CN114955867A

CN114955867A - Crane scheduling method and device, system, electronic equipment and computer readable medium

Info

Publication number: CN114955867A
Application number: CN202210417870.3A
Authority: CN
Inventors: 周英敏
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-04-20
Filing date: 2022-04-20
Publication date: 2022-08-30

Abstract

The disclosure provides a crane scheduling method and device, and relates to the technical fields of logistics transportation, big data and the like. The specific implementation scheme is as follows: acquiring the state of a transport device, the cargo information of an initial area and the cargo information of a cache area; detecting whether goods exist in the initial area or not based on the goods information of the initial area in response to the situation that the transportation device is not ready to finish; responding to the fact that no goods exist in the initial area, detecting whether first-class goods in the cache area are located below second-class goods or not based on goods information of the cache area, wherein the first-class goods are the goods with the goods taking residual time reaching the transportation time period of the goods, and the second-class goods are the goods with the goods taking residual time not reaching the transportation time period of the goods; and controlling the crane to adjust the position of the goods in the buffer area according to a preset turning rule in response to the first kind of goods in the buffer area being positioned below the second kind of goods. This embodiment improves the timeliness of the cargo stacking process.

Description

Crane scheduling method and device, system, electronic equipment and computer readable medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to the field of logistics transportation, big data, and the like, and in particular, to a method and an apparatus for crane scheduling, a system, an electronic device, a computer-readable medium, and a computer program product.

Background

In the container shipping industry, millions of containers need to be stacked every year, the stacking problem is the core problem of the container shipping industry, and the container stacking problem is increased by unreasonably dispatching cranes to fetch the containers.

In the steel industry, the raw materials such as steel billets, blooms and steel coils need to be stacked efficiently, and if an unreasonable crane is dispatched to fetch the raw materials in the steel industry, the final production quality of products can be affected.

Disclosure of Invention

A crane scheduling method and apparatus, a system, an electronic device, a computer readable medium, and a computer program product are provided.

According to a first aspect, there is provided a crane scheduling method, the method comprising: acquiring the state of a transportation device, the cargo information of an initial area and the cargo information of a cache area, wherein the cargo information comprises: the goods position and the goods taking remaining time; detecting whether goods exist in the initial area or not based on the goods information of the initial area in response to the situation that the transportation device is not ready to finish; responding to the fact that no goods exist in the initial area, detecting whether first-class goods in the cache area are located below second-class goods or not based on goods information of the cache area, wherein the first-class goods are the goods with the goods taking residual time reaching the transportation time period of the goods, and the second-class goods are the goods with the goods taking residual time not reaching the transportation time period of the goods; and controlling the crane to adjust the position of the goods in the buffer area according to a preset turning rule in response to the first kind of goods in the buffer area being positioned below the second kind of goods.

According to a second aspect, there is also provided a crane dispatching apparatus comprising: the first acquisition unit is configured to acquire the state of the transportation device, the cargo information of an initial area and the cargo information of a buffer area, wherein the cargo information comprises: the goods position and the goods taking remaining time; an initial detection unit configured to detect whether the initial region has goods based on the goods information of the initial region in response to the state of the transportation device being not ready for completion; the cache detection unit is configured to respond to no goods in the initial area, and detect whether the first kind of goods in the cache area are located below the second kind of goods based on the goods information in the cache area, wherein the first kind of goods are the goods with the goods taking residual time reaching the transportation time period of the goods, and the second kind of goods are the goods with the goods taking residual time not reaching the transportation time period of the goods; and the box turning unit is configured to respond to the first type of goods in the buffer area being positioned below the second type of goods, and control the crane to adjust the position of the goods in the buffer area according to a preset box turning rule.

According to a third aspect, there is provided a crane dispatching system comprising: a goods yard; the initial region is located the goods field for receiving and storing the goods of input goods field, has the locating device on each goods, and the locating device is used for gathering the goods information of goods, and the goods information includes: the goods position and the goods taking remaining time; the buffer area is positioned in the goods yard and used for receiving and storing the goods output by the initial area; a transport device for transporting goods out of the yard; and the control device is respectively connected with the transportation device and the positioning equipment and used for driving a crane of a goods yard according to the state of the transportation device, the goods information of the initial area and the goods information of the cache area, so that when the crane is not ready to finish in the state of the transportation device and has no goods in the initial area, and the first kind of goods in the cache area are positioned under the second kind of goods, the position of the goods in the cache area is adjusted according to a preset turning rule, the first kind of goods are the goods with the goods taking residual time reaching the transportation time interval of the goods, and the second kind of goods are the goods with the goods taking residual time not reaching the transportation time interval of the goods.

According to a fourth aspect, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method as described in any one of the implementations of the first aspect.

According to a fifth aspect, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method as described in any one of the implementations of the first aspect.

According to a sixth aspect, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method as described in any of the implementations of the first aspect.

The crane scheduling method and device provided by the embodiment of the disclosure firstly obtain the state of a transportation device, the cargo information of an initial area and the cargo information of a cache area, wherein the cargo information comprises: the goods position and the goods taking remaining time; secondly, in response to the situation that the transportation device is not ready to finish, detecting whether goods exist in the initial region or not based on the goods information in the initial region; thirdly, responding to the fact that no goods exist in the initial area, and detecting whether the first kind of goods in the cache area are located below the second kind of goods based on goods information of the cache area, wherein the first kind of goods are the goods with the goods taking residual time reaching the transportation time period of the goods, and the second kind of goods are the goods with the goods taking residual time not reaching the transportation time period of the goods; and finally, responding to the first type of goods in the cache region below the second type of goods, and controlling the crane to adjust the positions of the goods in the cache region according to a preset turning rule. Therefore, when the transportation device is not prepared and the buffer area has no goods, the crane adjusts the goods in the buffer area according to the preset turning rule, the first kind of goods positioned below the second kind of goods can be turned over to the second kind of goods, the first kind of goods can be conveniently and quickly transported to a proper place, and the timeliness of goods transportation is improved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart diagram of one embodiment of a crane scheduling method according to the present disclosure;

FIG. 2 is a flow chart of another embodiment of a crane dispatching method according to the present disclosure;

FIG. 3 is a schematic illustration of a crane retrieving cargo in different sub-areas of a cache area in an embodiment of the present disclosure;

FIG. 4 is a schematic block diagram of one embodiment of a crane dispatch device according to the present disclosure;

FIG. 5 is a schematic structural diagram of one embodiment of a crane dispatching system according to the present disclosure;

fig. 6 is a block diagram of an electronic device for implementing a crane scheduling method according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

FIG. 1 illustrates a process 100 according to one embodiment of a crane dispatching method of the present disclosure, the crane dispatching method comprising the steps of:

step 101, obtaining the state of a transportation device, the cargo information of an initial area and the cargo information of a cache area.

In this embodiment, the goods may be different types of articles in a goods yard, such as containers, steel production raw materials, and the like, and the goods information includes: the goods information can be the information of the goods in the initial area or the information of the goods in the buffer area. The goods position in the goods information has an area identifier corresponding to the initial region or the buffer region, a position identifier of the initial region or the buffer region, and a goods identifier, wherein the goods identifier may be a unique code for distinguishing the goods. The cargo information in the initial area and the buffer area in the cargo yard can be collected in real time through image collecting equipment (such as a camera) and time recording equipment (a timer) which are arranged in the cargo yard.

In this embodiment, the remaining picking time of the goods is counted down after the goods enter the goods yard, and based on the characteristics of the goods, the time point when the picking time of each goods starts counting down and the duration of the picking time may be different, for example, some goods start counting down after entering the goods yard for a set time, while other goods directly count down after entering the goods yard for the picking time, the remaining picking time of each goods decreases with the passage of time, and when the remaining picking time of each goods reaches the transportation period of the goods (each goods has a requirement for maximum time and minimum time that can be transported, and the time period from the minimum time to the maximum time is the transportation period), the goods need to be picked up in the transportation period.

In this embodiment, the goods yard is a goods yard storage place, the initial region and the buffer region are both regions in the goods yard, the initial region is a first temporary goods storage region after goods enter the goods yard, and the buffer region is a goods storage region adjacent to the initial region. The buffer area may comprise at least one sub-area, and the capacity of each sub-area may be adaptively set based on cargo buffering requirements.

A crane is a device that can be operated in or removed from the initial and buffer regions, and by means of which the crane can take up or adjust the goods in the initial and buffer regions.

In this embodiment, the state of the transportation device is used to reflect whether the transportation device can be loaded with goods, and when the state of the transportation device is ready to be completed, the transportation device can be loaded with goods, and the goods in the initial area or the buffer area can be placed on the transportation device by the crane. Accordingly, when the state of the transportation device is not ready to be completed, it indicates that the transportation device is not within the cargo yard range, and the cargo in the initial area or the buffer area cannot be placed on the transportation device. It should be noted that the transporter includes a controller for controlling the operation of the transporter, and the execution body on which the crane scheduling method is executed may determine the state of the transporter by communicating with the controller of the transporter.

In this embodiment, the state of the crane is used to reflect whether the crane can be engaged with the transportation means, and when the state of the crane is not ready to be completed, the crane cannot be operated to the area where the transportation means is located, but the crane can be operated in the areas where the initial area and the buffer area are located, and also can transfer goods in the initial area to the buffer area. When the state of the crane is ready for completion, the crane may be operated to the area where the transportation means is located, the goods in the initial area and the buffer area may be transferred to the transportation means, and the goods in the initial area may also be transferred to the buffer area.

And 102, responding to the state of the transportation device that the transportation device is not ready to finish, and detecting whether goods exist in the initial area or not based on the goods information in the initial area.

In this embodiment, the cargo information in the initial region includes: goods identification, goods position and goods taking remaining time; when no goods exist in the initial area, the goods information in the initial area is null; when goods exist in the initial area, the goods information in the initial area comprises the identification of each goods in the initial area, the position of each goods and the goods taking remaining time of each goods.

Optionally, the cargo information of the initial region may further include: an initial area identifier for identifying a specific location of the cargo at the initial area.

In this embodiment, when the state of the transportation device is not ready, the transportation device cannot move to the area where the initial area and the buffer area are located, and at this time, the cargo in the cargo yard cannot be transported out of the cargo yard regardless of the state of the crane.

And 103, responding to the initial area without goods, and detecting whether the first kind of goods in the buffer area is positioned under the second kind of goods based on the goods information in the buffer area.

The first type of goods is goods of which the goods taking residual time reaches the transportation time interval of the goods, and the second type of goods is goods of which the goods taking residual time does not reach the transportation time interval of the goods.

In this embodiment, when there is no cargo in the initial region, the cargo in the buffer region can be retrieved by the crane, and since the state of the transportation device is not ready at this time, the crane can only adjust the cargo inside the buffer region.

In this embodiment, the cargo information in the cache area includes: goods identification, goods position and goods taking remaining time; when no goods exist in the cache region, the goods information of the cache region is empty; when goods exist in the cache region, the goods information of the cache region comprises the identification of each goods in the cache region, the position of each goods and the goods taking remaining time of each goods. Optionally, the cargo location of the cache region may further include a sub-region identifier of the cache region, and which sub-region of the cache region the cargo is in may be determined by the sub-region identifier.

Optionally, the cargo information of the cache region may further include: and the cache region identification is used for identifying the specific position of the goods in the cache region.

In this embodiment, based on the remaining time of picking up goods of each goods in the goods information and the transportation time period prestored in each goods, it can be determined whether each goods is the first kind of goods or the second kind of goods. The above-mentioned goods information based on buffer, whether the first kind goods in the detection buffer is located under the second kind goods includes: determining whether goods exist in the cache region or not based on the goods information of the cache region; and if the goods exist, detecting whether the first class goods and the second class goods exist in the cache region based on the remaining time of the goods taking, and if the first class goods and the second class goods exist, detecting whether the first class goods are positioned below the second class goods.

In this embodiment, the first type of cargo is located below the second type of cargo, and the first type of cargo may be directly opposite to the second type of cargo and all stacked below the second type of cargo; the first type of goods can be obliquely opposite to the second type of goods, and the first type of goods and the second type of goods are partially stacked under the second type of goods; it is also possible that a plurality of goods of the first type are stacked at intervals or consecutively under goods of the second type.

And 104, responding to the first type of goods in the cache region below the second type of goods, and controlling the crane to adjust the positions of the goods in the cache region according to a preset turning rule.

In this embodiment, the first type of goods is the goods which are required to be taken as soon as possible and are close to the minimum transportation time when the goods taking countdown is performed, and therefore the first type of goods below the second type of goods are no longer in the stacked state by the second type of goods by setting the box turning rule, so that all the first type of goods in the buffer area can be located at the position which can be reached by the crane at any time.

Due to continuous digitization of the industrial production process, the problem of optimizing stacking in a highly dynamic environment is feasible due to the instant availability of data, and the crane scheduling method provided by the application can solve the problem of unknown and random information of dynamic change.

In this embodiment, the box turning rule is a rule for adjusting the position of the first type of goods in the cache area, and based on the current goods storage state in the cache area and the goods placement state in each sub-area in the cache area, all the first type of goods located under the second type of goods are turned over onto the second type of goods, or the first type of goods located under the second type of goods are adjusted to a state where they are not stacked by the second type of goods, or a part of the first type of goods is located above the second type of goods and a part of the first type of goods is located at a position where a crane can take.

In this embodiment, the box flipping rule includes: detecting whether a sub-area with empty goods exists in the cache area or not based on the goods information of the cache area, and controlling the crane to move the second goods on the first goods to the sub-area with the empty goods in response to the fact that the cache area has the sub-area with the empty goods, so that the first goods are exposed, and the crane can call the first goods at any time; responding to the situation that no goods in the buffer area are empty, and detecting whether the buffer area has a sub-area which only accommodates the second kind of goods; and in response to the buffer area having a sub-area accommodating only the second type of goods, controlling the crane to move the second type of goods on the first type of goods to the sub-area accommodating only the second type of goods.

Optionally, the box flipping rule may further include: and in response to the subarea where no goods are empty in the buffer area and the subarea which only accommodates the second kind of goods, the subarea where the goods are the least in the buffer area is determined, and the crane is controlled to move the second kind of goods on the first kind of goods to the subarea where the goods are the least.

The crane scheduling method provided by the embodiment of the disclosure includes the steps of firstly, obtaining the state of a transportation device, the cargo information of an initial area and the cargo information of a cache area, wherein the cargo information includes: the goods position and the goods taking remaining time; secondly, in response to the situation that the transportation device is not ready to finish, detecting whether goods exist in the initial region or not based on the goods information in the initial region; thirdly, responding to the fact that no goods exist in the initial area, and detecting whether the first kind of goods in the cache area are located below the second kind of goods based on goods information of the cache area, wherein the first kind of goods are the goods with the goods taking residual time reaching the transportation time period of the goods, and the second kind of goods do not reach the transportation time period of the goods; and finally, responding to the first type of goods in the cache region below the second type of goods, and controlling the crane to adjust the positions of the goods in the cache region according to a preset turning rule. Therefore, when the transporting device is not prepared and the buffer area has no goods, the crane adjusts the goods in the buffer area according to the preset turning rule, the first goods below the second goods can be turned over to the second goods, the first goods can be rapidly transported to a proper place by the transporting device, and the timeliness of goods transportation is improved.

FIG. 2 illustrates a process 200 according to another embodiment of a crane dispatching method of the present disclosure, the crane dispatching method comprising the steps of:

step 201, obtaining the state of the transportation device, the cargo information of the initial region and the cargo information of the buffer region, and then executing step 202.

Wherein the cargo information includes: the location of the goods and the remaining time of the goods pick-up.

In this embodiment, the cargo in the initiation region may include: cargo of the first type and/or cargo of the second type; the goods in the buffer area can comprise: the first type of cargo and/or the second type of cargo. Definitions of the first type of cargo and the second type of cargo the foregoing embodiments have been described in detail and are not described in detail herein.

Step 202, detecting whether the state of the transportation device is ready for completion; if the transport device is ready, go to step 203; if the status of the transporter is not ready for completion, step 205 is performed.

In this embodiment, the execution body on which the crane scheduling method is executed may determine the state of the transportation device by communicating with the control of the transportation device; the state of the transport device includes: the preparation is finished and the preparation is not finished, and when the transportation device is in a state of being finished, the goods in the initial area and the buffer area can be transported; when the transportation device is in a state of not being ready for completion, the goods in the initial area and the buffer area cannot be transported.

Step 203, acquiring and detecting whether the state of the crane is ready for completion; if the state of the crane is ready for completion, executing step 204; if the crane is not ready, step 205 is executed.

In this embodiment, the execution body on which the crane scheduling method is executed may communicate with a controller that controls the crane to acquire a state of the crane. The states of the crane include: when in the ready state, the crane can move to any position of a goods yard and take goods in the position; when the crane is in a state of not being prepared for completion, the crane can move only in the initial and buffer areas and move the goods of the initial and buffer areas.

And step 204, sequentially calling the first type of goods in the initial area and the buffer area through the crane based on the goods information of the initial area and the goods information of the buffer area, moving the first type of goods to the transportation device, and then returning to execute the step 201.

In this embodiment, based on the requirement of rationality of layout of goods, the initial region and the buffer region have respective priorities, the priority of the initial region is greater than the priority of the buffer region, and the above-mentioned goods information based on the initial region and the goods information of the buffer region, and sequentially calling the first kind of goods in the initial region and the buffer region by a crane include: firstly, controlling the crane to fetch the first type of goods in the initial area, and after all the first type of goods in the initial area are fetched, controlling the crane to fetch the first type of goods in the buffer area.

Optionally, the sequentially retrieving, by the crane, the first type of goods in the initial region and the buffer region based on the goods information in the initial region and the goods information in the buffer region further includes: in response to the initial area not containing the first type of goods, controlling the crane to call the second type of goods in the buffer area; and controlling the crane to transfer the first type goods in the cache region in response to the completion of the transfer of the second type goods in the cache region.

Step 205, detecting whether goods exist in the initial region based on the goods information in the initial region; if the initial area has no goods, go to step 206; if goods are in the initial area, step 208 is performed.

Step 206, detecting whether the first type goods in the cache region are positioned below the second type goods based on the goods information of the cache region; if the first type of goods in the buffer area is below the second type of goods, go to step 207; if the first type of goods in the cache area is located above the second type of goods, step 201 is performed.

Step 207, controlling the crane to adjust the position of the goods in the buffer area according to a preset turning rule, and then executing step 201.

It should be understood that the operations and features of step 201, step 205 to step 207 correspond to the operations and features of step 101 to step 104, respectively, and therefore the descriptions of the operations and features in step 101 to step 104 also apply to step 201 to step 202, step 205 to step 207, and are not repeated herein.

Step 208, the crane is enabled to obtain the goods in the initial area and sequentially move the goods to the buffer area, and then step 201 is executed.

In the method for dispatching a crane according to this embodiment, when the state of the transportation device is not ready and there is no cargo in the initial area, if the first type of cargo in the buffer area is located below the second type of cargo, the crane is controlled according to the preset turning rule to adjust the position of the cargo in the buffer area, so that the first type of cargo in the buffer area can be turned over to the second type of cargo to prepare for transportation of the cargo. When the state of the crane is ready for completion and the state of the transportation device is ready for completion, the first-class cargos in the initial region and the buffer region are sequentially taken by the crane, and the first-class cargos are moved to the transportation device by the crane, so that the cargos needing to be transported urgently can be preferentially transported out after the transportation device is ready for completion, and the transportation timeliness of the cargos is ensured.

In some optional implementations of this embodiment, sequentially retrieving the first type of cargo in the initial region and the buffer region by the crane, and moving the first type of cargo to the transportation device by the crane, includes:

and in response to the first type of goods in the initial area being stacked under the second type of goods, controlling the crane to sequentially move the second type of goods on the first type of goods to the buffer area according to a preset moving rule, and controlling the crane to move the first type of goods to the transportation device.

In this optional implementation manner, the preset movement rule may be a rule related to the position of the second type of cargo, and in a specific example, the preset movement rule includes: and moving the second type of goods above the first type of goods to the buffer area from top to bottom.

Optionally, the preset movement rule may also be a rule related to the capacity of the sub-areas in the cache area and the positions of the first type of goods in each sub-area, where a plurality of sub-areas in the cache area are areas in the cache area for accommodating goods.

In one specific example, the preset movement rule includes: determining the capacity of all sub-areas in the cache area and the goods position information in each sub-area, detecting whether all sub-areas in the cache area have sub-areas only containing second type goods, and if so, moving the first type goods in the initial area to the sub-area with the maximum capacity and only containing the second type goods.

In the method for moving the first type of goods provided by the optional implementation manner, when the first type of goods exists in the initial area and the first type of goods is located below the second type of goods, the second type of goods above the first type of goods is moved to the buffer area according to the preset moving rule, so that the first type of goods can be conveniently and quickly taken from the initial area through the crane when the state of the transportation device is ready to be completed, and the first type of goods cannot be blocked by the first type of goods in the initial area.

In an embodiment of the present disclosure, the preset movement rule may also be a movement rule related to positions of the goods in the plurality of sub-areas in the cache area, and in some optional implementations of the present embodiment, the movement rule includes:

as shown in fig. 3, in response to the buffer area having a first sub-area z1, the crane D is controlled to move the second type of cargo in the initial area to a first sub-area z1, wherein the cargo in the first sub-area is all the second type of cargo; in response to the cache region not having the first sub-region z1, detecting whether the cache region has a second sub-region; in response to the buffer area having a second sub-area z2, the crane D is controlled to move the second type of cargo in the initial area to a second sub-area z2, wherein the first type of cargo in the second sub-area is located above the second type of cargo. In fig. 3, the buffer area includes a first sub-area z1, a second sub-area z2 and another sub-area, cargo B30 being retrieved by the crane is the second type of cargo taken from the initial area, the crane preferably places cargo B30 into the first sub-area z1, and the crane places cargo into the second sub-area only when the buffer area has no first sub-area but a second sub-area.

In fig. 3, the remaining time for picking the cargo B17 in the second sub-area z2 is 1:01, which is within the transportation period (0, 1.5) preset in B17 and belongs to the first category of cargo. In the buffer area, the remaining picking time of the cargo B11, the cargo B16 and the cargo B19 are within the respective transportation time interval range and all belong to the second type of cargo, all the cargos in the first sub-area z1 are the second type of cargo, the first type of cargo in the second sub-area z2 is located above the second type of cargo, in the other sub-area, the remaining picking time of the cargo B18 is less than the transportation time interval and belongs to the first type of cargo, and in the sub-area, the cargo B18 is located below the cargo B19, namely the first type of cargo is located below the second type of cargo.

According to the movement rule provided by the optional implementation mode, the first sub-area in the cache area is used as the preferential selection sub-area, and when the cache area does not have the first sub-area, the second sub-area is selected as the area to which the second type of goods in the initial area are moved, so that the first type of goods in the cache area can be prevented from being pressed deeply by the second type of goods in the initial area, and the efficiency of turning over the boxes in the cache area is improved.

In some optional implementations of this embodiment, the sequentially retrieving, by the crane, the first type of cargo in the initial region and the buffer region, and moving, by the crane, the first type of cargo to the transportation device further includes: in response to the absence of goods in the initial region, the crane is caused to acquire goods of the first type in the buffer region and is caused to move the goods of the first type to the transporter.

In this optional implementation manner, when the crane acquires the first kind of goods in the cache region, each sub-region in the cache region is detected first, and if the surface of at least one sub-region has the first kind of goods, the first kind of goods on the surface is directly selected.

Alternatively, when there is no cargo in the initial region and no cargo of the first type in the buffer region, the transport device may be controlled to wait until the buffer region or the initial region has cargo of the first type when the state of the transport device is ready to be completed.

In the method for calling the first type of goods in the initial region and the cache region provided by the optional implementation mode, the initial region is considered preferentially to prevent goods in the initial region from being blocked; when no goods exist in the initial area, the first class of goods in the cache area are directly obtained through the crane, so that the goods needing to be extracted in the cache area can be lifted out of a goods yard as soon as possible, and the timely functions of the goods are guaranteed.

In some optional implementations of this embodiment, the enabling the crane to obtain the first type of cargo in the buffer area includes: and responding to the first type of goods stacked below the second type of goods in the buffer area, and controlling the crane to adjust the position of the goods in the buffer area according to the box turning rule until the first type of goods in the buffer area is positioned above the second type of goods.

According to the method for acquiring the first-class goods in the cache region, when the first-class goods in the cache region are stacked under the second-class goods, the positions of the goods in the cache region are adjusted according to the box turning rule, so that the first-class goods are positioned above the second-class goods, and timely transportation of the goods needing to be transported is guaranteed.

In some optional implementations of this embodiment, the box flipping rule includes: a heuristic algorithm or a bundle search algorithm.

In this alternative implementation, a heuristic algorithm (heuristic algorithm) is proposed with respect to the optimization algorithm. An optimization algorithm for a problem finds the optimal solution for each instance of the problem. The heuristic algorithm may be defined as follows: an algorithm based on an intuitive or empirical construct gives, at an acceptable cost (in terms of computation time and space), a feasible solution for each instance of the combinatorial optimization problem to be solved, the degree of deviation of which from the optimal solution is generally unpredictable.

Optionally, the goods in the cache region may be turned over by using an a-heuristic algorithm, so that the state that the first kind of goods is stacked by the second kind of goods in the cache region is reduced. It should be noted that, for better use of the a-heuristic algorithm, the priority of the first type of goods may be set to be higher than that of the second type of goods, for example, the priority of the first type of goods is 1 st, and the priority of the second type of goods is 10 th.

A beam search algorithm (beam search) establishes a search tree using a breadth first strategy, and at each level of the tree, nodes are sorted according to heuristic cost, and then only a predetermined number of nodes are left. If the bundle width is infinite, then the search is a breadth first search. The bundling width can be preset or variable, and the searching can be performed according to a minimum bundling width, and if a proper solution is not found, the bundling width is expanded and found again.

In the optional implementation mode, the cache region is turned over through a heuristic algorithm or a cluster searching algorithm, so that the first-class goods can be turned to the optimal position through an algorithm means, and the goods efficiency of the goods is improved.

With further reference to fig. 4, as an implementation of the methods illustrated in the above figures, the present disclosure provides one embodiment of a crane dispatching apparatus, which corresponds to the method embodiment illustrated in fig. 1.

As shown in fig. 4, the crane dispatching device 400 provided in this embodiment includes: a first acquisition unit 401, an initial detection unit 402, a buffer detection unit 403, and a box-flipping unit 404. The first obtaining unit 401 may be configured to obtain a state of the transportation device, cargo information in an initial region, and cargo information in a buffer region, where the cargo information includes: the location of the goods and the remaining time of the goods pick-up. The initial detecting unit 402 may be configured to detect whether the initial region has goods based on the goods information of the initial region in response to the state of the transportation device being not ready for completion. The above-mentioned cache detection unit 403 may be configured to detect, in response to the initial region being free of goods, whether the first type of goods in the cache region is located below the second type of goods based on the goods information in the cache region, where the first type of goods is the goods whose remaining time for picking up goods reaches the transportation time period of the goods, and the second type of goods is the goods whose remaining time for picking up goods does not reach the transportation time period of the goods. The box-turning unit 404 may be configured to control the crane to adjust the position of the goods in the buffer area according to a preset box-turning rule in response to the first kind of goods in the buffer area being located below the second kind of goods.

In the present embodiment, in the crane dispatching apparatus 400: the detailed processing and the technical effects of the first obtaining unit 401, the initial detecting unit 402, the buffer detecting unit 403, and the box flipping unit 404 can refer to the related descriptions of step 101, step 102, step 103, and step 104 in the corresponding embodiment of fig. 1, which are not described herein again.

In some optional implementations of this embodiment, the apparatus 400 further includes: a second obtaining unit (not shown in the figure), and a scheduling unit (not shown in the figure). The second acquiring unit may be configured to acquire a state of the crane. The above-mentioned scheduling unit may be configured to sequentially schedule, by the crane, the first kind of goods in the origin area and the buffer area based on the goods information of the origin area and the goods information of the buffer area, and move the first kind of goods to the transportation device by the crane, in response to the state of the crane being ready for completion and the state of the transportation device being ready for completion.

In some optional implementations of this embodiment, the scheduling unit is further configured to: and in response to the first type of goods in the initial area being stacked under the second type of goods, controlling the crane to sequentially move the second type of goods on the first type of goods to the buffer area according to a preset moving rule, and controlling the crane to move the first type of goods to the transportation device.

In some optional implementations of this embodiment, the movement rule includes: in response to the buffer area having a first sub-area, controlling the crane to move the second type of goods in the initial area to the first sub-area, wherein the goods in the first sub-area are all the second type of goods; responding to the buffer area without the first sub-area, and detecting whether the buffer area has a second sub-area; and in response to the buffer area having a second sub-area, controlling the crane to move the second type of goods in the initial area to the second sub-area, wherein the first type of goods in the second sub-area is located above the second type of goods.

In some optional implementations of this embodiment, the scheduling unit is further configured to: in response to the absence of goods in the initial region, the crane is caused to acquire goods of the first type in the buffer region and is caused to move the goods of the first type to the transporter.

In some optional implementations of this embodiment, the scheduling unit is further configured to: and responding to the first type of goods stacked below the second type of goods in the buffer area, and controlling the crane to adjust the position of the goods in the buffer area according to the box turning rule until the first type of goods in the buffer area is positioned above the second type of goods.

In the crane scheduling apparatus provided in the embodiment of the present disclosure, first, the first obtaining unit 401 obtains a state of the transportation apparatus, cargo information in an initial region, and cargo information in a buffer region, where the cargo information includes: the goods position and the goods taking remaining time; next, the initial detecting unit 402 detects whether goods are present in the initial region based on the goods information of the initial region in response to the state of the transportation device being not ready for completion; thirdly, the cache detection unit 403, in response to the absence of goods in the initial region, detects whether the first type of goods in the cache region is located below the second type of goods based on the goods information in the cache region, where the first type of goods is the goods whose remaining time for picking the goods reaches the transportation time period of the goods, and the second type of goods is the goods whose remaining time for picking the goods does not reach the transportation time period of the goods; finally, the box overturning unit 404 controls the crane to adjust the position of the goods in the buffer area according to a preset box overturning rule in response to the first kind of goods in the buffer area being below the second kind of goods. Therefore, when the transporting device is not prepared and the buffer area has no goods, the crane adjusts the goods in the buffer area according to the preset turning rule, the first goods below the second goods can be turned over to the second goods, the first goods can be rapidly transported to a proper place by the transporting device, and the timeliness of goods transportation is improved.

With further reference to fig. 5, as an implementation of the method shown in fig. 1, the present disclosure provides one embodiment of a crane dispatching system, which corresponds to the method embodiment shown in fig. 1.

As shown in fig. 5, the crane dispatching system 500 provided in this embodiment includes: a cargo yard 501, an initial area 502, a buffer area 503, a transportation device 504, a crane 505, and a control device 506.

The initial region 502 is located in the cargo yard 501, and is configured to receive and store cargos input into the cargo yard, where each cargo has a positioning device (not shown in the figure) thereon, and the positioning device is configured to collect cargo information of the cargo, where the cargo information includes: the location of the goods and the remaining time of the goods pick-up.

And the buffer area 503 is located at the goods yard 501 and adjacent to the initial area 502, and is used for receiving and storing goods output by the initial area 502.

A transport device 504 for transporting goods out of the yard 501.

And the control device 506 is respectively connected with the transportation device 504 and the positioning equipment, and is used for driving the crane 505 of the goods yard according to the state of the transportation device, the goods information of the initial area and the goods information of the buffer area, so that when the crane 505 is not ready in the state of the transportation device and has no goods in the initial area, and the first kind of goods in the buffer area is positioned below the second kind of goods, the position of the goods in the buffer area is adjusted according to a preset box turning rule, the first kind of goods is the goods of which the goods taking residual time reaches the transportation time interval of the goods, and the second kind of goods is the goods of which the goods taking residual time does not reach the transportation time interval of the goods.

In this embodiment, the initial area 502, the buffer area 503, and the transportation device 504 may be characterized by three types of stacks, each having a certain capacity. A good is a block that is put into a stack, and if the capacity of each stack is full, no more blocks can be put into the stack. The crane 505 is a crane that runs between the three types of stacks and can position the blocks. When there are newly generated blocks, control means 506 inserts the new blocks into the bottom of the stack. However, if the arrival location of the new block is full, the upstream new block generation process is delayed, which is highly undesirable. Control by the control means 506 in the crane dispatching system 500 may maximize the assurance that the stacks are not jammed and that the blocks in the buffer and initial areas are transported out of the yard 501 by the transport means 504 before a minimum time requirement for transport.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the apparatus 500 comprises a computing unit 501 which may perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 501 performs the various methods and processes described above, such as the crane scheduling method. For example, in some embodiments, the crane scheduling method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the computing unit 501, one or more steps of the crane scheduling method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the crane scheduling method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable crane scheduling apparatus, crane scheduling system, such that the program codes, when executed by the processor or controller, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of crane scheduling, the method comprising:

acquiring the state of a transport device, the cargo information of an initial area and the cargo information of a cache area, wherein the cargo information comprises: the goods position and the goods taking remaining time;

detecting whether the initial region has goods based on the goods information of the initial region in response to the state of the transportation device being not ready for completion;

responding to the initial area without goods, and detecting whether the first kind of goods in the cache area is located under a second kind of goods based on the goods information of the cache area, wherein the first kind of goods is the goods of which the goods taking residual time reaches the transportation time period of the goods, and the second kind of goods is the goods of which the goods taking residual time does not reach the transportation time period of the goods;

and in response to the first type of goods in the cache region being below the second type of goods, controlling the crane to adjust the positions of the goods in the cache region according to a preset turning rule.

2. The method of claim 1, further comprising:

acquiring the state of a crane;

in response to the state of the crane being ready to complete and the state of the transportation device being ready to complete, sequentially retrieving, by the crane, first type goods in the initial area and the buffer area based on the goods information of the initial area and the goods information of the buffer area, and moving, by the crane, the first type goods to the transportation device.

3. The method of claim 1, wherein said sequentially retrieving, by said crane, a first type of cargo in said initial region and said buffer region and moving, by said crane, said first type of cargo to said transport device comprises:

in response to the first type of goods stacked under the second type of goods in the initial area, controlling the crane to sequentially move the second type of goods on the first type of goods to the buffer area according to a preset moving rule, and controlling the crane to move the first type of goods to the transportation device.

4. The method of claim 3, wherein the movement rule comprises:

in response to the buffer area having a first sub-area, controlling the crane to move the second type of cargo in the initial area to the first sub-area, wherein the cargo in the first sub-area is all the second type of cargo;

responding to the cache region without a first sub-region, and detecting whether the cache region has a second sub-region;

and in response to the buffer area having a second sub-area, controlling the crane to move the second type of cargo in the initial area to the second sub-area, wherein the first type of cargo in the second sub-area is located above the second type of cargo.

5. The method of claim 3, wherein said sequentially retrieving, by said crane, said first type of cargo in said initiation region and said buffer region and moving, by said crane, said first type of cargo to said transport device, further comprises:

in response to the absence of cargo in the initiation region, causing the crane to capture the first type of cargo in the buffer region and causing the crane to move the first type of cargo to the transporter.

6. The method of claim 5, wherein said causing the crane to access the first type of cargo in the buffer comprises:

and in response to the first type of goods in the buffer area being stacked below the second type of goods, controlling the crane to adjust the position of the goods in the buffer area according to the box turning rule until the first type of goods in the buffer area is positioned above the second type of goods.

7. The method of one of claims 1 to 6, wherein the rollover rule comprises: a heuristic algorithm or a bundle search algorithm.

8. A crane dispatching apparatus, the apparatus comprising:

the first acquisition unit is configured to acquire the state of the transportation device, the cargo information of the initial area and the cargo information of the buffer area, wherein the cargo information comprises: the goods position and the goods taking remaining time;

an initial detection unit configured to detect whether the initial region has goods based on goods information of the initial region in response to a state of the transportation device being not ready to be completed;

the cache detection unit is configured to respond to the absence of goods in the initial area, and detect whether first-type goods in the cache area are located below second-type goods based on the goods information of the cache area, wherein the first-type goods are the goods with the goods taking remaining time reaching the transportation time period of the goods, and the second-type goods are the goods with the goods taking remaining time not reaching the transportation time period of the goods;

and the box turning unit is configured to respond to the first type of goods in the buffer area being positioned below the second type of goods, and control the crane to adjust the position of the goods in the buffer area according to a preset box turning rule.

9. The apparatus of claim 8, the apparatus further comprising:

a second acquiring unit configured to acquire a state of the crane; a scheduling unit configured to sequentially schedule, by the crane, first type goods in the origin area and the buffer area based on the goods information of the origin area and the goods information of the buffer area and move the first type goods to the transportation device through the crane, in response to the state of the crane being ready to complete and the state of the transportation device being ready to complete.

10. The apparatus of claim 8, wherein the scheduling unit is further configured to: in response to the first type of goods stacked under the second type of goods in the initial area, controlling the crane to sequentially move the second type of goods on the first type of goods to the buffer area according to a preset moving rule, and controlling the crane to move the first type of goods to the transportation device.

11. The apparatus of claim 10, wherein the movement rule comprises:

12. The apparatus of claim 10, wherein the scheduling unit is further configured to: in response to the absence of cargo in the initiation region, causing the crane to capture the first type of cargo in the buffer region and causing the crane to move the first type of cargo to the transporter.

13. The apparatus of claim 12, wherein the scheduling unit is further configured to: and in response to the first type of goods in the buffer area being stacked below the second type of goods, controlling the crane to adjust the position of the goods in the buffer area according to the box turning rule until the first type of goods in the buffer area is positioned above the second type of goods.

14. The apparatus of one of claims 8-13, wherein the rollover rule comprises: a heuristic algorithm or a cluster search algorithm.

15. A crane dispatching system, the system comprising:

a goods yard;

the initial region is located in the goods yard and used for receiving and storing goods input into the goods yard, each goods is provided with a positioning device, the positioning device is used for acquiring goods information of the goods, and the goods information comprises: the goods position and the goods taking remaining time;

the buffer area is positioned in the goods yard and used for receiving and storing the goods output by the initial area;

a transportation means for transporting goods out of the yard;

and the control device is respectively connected with the transportation device and the positioning equipment and used for driving a crane of the goods yard according to the state of the transportation device, the goods information of the initial area and the goods information of the cache area, so that when the crane is in an unprepared state in the state of the transportation device and the initial area has no goods, and the first kind of goods in the cache area is positioned under the second kind of goods, the position of the goods in the cache area is adjusted according to a preset turning rule, the first kind of goods is the goods of which the goods taking residual time reaches the transportation time interval of the goods, and the second kind of goods is the goods of which the goods taking residual time does not reach the transportation time interval of the goods.

16. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

17. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-7.

18. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-7.