vehicle dispatching system determines the number of vehicles and the positions of the vehicles in each storage area, it is further necessary to determine whether the vehicles in the storage area can be accommodated according to the preset temporary storage threshold of the current storage area, that is, determine whether the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold. Further, when the inequality is judged to be established, it is indicated that the fire safety area of the storage area can accommodate the vehicles currently in the storage area, and when the inequality is judged to be not established, it is indicated that the fire safety area of the storage area cannot accommodate the vehicles currently in the storage area. The following describes in detail the case where the above inequalities are satisfied.

In the embodiment, the time length information of each vehicle to be dispatched, which runs to each storage bit of the current storage area, is respectively determined based on a first objective function; under the condition that a first constraint condition is met, determining at least one piece of total running time length information to be selected according to each piece of time length information; and determining target total duration information according to the at least one piece of total duration information to be selected, and determining target storage positions of all vehicles to be dispatched, which correspond to the target total duration information.

The first objective function is a function for determining the time length required for the vehicle to travel to a certain storage position of the current storage area. Optionally, when the time length information of each vehicle is determined, at least one piece of travel path information may be determined for each vehicle to be scheduled according to the vehicle position of the current vehicle to be scheduled and the storage location information of each storage location; and determining the time length information of the current vehicle to be dispatched from the vehicle position to the corresponding storage position according to the at least one piece of running path information.

In particular, the first objective function may be

Wherein the content of the first and second substances,

representing the time at which a vehicle identified as i in bin j reaches bin k in the fire safety zone,

the vehicle identified as storage j and i reaches the coordinate distance, v, of storage location k in the safe fire zone _i Representing the speed of travel of the vehicle identified by i in m/s, t ₁ Representing the time required for the vehicle to turn in units of s, n _ik1 Representing the number of turns required in the coordinate system before the vehicle identified as i reaches the storage location k within the fire zone, t ₂ The vehicle marked i meets the time of waiting for other vehicles to pass in line before reaching the nearest fire-fighting rolling shutter door, and the unit is s, n _ik2 Indicating the number of vehicles identified as i waiting in line for other priority passes before reaching the bin k within the fire zone. It will thus be appreciated that the determined vehicle travel path information includes the number of turns, the number of waits, and the distance traveled from the vehicle location to the corresponding storage location, and the number of time duration information corresponds to the number of storage locations in the current storage area, for example, for a transport vehicle, if there are 4 storage locations in the fire safety zone of the current storage area, the system may determine 4 time duration information for the vehicle, where the 4 information reflect the time required for the vehicle to travel to the corresponding storage location.

In this embodiment, after the system determines the information of the time length from the vehicle to be scheduled to the storage location, in order to screen out the optimal vehicle scheduling strategy, a first constraint condition needs to be considered, that is, the number of the vehicles to be scheduled in the current storage area needs to be less than or equal to the number of the storage locations in the current storage area, and in the practical application process,the first constraint may be in the inequality N _j ≤Q _j Is shown in which N is _j Indicating the number of vehicles to be dispatched, Q, in the current reservoir _j Indicating the number of bins in the current bin.

It is understood that under the first constraint condition, there are also multiple sets of the determined information of the total running time length to be selected, for example, when the number of vehicles is 2 and the number of seats is 3, there are 6 sets of the information of the total running time length to be selected. Furthermore, after determining a plurality of pieces of information of the total running time to be selected, the information of the total running time to be selected also needs to be selected according to the objective function

And determining a group of information as the target total duration information, wherein,

indicating that the vehicle moves to a storage location k within the safe fire zone within storage j.

In this embodiment, the advantage of determining the target total duration information from the plurality of pieces of total travel duration information to be selected is that each vehicle can be moved to a corresponding storage location at the fastest speed, and the equipment damage and the expansion of the fire are avoided to the greatest extent while the response efficiency to the fire is improved.

It should be noted that, after the vehicle scheduling system determines the target total duration information, the storage location corresponding to each vehicle in the current storage area is also determined, and it can be understood that, for each vehicle, the storage location determined by the system is the target storage location and is also the end point of the moving path of each vehicle. Continuing to explain by the above example, when there are two vehicles in the storage area and three storage locations, and in the process of determining the target total duration information, it is also determined that the target storage location of the vehicle identified as 1 is storage location number 1, and the target storage location of the vehicle identified as 2 is storage location number 3.

It should be further noted that, if the vehicle to be scheduled is located corresponding to the rolling door location information, the storage area to which the vehicle to be scheduled belongs and the target storage location in the storage area are determined according to the total number of the vehicles to be scheduled in the two storage areas associated with the rolling door location information. The process can be understood as that, when a fire disaster occurs in the logistics storage area, a situation may occur that the rolling door cannot be completely closed due to the fact that the vehicle is under the fire-fighting rolling door, that is, the position of the vehicle to be dispatched corresponds to the position of the fire-fighting rolling door, at this time, the vehicle dispatching system needs to determine two storage areas corresponding to the fire-fighting rolling door, and further determine the total number of the vehicles to be dispatched in the two storage areas, so as to determine which storage area the vehicle under the fire-fighting rolling door needs to be dispatched to the storage position. Continuing to use fig. 2 as an example, when a fire occurs, one transport vehicle is located under the fire-fighting rolling door between the first storage area and the second storage area, and meanwhile, the number of the vehicles to be dispatched in the first storage area is determined to be 6, and the number of the vehicles to be dispatched in the second storage area is 0.

Preferably, in practical application, the method for scheduling a vehicle according to the embodiment of the present disclosure may be performed based on the flowchart shown in fig. 4, which is described below with reference to fig. 4.

Referring to fig. 4, a plurality of temperature and humidity sensors, smoke sensors, and other devices may be pre-arranged in the logistics storage area, and when one or more of the devices detect a fire signal, the System may send the acquired signal to a Warehouse Control System (WCS) System, and further, after receiving the fire signal, the WCS may automatically trigger a fire safety scheduling System, that is, the vehicle scheduling System in the above description, and acquire the number of vehicles and the positions of the vehicles in each storage area.

With reference to fig. 4, after the fire safety dispatching system obtains the number and the positions of the vehicles in each storage area, the number of the vehicles that can move from the current storage area to the adjacent storage area (i.e., the associated storage area) can be calculated according to the function in the above description, and further, whether the number of the storage locations of the fire safety sub-areas of each storage area meets the condition of parking the vehicles in the area is determined, and if it is determined that a certain storage area cannot meet the condition, the vehicle distribution of each storage area is matched based on the fire safety dispatching system, so as to determine the vehicles to be dispatched that need to move across the storage areas. And if the condition is met in a certain storage area, matching the vehicles in the storage area with the storage positions of the fire safety subareas based on a fire safety dispatching system.

Continuing to refer to fig. 4, after the vehicles in the storage area are successfully matched with the storage positions in the fire safety sub-area, the fire safety scheduling system further needs to determine whether any vehicle is located below the fire shutter door based on the current position of the vehicle and the positions of the fire shutter doors, and when it is determined that any vehicle is located below the fire shutter door, further needs to determine which storage area the vehicle can move into according to preset temporary storage thresholds of two storage positions corresponding to the fire shutter door, and match a corresponding storage position for the vehicle in the storage area; when it is determined that no vehicle is located below the roller shutter door, the fire safety dispatching system can control all vehicles to move to the corresponding storage positions, and after it is determined that all vehicles reach the corresponding storage positions, a power-off command can be issued to the vehicles, so that equipment damage and further expansion of fire are avoided.

According to the technical scheme, when the vehicle dispatching signal is received, the vehicle position and the total number of the vehicles to be dispatched in each storage area are determined, further, if the total number of the vehicles to be dispatched in the current storage area is smaller than or equal to a preset temporary storage threshold corresponding to the current storage area, the target storage position of each vehicle to be dispatched in the current storage area is determined according to a preset first target function and a preset first constraint condition, the corresponding vehicle to be dispatched is controlled to run to the target storage position, automatic dispatching of the vehicles in the warehousing production environment is achieved when an emergency (such as a fire disaster) occurs, therefore, each vehicle is controlled to run to a relatively safe area, equipment such as a transport vehicle is protected, the fire disaster range is prevented from being further expanded, and the safety of the warehousing production environment is improved.

Fig. 5 is a flowchart illustrating a method for dispatching vehicles according to an embodiment of the present invention, where based on the foregoing embodiment, when the total number of vehicles to be dispatched in the current storage area is greater than a preset temporary storage threshold, vehicles exceeding the preset temporary storage threshold in the current storage area may be dispatched to the associated storage area, so as to avoid a situation that the current storage area has a limited reserve and cannot be allocated to a large number of AGVs. The specific implementation manner of the method can be seen in the technical scheme of the embodiment. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.

As shown in fig. 5, the method specifically includes the following steps:

s210, when the vehicle dispatching signal is received, determining the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched in each storage area.

S220, if the total number of vehicles to be dispatched in the current storage area is larger than a preset temporary storage threshold value, determining at least two associated storage areas associated with the current storage area and target dispatching vehicles dispatched to the at least two associated storage areas; and controlling the target dispatching vehicle to travel from the current storage area to the corresponding related storage area.

The related storage area can be a storage area adjacent to the current storage area, the number of the related storage areas can be one or more, meanwhile, a fire-fighting rolling door is installed between the current storage area and the related storage area, and when the fire-fighting rolling door is not closed, the vehicle can move into the related storage area from the current storage area. Taking fig. 6 as an example, the associated storage areas of the first storage area are the second storage area and the fourth storage area, and based on this, when the fire-fighting rolling door of the first storage area is not closed, the vehicle in the first storage area can move to the second storage area or the fourth storage area.

In this embodiment, if the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold, N is _j >Q _j The indication system then determines not only the associated storage area of the current storage area, but also which of these vehicles, which are to be moved into the associated storage areaThe vehicle is the target dispatch vehicle. Optionally, according to the regional position information of the current storage area, determining at least two associated storage areas associated with the current storage area, and the rolling door position information and the preset temporary storage threshold value of each associated storage area; determining scheduled vehicles to pass through corresponding rolling doors and a first scheduling number according to the vehicle positions of the vehicles to be scheduled in the current storage area, the rolling door position information and preset closing time corresponding to the rolling doors; and determining target dispatching vehicles dispatched to at least two associated storage areas from the dispatching vehicles to be passed according to the total number of the vehicles to be dispatched in each associated storage area, a preset temporary storage threshold value and the first dispatching number.

Taking fig. 2 as an example, if the current storage area is storage area one and the number of vehicles 16 in storage area one is greater than the preset temporary storage threshold 10, the system needs to determine that storage area two and storage area four are adjacent to storage area one based on the corresponding positions of storage area one, storage area two, storage area three and storage area four, and the two storage areas are associated storage areas of storage area one. Meanwhile, the position of the fire-fighting rolling door between the first storage area and the second storage area and the position of the fire-fighting rolling door between the first storage area and the fourth storage area can be determined from the system, the preset temporary storage threshold value of the second storage area is 10, and the preset temporary storage threshold value of the fourth storage area is 10. After the vehicle dispatching system determines the information, the vehicles to be dispatched and the first dispatching quantity can be determined according to the positions of the vehicles to be dispatched, the positions of the rolling doors and the closing time length of the rolling doors, and the process is explained below.

Optionally, for each vehicle to be scheduled, determining the time required for passing through the corresponding rolling door according to the vehicle position of the current vehicle to be scheduled and the rolling door position information of at least two associated storage areas; if the waiting time is shorter than the preset closing time of the corresponding rolling door, determining that the current vehicle to be dispatched is the vehicle to be dispatched for passing; and binding the scheduled vehicles to be passed with the corresponding rolling doors, and accumulating the number of the vehicles to be passed corresponding to the rolling doors so as to update the first scheduling number corresponding to the rolling doors.

In this embodiment, the waiting time is the time required for the vehicle in the current storage area to move to the other side of the rolling door. In the process of determining the time required for passing through the corresponding rolling door, specifically, the passing parameters corresponding to each rolling door can be determined according to the vehicle position of the current vehicle to be dispatched and the position information of each rolling door; and determining the waiting time of the current vehicle to be scheduled to pass through the corresponding rolling doors according to the first distance information, the vehicle running speed, the first turning times, the time required for turning, the first queuing times and the time required for queuing.

The passing parameters comprise first distance information, first turning times and first queuing times. Specifically, the first distance information is the coordinate distance between the vehicle and the fire-fighting rolling door, the first turning times are the times of turning required in the process that the vehicle passes through the fire-fighting rolling door, and the first queuing times are the number of vehicles needing to wait for other vehicles to pass through preferentially before passing through the fire-fighting rolling door. Based on this, the function of calculating the latency time may be

Wherein the content of the first and second substances,

represents the coordinate distance, v, of a fire protection shutter door within bin j for a vehicle identified as i to reach either the associated bin (j +1) or the associated bin (j-1) _i Still representing the speed of travel of the vehicle identified as i in units of m/s, t ₁ Still representing the time required for the vehicle to turn in units of s, n _i1 Indicating the number of turns, t, required in the course of the vehicle identified as i heading for the nearest fire protection shutter door ₂ Still representing the time in s, n for a vehicle identified as i to wait for other vehicles to pass before reaching the nearest fire rolling shutter door _i2 The number of vehicles which are marked as i and wait for other vehicles to pass through preferentially when reaching the nearest fire-fighting rolling door is represented.

Continuing with the example of fig. 2, if the current storage area is storage area one, and there are 16 transport vehicles currently in the storage area, which are greater than the preset temporary storage threshold value 10 of storage area one, that is, there are 6 transport vehicles to be scheduled, at this time, the system can determine the position information of the 6 vehicles to be scheduled, and determine which fire-fighting rolling door the 6 vehicles are closest to by combining the fire-fighting rolling door position between storage area one and storage area two, and the fire-fighting rolling door position between storage area one and storage area four. Further, taking one of 6 transport vehicles as an example, the coordinate distance between the vehicle and the nearest fire-fighting rolling door, the running speed of the vehicle, the number of times that the vehicle needs to turn during passing through the fire-fighting rolling door, the time required for turning, the time that the vehicle waits for other vehicles to pass in line before reaching the nearest fire-fighting rolling door, and the number of vehicles waiting for other vehicles to pass in line are substituted into the function for calculating the time required to be required, so that the time required for the vehicle to pass through the fire-fighting rolling door can be calculated, and similarly, the corresponding time required to be required can also be calculated by the other five transport vehicles in the same manner, and the embodiment of the disclosure is not repeated herein.

In this embodiment, after determining that it is long to wait to need, compare long through long with the length of time that the shutter door was closed, can determine the dispatch vehicle of waiting to pass, continue to use fig. 2 as an example, when determining that it is long to wait to need of a certain transport vechicle that needs the dispatch to storage area two in storage area one, need compare this value and the fire control rolling slats door between storage area one and storage area two from beginning to fall to the length of time that closes completely, when the length of time that fire control rolling slats door is closed completely is 15 seconds, can determine that this vehicle can move before the rolling slats door is closed in storage area two, this vehicle is the dispatch vehicle of waiting to pass. It can be understood that if the duration of the complete closing of the fire-fighting rolling door is 8 seconds, it may be determined that the vehicle cannot move into the second storage area before the rolling door is closed, and the vehicle cannot serve as a scheduled vehicle to be passed for the second storage area, and it needs to be determined whether the vehicle can serve as a scheduled vehicle to be passed for the fourth storage area according to the manner of this embodiment.

In this embodiment, if there are a plurality of fire-fighting rolling doors in the current storage area, for the fire-fighting rolling doors between any associated storage area and the current storage area, the number of vehicles passing through the rolling doors needs to be accumulated and updated in the process of determining the vehicles to be scheduled to pass, and after the determination of whether the total vehicles to be scheduled in the current storage area are the vehicles to be scheduled to pass is completed, the accumulated value corresponding to the fire-fighting rolling doors in each associated storage area and the current storage area is the first scheduling number. Continuing with the above example, when the first storage area serves as the current storage area and the total number of vehicles to be scheduled is 6, and when it is sequentially determined that 4 vehicles of the first storage area need to be scheduled to the second storage area and 2 vehicles need to be scheduled to the fourth storage area, the first scheduling number for the fire-fighting rolling doors between the first storage area and the second storage area is 4, and the first scheduling number for the fire-fighting rolling doors between the first storage area and the fourth storage area is 2.

Optionally, after the first scheduling number is determined, target scheduling vehicles scheduled to at least two associated storage areas may be determined from the scheduling vehicles to be passed according to the total number of the vehicles to be scheduled in each associated storage area, the preset temporary storage threshold value, and the first scheduling number.

Specifically, determining a target scheduling quantity scheduled from the current storage area to each associated storage area according to the total scheduling vehicle quantity of each associated storage area, the corresponding first scheduling quantity and a preset temporary storage threshold value; and determining the vehicles to be passed corresponding to the target dispatching quantity from the dispatching vehicles to be passed bound with each roller shutter door as target dispatching vehicles. For example, with N _j Indicating the number of vehicles in the current reservoir,

represents the number of vehicles that need to move to the reservoir (j-1), i.e. the target dispatch vehicle for reservoir (j-1),

indicating the number of vehicles that need to move to the reservoir (j +1), i.e. the target dispatch vehicle for reservoir (j +1), based on which when N _j >Q _j In time, vehicles exceeding the preset temporary storage threshold number corresponding to the current storage area need to be dispatched to the associated storage area. Meanwhile, in the process of determining the target dispatching vehicle, the following constraint conditions are also required to be met:

wherein the first constraintThe condition indicates that for the adjacent reservoir (j-1) the number of vehicles moving across the reservoir to the zone within time t cannot exceed the total number of safe fire zone slots for the zone, and correspondingly, the second constraint indicates that for the adjacent reservoir (j +1) the number of vehicles moving across the reservoir to the zone within time t likewise cannot exceed the total number of safe fire zone slots for the zone. As will be appreciated by those skilled in the art, in practice, even if there are sufficient bays in the secured area of the associated bay, when one or more AGVs have been identified as pending dispatch vehicles in the current bay, and N is _j The number of these vehicles is subtracted to satisfy N _j ＝Q _j In time, other vehicles to be scheduled to pass in other storage areas do not need to be determined continuously.

And S230, when the total number of the vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold value, determining a target storage position of each vehicle to be dispatched in the current storage area according to the first target function and the first constraint condition.

In this embodiment, when the total number of vehicles to be scheduled in the current storage area is less than or equal to the preset temporary storage threshold, the AGVs in the storage areas may be controlled to travel to the corresponding storage locations by the vehicle scheduling system in the vehicle scheduling manner described in the above embodiment, which is not described in detail herein.

The technical scheme of this embodiment, when the total vehicle quantity of waiting to dispatch in current reservoir is greater than the preset threshold value of keeping in, can be with surpassing the vehicle scheduling of the preset threshold value of keeping in of current reservoir to the relevant reservoir in, that is to say, according to corresponding objective function and constraint condition, determine the target storage bit for these transport vechicles in the relevant reservoir, and control vehicle and travel to the target storage bit, thereby avoided the limited and unable circumstances of distributing to a large amount of AGV of reservoir in current reservoir, protected equipment such as transport vechicles, avoided the conflagration scope further to expand, promote the technical effect of storage production environmental security.

Fig. 7 is a block diagram of a device for dispatching vehicles according to an embodiment of the present invention, which is capable of executing a method for dispatching vehicles according to any embodiment of the present invention, and includes functional modules corresponding to the executing method and beneficial effects. As shown in fig. 7, the apparatus specifically includes: a vehicle to be dispatched determination module 310 and a vehicle to be dispatched control module 320.

And the vehicle to be dispatched determining module 310 is used for determining the vehicle positions of the vehicles to be dispatched and the total number of the vehicles to be dispatched in each storage area when the vehicle dispatching signal is received.

The to-be-dispatched vehicle control module 320 is used for determining a target storage position of each to-be-dispatched vehicle in the current storage area according to a preset first objective function and a first constraint condition and controlling the corresponding to-be-dispatched vehicle to run to the target storage position if the total number of the to-be-dispatched vehicles in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area; the first objective function is determined according to the position of the vehicle, the storage position information of the storage positions and the storage position information of the vehicle to be dispatched, wherein the vehicle to be dispatched runs from the position of the vehicle to the corresponding storage positions, and the first constraint condition comprises that each storage position stores one vehicle to be dispatched.

On the basis of the technical solutions, the device for dispatching the vehicles further comprises a dispatching signal generation module.

And the scheduling signal generating module is used for generating the vehicle scheduling signal and sending the vehicle scheduling signal to a vehicle scheduling system when detecting that the data to be monitored, which is acquired by at least one sensor, meets a preset alarm signal, so that the vehicle scheduling system determines the vehicle positions of the vehicles to be scheduled and the total number of the vehicles to be scheduled, which are located in each storage area, when receiving the vehicle scheduling signal.

On the basis of the above technical solutions, the to-be-scheduled vehicle control module 320 includes a duration information determining unit, to-be-selected total driving duration information, and a target total duration information determining unit.

And the duration information determining unit is used for respectively determining duration information of each vehicle to be scheduled running to each storage bit of the current storage area based on the first objective function.

And the information of the total running time length to be selected is used for determining at least one piece of information of the total running time length to be selected according to each piece of time length information under the condition of meeting the first constraint condition.

And the target total duration information determining unit is used for determining target total duration information according to at least one piece of total duration information to be selected and determining target storage bits of all vehicles to be dispatched, which correspond to the target total duration information.

Optionally, the duration information determining unit is further configured to determine, for each vehicle to be scheduled, at least one piece of travel path information according to the vehicle position of the current vehicle to be scheduled and the storage location information of each storage location; the driving path information comprises turning times, waiting times and distance information from the vehicle position to the corresponding storage position; determining time length information of the current vehicle to be scheduled, which travels from the vehicle position to the corresponding storage position, according to the at least one travel path information; and the number of the duration information is consistent with the number of the storage bits in the current storage area.

On the basis of the technical solutions, the device for dispatching the vehicles further comprises an associated storage area determining module and a target storage position determining module.

And the associated storage area determining module is used for determining at least two associated storage areas associated with the current storage area and target dispatching vehicles dispatched to the at least two associated storage areas if the total number of the vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold.

And the target storage location determining module is used for controlling the target dispatching vehicles to travel from the current storage area to the corresponding associated storage area so as to determine the target storage location of each vehicle to be dispatched in the current storage area according to the first target function and the first constraint condition when the total number of the vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold value.

On the basis of the technical scheme, the associated storage area determining module comprises an associated storage area determining unit, a dispatching vehicle determining unit and a target dispatching vehicle determining unit.

And the associated storage area determining unit is used for determining at least two associated storage areas associated with the current storage area, the rolling door position information of each associated storage area and a preset temporary storage threshold according to the area position information of the current storage area.

And the scheduling vehicle determining unit is used for determining the scheduling vehicles to pass through the corresponding rolling doors and the first scheduling quantity according to the vehicle positions of the vehicles to be scheduled in the current storage area, the rolling door position information and the preset closing time corresponding to the rolling doors.

And the target dispatching vehicle determining unit is used for determining target dispatching vehicles dispatched to the at least two associated storage areas from the dispatching vehicles to be passed according to the total number of the vehicles to be dispatched, the preset temporary storage threshold and the first dispatching number of the associated storage areas.

Optionally, the scheduled vehicle determining unit is further configured to determine, for each vehicle to be scheduled, a time length to be required for passing through a corresponding rolling door according to the vehicle position of the current vehicle to be scheduled and the rolling door position information of the at least two associated storage areas; if the waiting time is shorter than the preset closing time of the corresponding rolling door, determining that the current vehicle to be scheduled is the vehicle to be scheduled for passing; and binding the dispatching vehicles to be passed with the corresponding rolling doors, and accumulating the number of the passing vehicles corresponding to the rolling doors to update the first dispatching number corresponding to the rolling doors.

Optionally, the scheduled vehicle determining unit is further configured to determine a passing parameter corresponding to each rolling door according to the vehicle position of the current vehicle to be scheduled and the position information of each rolling door; the passing parameters comprise first distance information, first turning times and first queuing times; and determining the waiting time of the current vehicle to be scheduled for passing through the corresponding rolling doors according to the first distance information, the vehicle running speed, the first turning times, the time required for turning, the first queuing times and the time required for queuing.

Optionally, the target scheduling vehicle determining unit is further configured to determine the target scheduling number scheduled from the current storage area to each associated storage area according to the total scheduling vehicle number of each associated storage area, the corresponding first scheduling number, and a preset temporary storage threshold; and determining the vehicles to be passed corresponding to the target dispatching quantity from the dispatching vehicles to be passed bound with each roller shutter door to serve as the target dispatching vehicles.

On the basis of the technical schemes, the device for dispatching the vehicles further comprises a storage area determining module to which the vehicles to be dispatched belong.

And the storage area determining module is used for determining the storage area to which the vehicle to be dispatched belongs and the target storage position in the storage area according to the total number of the vehicles to be dispatched of the two storage areas associated with the position information of the rolling door if the vehicle to be dispatched is positioned corresponding to the position information of the rolling door.

According to the technical scheme provided by the embodiment, when a vehicle dispatching signal is received, the vehicle position and the total number of the vehicles to be dispatched in each storage area are determined, further, if the total number of the vehicles to be dispatched in the current storage area is smaller than or equal to a preset temporary storage threshold corresponding to the current storage area, the target storage position of each vehicle to be dispatched in the current storage area is determined according to a preset first target function and a preset first constraint condition, and the corresponding vehicle to be dispatched is controlled to run to the target storage position, so that automatic dispatching of the vehicles in the warehousing production environment is realized when an emergency (such as a fire disaster) occurs, and therefore each vehicle is controlled to run to a relatively safe area, equipment such as a transport vehicle is protected, the fire disaster range is prevented from being further expanded, and the safety of the warehousing production environment is improved.

The vehicle dispatching device provided by the embodiment of the invention can execute the vehicle dispatching method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

It should be noted that, the units and modules included in the apparatus are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.

Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device 40 suitable for use in implementing embodiments of the present invention. The electronic device 40 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.

As shown in fig. 8, electronic device 40 is embodied in the form of a general purpose computing device. The components of electronic device 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 that couples the various system components (including the system memory 402 and the processing unit 401).

Bus 403 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 40 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 40 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)404 and/or cache memory 405. The electronic device 40 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 403 by one or more data media interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.

The electronic device 40 may also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), with one or more devices that enable a user to interact with the electronic device 40, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 40 to communicate with one or more other computing devices. Such communication may be through input/output (I/O) interface 411. Also, the electronic device 40 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 412. As shown, the network adapter 412 communicates with the other modules of the electronic device 40 over the bus 403. It should be appreciated that although not shown in FIG. 8, other hardware and/or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 401 executes various functional applications and data processing by executing programs stored in the system memory 402, for example, to implement the method for scheduling a vehicle provided by the embodiment of the present invention.

Embodiments of the present invention also provide a storage medium containing computer-executable instructions that, when executed by a computer processor, perform a method of dispatching a vehicle.

The method comprises the following steps:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable item code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

The item code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer project code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The project code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method of dispatching a vehicle, comprising:

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein the determining a target storage location of each vehicle to be scheduled in the current storage area according to a preset first objective function and a first constraint condition, and controlling the corresponding vehicle to be scheduled to travel to the target storage location comprises:

4. The method according to claim 3, wherein the determining the time length information of each vehicle to be dispatched to each storage location of the current storage area based on the first objective function respectively comprises:

5. The method of claim 1, further comprising:

6. The method of claim 5, wherein the determining at least two associated bins with which the current bin is associated and a target dispatch vehicle dispatched to the at least two associated bins comprises:

determining vehicles to be scheduled to pass through corresponding rolling doors and a first scheduling number according to the vehicle positions of the vehicles to be scheduled in the current storage area, the rolling door position information and preset closing time corresponding to the rolling doors;

7. The method of claim 6, wherein the determining scheduled vehicles to pass through the corresponding rolling doors and the first scheduled number according to the vehicle positions of the vehicles to be scheduled in the current storage area, the rolling door position information and the preset closing time duration corresponding to the rolling doors comprises:

aiming at each vehicle to be dispatched, determining the waiting time for passing through the corresponding rolling doors according to the vehicle position of the current vehicle to be dispatched and the rolling door position information of at least two associated storage areas;

8. The method of claim 7, wherein determining the wait time for a respective tambour door to pass based on the vehicle location of the vehicle currently to be dispatched and the tambour door location information for the at least two associated bins comprises:

9. The method according to claim 6, wherein the determining a target dispatching vehicle dispatched to the at least two associated storage areas from the dispatching vehicles to be passed according to the total number of vehicles to be dispatched of each associated storage area, a preset temporary storage threshold value and a first dispatching number comprises:

10. The method of claim 1, further comprising:

11. An apparatus for dispatching vehicles, comprising:

12. An electronic device, characterized in that the electronic device comprises:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of dispatching a vehicle of any of claims 1-10.

13. A storage medium containing computer executable instructions for performing the method of dispatching a vehicle of any of claims 1-10 when executed by a computer processor.