CN115293654A - Shuttle vehicle task scheduling method and device and computer equipment - Google Patents
Shuttle vehicle task scheduling method and device and computer equipment Download PDFInfo
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract
The application relates to a shuttle vehicle task scheduling method and device and computer equipment. The method comprises the steps of selecting a target operation task for a target shuttle vehicle, and distributing the selected target operation task to the target shuttle vehicle; wherein the target shuttle is a multi-station shuttle; searching for associated work tasks for the rest idle stations of the target shuttle vehicle, and distributing the associated work tasks to the target shuttle vehicle until the idle station amount of the target shuttle vehicle is zero or the associated work tasks are not found; and the control target shuttle vehicle works according to the distributed work tasks. The task scheduling method not only ensures the efficiency maximization of the multi-station shuttle vehicle during the execution of a single operation task, but also ensures that the related goods space can be synchronously executed when the operation task exists at the same time, and further improves the warehouse-in and warehouse-out efficiency of the goods storage warehouse.
Description
Technical Field
The application relates to the technical field of warehouse logistics management, in particular to a shuttle vehicle task scheduling method and device and computer equipment.
Background
Along with the rapid development of the e-commerce industry, in order to meet the requirements of the input and output of stored goods and the maximization of the efficiency of warehousing and ex-warehousing, the modern logistics industry starts to improve the goods storage warehouse, and the goods are stored by adopting a multi-layer and multi-deep goods shelf layer, so that the limited space is fully utilized. Meanwhile, mechanical and automatic equipment is gradually used to replace manual operation, so that the operation and management efficiency of the storage warehouse is improved. The shuttle car can run on the fixed track in a reciprocating or looping mode, goods are conveyed to a designated place or equipment for connection, and the elevator can conveniently and quickly realize goods layer changing.
However, in the current shuttle dispatching system, the multi-station shuttle is dispatched in a storage warehouse with multi-deep storage only according to the task issuing time in sequence, so that a plurality of stations of the multi-station shuttle are idle during single task execution, and the overall operation efficiency is still very low.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus and a computer device for task scheduling of a shuttle car, which can improve the efficiency of loading and unloading the storage warehouse.
In a first aspect, the present application provides a shuttle vehicle task scheduling method, including:
selecting a target operation task for a target shuttle vehicle, and distributing the selected target operation task to the target shuttle vehicle; wherein the target shuttle is a multi-station shuttle;
searching for associated work tasks for the rest idle stations of the target shuttle vehicle, and distributing the associated work tasks to the target shuttle vehicle until the idle station amount of the target shuttle vehicle is zero or the associated work tasks are not found;
and controlling the target shuttle vehicle to operate according to the assigned operation tasks.
In one embodiment, the method further comprises:
when the associated task is not found, distributing a second target task to the rest idle stations of the target shuttle vehicle according to the task priority;
and searching related operation tasks for the rest idle stations of the target shuttle vehicle or distributing a third target operation task according to the priority of the operation tasks until the idle station amount of the target shuttle vehicle is zero or no operation task can be distributed currently, and controlling the target shuttle vehicle to operate according to the distributed operation tasks.
In one embodiment, the selecting a target job task for a target shuttle includes:
if at least one target task set exists in the job task, selecting one target task set from each target task set as a target job task; the target task set is a set of operation tasks which can take a plurality of goods when the target shuttle car executes one goods taking action;
and if the target task set does not exist in the operation tasks, selecting one operation task as the target operation task according to the task priority or the path length from the target shuttle vehicle.
In one embodiment, the selecting one target task set from each target task set as a target job task includes:
when the number of the target task sets is more than two, selecting the target task set with the largest goods taking amount of the target shuttle car executing one-time goods taking action as a target operation task;
and when the number of the target task sets with the largest goods taking amount after the target shuttle car executes one-time goods taking action is more than two, selecting the target task set with the largest goods taking amount and the closest distance to the traveling path of the target shuttle car as the target operation task.
In one embodiment, the finding of the associated job tasks for the remaining idle work stations of the target shuttle car includes:
acquiring a starting point goods position of the target operation task;
if the operation tasks exist in the operation tasks, the operation tasks with the distance from the starting point cargo space of the target operation task smaller than the preset path length or the operation tasks positioned on the path of the target shuttle vehicle for executing the target operation task are determined as the related operation tasks;
if not, the associated job task is not found.
In one embodiment, the task types of the job task include a warehousing task, a ex-warehouse task and a moving task; searching for a related operation task and/or a next target operation task for the rest idle stations of the target shuttle, wherein the method comprises the following steps:
and when the target shuttle vehicle is distributed with the target operation task, searching the related operation task and/or the next target operation task of the same task type as the target operation task for the rest idle stations of the target shuttle vehicle.
In one embodiment, when the target shuttle vehicle is in the garage area, the selecting the target job task for the target shuttle vehicle includes:
detecting whether a warehousing operation request exists;
if the warehousing operation request exists, selecting a target operation task for the target shuttle vehicle in the operation tasks corresponding to the current warehousing operation request;
and if no warehousing operation request exists, continuously detecting until the waiting time of the target shuttle vehicle is longer than a preset time, and selecting a target operation task for the target shuttle vehicle in the operation tasks of the task type non-warehousing tasks.
In one embodiment, the controlling the target shuttle to perform the work according to the assigned work task includes:
when the task type of the distributed operation task is an ex-warehouse task, controlling the target shuttle car to put goods on a corresponding interlayer line;
and when the task type of the distributed operation task is a warehousing task or a transferring task, finishing the goods delivering and placing operation according to the terminal goods position of the distributed operation task and the principle that the total path of the target shuttle vehicle is shortest.
In a second aspect, the present application further provides a shuttle task scheduling device, the device including:
the target operation task selection module is used for selecting a target operation task for a target shuttle vehicle and distributing the selected target operation task to the target shuttle vehicle; wherein the target shuttle is a multi-station shuttle;
the related operation task selection module is used for searching related operation tasks for the rest idle stations of the target shuttle vehicle and distributing the related operation tasks to the target shuttle vehicle until the idle station amount of the target shuttle vehicle is zero or the related operation tasks are not found;
and the operation scheduling module is used for controlling the target shuttle vehicle to operate according to the allocated operation tasks.
In a third aspect, the application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the steps of the method described above when the processor executes the computer program.
According to the shuttle vehicle task scheduling method, the device and the computer equipment, after the target operation task is selected for the target shuttle vehicle, the associated operation tasks can be searched for the rest idle stations of the target shuttle vehicle, and the target operation task and the associated operation tasks are synchronously distributed to the target shuttle vehicle until the target shuttle vehicle has no idle station or no associated operation task which can be executed by the target shuttle vehicle exists in the scheduling system, so that the efficiency of the multi-station shuttle vehicle in the single operation task execution is maximized, the associated goods positions can be synchronously executed when the operation tasks exist at the same time, and the warehouse entering and exiting efficiency is further improved.
Drawings
FIG. 1 is a diagram of an environment in which a method for task scheduling for a shuttle vehicle may be implemented in one embodiment;
FIG. 2 is a schematic top view of a storage warehouse with multiple deep cargo bays in one embodiment;
FIG. 3 is a schematic view of a distribution of stations of the multi-station shuttle of one embodiment;
fig. 4 is a schematic diagram of station distribution of a multi-station shuttle in another embodiment;
fig. 5 is a schematic diagram of station distribution of a multi-station shuttle in another embodiment;
FIG. 6 is a schematic flow chart diagram illustrating a method for task scheduling for a shuttle in one embodiment;
FIG. 7 is a schematic flow chart diagram of a shuttle task scheduling method in another embodiment;
FIG. 8 is a flowchart illustrating the steps of selecting a target job task in one embodiment;
FIG. 9 is a flowchart illustrating the steps of selecting a target job task from the set of target tasks in one embodiment;
FIG. 10 is a flowchart illustrating the step of finding associated job tasks in one embodiment;
FIG. 11 is a flowchart illustrating the steps of selecting a target job task in a warehousing area in one embodiment;
FIG. 12 is a flowchart illustrating the steps of performing job scheduling in one embodiment;
FIG. 13 is a schematic diagram of the distribution of the cargo space at the storage entrance in one embodiment;
FIG. 14 is a block diagram of a shuttle task scheduler in one embodiment;
FIG. 15 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The shuttle vehicle task scheduling method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Among other things, a Warehouse Management Subsystem (WMS) 102 communicates with a scheduling subsystem 104 via a network. The warehouse management subsystem 102 and the scheduling subsystem 104 may be, but are not limited to, various servers, personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The server may be implemented as a stand-alone server or as a server cluster consisting of a plurality of servers. The data storage system may store data that the scheduling subsystem 104 needs to process. The data storage system may be integrated on the servers of the scheduling subsystem 104, or may be located on the cloud or other network servers. In addition, the scheduling system applied by the shuttle task scheduling method in the embodiment of the present application is a distributed system, and therefore, the scheduling subsystem 104 may be any node of the scheduling system. For example, the dispatch subsystem 104 may be a processor and memory located on any shuttle or may be one or more servers that implement a unified overall dispatch.
Specifically, the scheduling subsystem 104 first selects a target job task for the target shuttle 106 from job tasks issued by the warehouse management subsystem 102, and allocates the selected target job task to the target shuttle 106; wherein the target shuttle 106 is a multi-station shuttle; then searching for associated work tasks for the rest idle stations of the target shuttle 106, and distributing the associated work tasks to the target shuttle 106 until the idle station amount of the target shuttle 106 is zero or the associated work tasks are not found; the control target shuttle 106 performs the work in accordance with the assigned work task.
It can be understood that the shuttle vehicle task scheduling method provided by the embodiment of the application can be applied to a storage warehouse for storing goods by adopting a multi-deep goods shelf layer. Taking the top view of the warehouse in the embodiment shown in fig. 2 as an example, A1 and A2 are a group of cargo spaces. It can be seen that the A1 and the A2 are arranged on two deep and shallow parallel goods positions of the goods shelf on the same side of the same layer, when the shuttle car runs to the position close to the A1 goods position in the roadway to take the goods, the goods taking the A1 goods position do not need to pass through other goods positions, so the A1 goods position can be called a shallow goods position; the A2 cargo space is called a deep cargo space because the A1 cargo space is needed to be passed by when the A2 cargo space is obtained. Correspondingly, as shown in fig. 3 to 5, the task scheduling method for a shuttle provided in the embodiment of the present application may be applied to a multi-station shuttle, that is, two or more shuttle stations that can be used for carrying cargo are provided. Fig. 3 shows a two-station shuttle comprising a1 and a2 loading stations, fig. 4 shows a four-station shuttle comprising a1 to a4 loading stations, and fig. 5 shows a multi-station shuttle comprising a longitudinal multi-layer loading station. It should be noted that the number of deep cargo spaces and the number of stations of the shuttle can be designed according to the requirements of the actual storage warehouse, the scenario of one deep cargo space shown in fig. 2, and the multi-station shuttle shown in fig. 3 to 5 are only exemplary.
In one embodiment, as shown in fig. 6, a shuttle task scheduling method is provided, which is illustrated by taking the method as an example applied to the scheduling subsystem 104 in fig. 1, and includes the following steps 200 to 700.
Step 200: a target job task is selected for the target shuttle and the selected target job task is assigned to the target shuttle.
Specifically, the shuttle vehicles mentioned in the embodiments of the present application are all multi-station shuttle vehicles, and the scheduling subsystem may select a matched target job task for the target shuttle vehicle according to the station amount of the target shuttle vehicle. The target shuttle is a shuttle which is performing task scheduling, and can be understood as a shuttle which has performed the job task allocated by the last task scheduling and has all idle stations.
It can be understood that, in order for the target shuttle vehicle to complete the matched target task, the occupied space of the selected target task must be less than or equal to the station amount of the target shuttle vehicle, otherwise the target shuttle vehicle cannot execute the task. Secondly, when the matched target operation task is selected, factors such as the priority of the operation task issued by the warehouse management subsystem, the path length from the current coordinate position of the target shuttle car, the existence of a set of operation tasks which can take a plurality of goods by executing one-time goods taking action and the like can be comprehensively considered, and the target operation task which can enable the warehouse entering and exiting efficiency to be highest is selected for the target shuttle car. In addition, when the target shuttle vehicle is in the warehousing area, the target job task can also be a job task corresponding to the current warehousing job request.
Further, when the target operation task is selected and obtained, the selected target operation task can be distributed to the target shuttle car, and the target shuttle car is made to run to the initial goods space corresponding to the target operation task.
Step 400: and searching for associated operation tasks for the rest idle stations of the target shuttle vehicle, and distributing the associated operation tasks to the target shuttle vehicle until the idle station amount of the target shuttle vehicle is zero or the associated operation tasks are not found.
The related task is a task related to a target task currently selected by the target shuttle vehicle, and may be a task located in the same roadway as the starting point cargo space of the target task, a task located in a path less than a preset path length from the starting point cargo space of the target task, or a task located in a path where the target shuttle vehicle executes the target task. The idle number of stations of the target shuttle is the number of stations on the target shuttle that are currently not assigned to carry cargo. The scheduling subsystem can obtain the idle work position amount of the target shuttle vehicle according to the work task analysis distributed to the target shuttle vehicle, and can also obtain the idle work position amount of the target shuttle vehicle according to the self state data fed back by the target shuttle vehicle.
Specifically, the occupation amount of the target operation task is the number of stations of the shuttle car, which are occupied by the goods to be loaded corresponding to the target operation task. And when the occupation amount of the target operation task does not meet the idle station amount of the target shuttle vehicle, namely representing that the shuttle vehicle is predicted to have residual idle stations after the target operation task is loaded. Further, associated job tasks may be found for the remaining idle workstations of the target shuttle. And if the associated job task exists and the occupation amount of the associated job task is less than or equal to the idle work amount of the target shuttle vehicle, distributing the associated job task to the target shuttle vehicle. It can be understood that when the target shuttle vehicle is simultaneously distributed with the target operation task and the associated operation task, goods can be obtained at a nearby position without shuttling back and forth to obtain the goods, and the goods storage warehouse in-out efficiency can be greatly improved.
Step 700: and controlling the target shuttle vehicle to operate according to the distributed operation tasks.
Specifically, in the operation tasks of the storage warehouse, the task types can be divided into a warehousing task, a ex-warehouse task, a moving warehouse task and the like. The warehousing task is to convey goods from the warehousing interlayer linear station into a goods shelf; the warehouse-out task is the opposite, namely goods are conveyed to the station of the warehouse-out interlayer line from the goods shelf; the transfer task refers to the transfer of goods from one cargo space to another.
For the operation tasks such as warehousing tasks, ex-warehouse tasks or transferring tasks, the scheduling of the operation of the control target shuttle cars can be divided into goods taking operation scheduling and goods delivering operation scheduling. The goods taking operation scheduling can be understood as controlling the target shuttle car to run to the corresponding initial goods position of the distributed operation task, and taking goods; and (4) controlling the target shuttle to run to the end goods position corresponding to the distributed operation task and placing the goods. The picking operation scheduling can control the picking action to be executed after the selected target operation task and/or the associated operation task are/is distributed to the target shuttle car. And the delivery operation scheduling is to execute delivery and release actions after the target shuttle vehicle finishes the assigned operation task to take the goods.
Further, when the target shuttle vehicle carries out delivery operation scheduling, if the task type of the assigned operation task is an ex-warehouse task, the target shuttle vehicle is controlled to place the goods to the corresponding interlayer line. If the task type of the distributed operation task is a warehousing task or a moving task, the goods delivering and placing operation can be finished in sequence according to the shortest principle of the total walking path and the terminal goods position of the distributed operation task. It can be understood that if the end cargo space of the assigned job task can perform one-time cargo putting operation, the target shuttle vehicle is controlled to simultaneously complete the cargo putting operation of the corresponding job task.
According to the shuttle vehicle task scheduling method, after the target operation task is selected for the target shuttle vehicle, the associated operation tasks can be searched for the rest idle stations of the target shuttle vehicle, and the target operation task and the associated operation tasks are synchronously allocated to the target shuttle vehicle until the target shuttle vehicle has no idle station or no associated operation task which can be executed by the target shuttle vehicle exists in the scheduling system, so that the efficiency of the multi-station shuttle vehicle in the single operation task execution is maximized, the synchronous execution of the associated cargo space when the operation tasks exist at the same time is also ensured, and the warehouse entry and exit efficiency of the storage warehouse is further improved.
In one embodiment, as shown in fig. 7, after finding the associated job tasks for the remaining idle workstations of the target shuttle in step 400, the method further includes steps 500 through 600 prior to step 700. Wherein:
step 500: and when the associated job task is not found, distributing a second target job task to the rest idle stations of the target shuttle vehicle according to the priority of the job task.
It can be understood that when no matching associated job task is found for the target shuttle, there are still remaining idle stations for the target shuttle at this time. In order to maximize the warehouse-in and warehouse-out efficiency, the second target operation task can be continuously distributed to the rest idle stations of the target shuttle vehicle according to the operation task priority. The process of specifically allocating the second target job task is similar to that in step 200, and is not described in detail.
Step 600: and searching related operation tasks for the rest idle stations of the target shuttle vehicle or distributing a third target operation task according to the priority of the operation tasks until the idle station amount of the target shuttle vehicle is zero or no operation task can be distributed currently.
Specifically, after the second target operation task is allocated to the target shuttle, if there are remaining idle stations. And further searching a related operation task corresponding to a second target operation task for the target shuttle vehicle or distributing a third target operation task according to the priority of the operation task until the idle work position amount of the target shuttle vehicle is zero or no operation task can be distributed currently.
The idle work station amount of the target shuttle vehicle is zero, which represents that all the work stations of the target shuttle vehicle are distributed with work tasks, and the delivery operation of executing the currently loaded work tasks can be carried out. The current no-job task can be distributed and represents a target job task which is not matched with the target shuttle at the moment. If the target shuttle vehicle does not have the matched target job task, the target shuttle vehicle can execute the delivery job of the currently loaded job task, or the target shuttle vehicle can run to a waiting area without the currently loaded job task and wait for distributing the job task.
In one embodiment, as shown in fig. 8, selecting a target job task for a target shuttle of step 200 includes steps 220 through 240. Wherein:
step 220: if at least one target task set exists in the job task, selecting one target task set from all the target task sets as a target job task; the target task set is a set of operation tasks, wherein the operation tasks can be used for acquiring a plurality of goods by the target shuttle vehicle executing one goods acquiring action.
The job task represents all job tasks which are issued by the warehouse management subsystem currently and are not distributed yet. The target task set is a set of operation tasks which can take a plurality of goods by the target shuttle car executing one-time goods taking action, and can comprise operation tasks which are the deep and shallow goods positions of the goods shelf on the same layer as the initial goods position of the target operation task, or operation tasks which are adjacent to the goods shelf on the same layer and on the same side as the initial goods position of the target operation task, or operation tasks which are the same-row goods positions of the goods shelf on the same side as the initial goods position of the target operation task. The plurality of job tasks in the target task set can be understood as being obtained by the target shuttle at one time.
Specifically, if at least one target task set exists in the job tasks, one target task set can be selected from each target task set as a target job task and allocated to the target shuttle. The method for selecting the target job task from each target task set is not unique, and can be determined according to the content of each target task set. For example, the footprint of the first selected target task set must be less than or equal to the amount of stations of the target shuttle; and secondly, selecting a target task set with the maximum goods taking quantity at one time of stretching and forking as a target operation task, and selecting a target task set with the shortest path length from the current coordinate position of the target shuttle car as the target operation task.
In one embodiment, as shown in FIG. 9, the selection of one target task set from the target task sets as the target job task of step 220 includes steps 222 to 224. Wherein:
step 222: and when the number of the target task sets is more than two, selecting the target task set with the largest goods taking amount of the target shuttle car executing one-time goods taking action as the target operation task. It can be understood that on the premise that the station amount of the target shuttle vehicle is allowed to be executed, the target task set which can obtain the most goods by the target shuttle vehicle stretching once is selected as the target operation task, and the execution efficiency of the shuttle vehicle task can be the highest.
Step 224: and when the number of the target task sets with the largest goods taking amount in one goods taking action executed by the target shuttle car is more than two, selecting the target task set with the largest goods taking amount and the closest distance to the traveling path of the target shuttle car as the target operation task. It can be understood that if a plurality of target task sets with the highest goods taking quantity exist, the target task set closest to the target shuttle vehicle walking path is further selected correspondingly to serve as the target operation task, and the shuttle vehicle task execution efficiency is further improved.
Step 240: and if the target task set does not exist in the operation tasks, selecting one operation task as the target operation task according to the task priority or the path length between the task priority and the target shuttle vehicle.
Wherein, the task priority of the job task can be set by the operator in the warehouse management subsystem. The task priority may represent the urgency of the job task, and the job task with high priority needs to be executed preferentially. In addition, the priority may also be determined by using the time of issuing the job task, for example, the job task issued first is executed first. Specifically, a first job task set can be obtained according to task priority, if in the first job task set, job tasks with the same priority can be sorted again according to task issuing time, and a final job task set is obtained and used as a job task list for the scheduling subsystem to select a target job task for the target shuttle. And secondly, calculating the path length from the target shuttle according to the current coordinate position of the target shuttle and the coordinate position corresponding to the work task cargo space.
Specifically, if a target task set capable of being obtained once in an extending manner does not exist in the operation tasks, the operation tasks are sequenced according to attributes such as task priorities or path lengths from the target shuttle vehicles to obtain an operation task list, and one operation task is selected in the operation task list in sequence to serve as the target operation task.
In one embodiment, as shown in fig. 10, step 400 of finding associated job tasks for the remaining idle workstations of the target shuttle includes steps 420 through 460. Wherein:
step 420: and acquiring a starting point goods position of the target operation task. Since the associated job task is a job task that can be loaded with the target job task in the near vicinity, the initial cargo space of the target job task needs to be acquired first for judgment.
Step 440: and if the operation tasks exist in the operation tasks, the path which is far away from the starting point cargo space of the target operation task is smaller than the preset path length, or the operation tasks which are positioned on the path of the target shuttle vehicle for executing the target operation task, are determined as the related operation tasks.
The path from the starting point cargo space of the target operation task can be obtained by calculation according to the coordinate position between the two cargo spaces. The preset path length can be set according to actual requirements, for example, the preset path length does not exceed the walking path length of the same roadway, so that the target shuttle can obtain goods related to operation tasks nearby the roadway without shuttling back and forth to obtain goods. The path of the target shuttle vehicle for executing the target operation task can be obtained by planning the path according to the current coordinate position of the target shuttle vehicle and the starting point goods space of the target operation task.
Specifically, the operation tasks with the distance from the starting point cargo space of the target operation task smaller than the preset path length or the operation tasks on the path of the target shuttle vehicle for executing the target operation task are determined as the associated operation tasks and distributed to the target shuttle vehicle, so that the warehouse entry and exit efficiency can be greatly improved.
Step 460: if not, the associated job task is not found.
In one embodiment, the task types of the job task comprise a warehousing task, a ex-warehouse task and a moving task; in steps 400 to 600, finding a related job task and/or a next target job task for the remaining idle stations of the target shuttle vehicle includes: and when the target shuttle vehicle is distributed with the target operation task, searching the related operation task and/or the next target operation task of the same task type as the target operation task for the rest idle stations of the target shuttle vehicle. It can be understood that since the goods taking area and the goods delivering area are not completely the same when the operation tasks of each task type are executed, when the target shuttle car is allocated with the target operation task and needs to continuously search the operation tasks for the remaining idle stations of the target shuttle car, the operation tasks of the same task type are correspondingly selected, so that the problem that the shuttle car needs to operate in different goods taking areas or goods delivering areas in the task execution process to influence the warehouse entering and exiting efficiency can be avoided.
In one embodiment, as shown in fig. 11, when the target shuttle is in the garage area, the selecting the target job task for the target shuttle of step 200 includes steps 260 to 280. Wherein:
step 260: and detecting whether a warehousing operation request exists.
Specifically, the warehousing area is an area range in which the path length from the target shuttle vehicle to the line station between the warehousing layers is smaller than a preset distance, and the preset distance can be set according to the actual scene requirements without limitation. The warehousing operation request can be sent out after goods to be warehoused are placed in the warehousing interlayer linear station, can be obtained by the dispatching subsystem through detection in the warehouse management subsystem, and can also be obtained by directly sending the goods to the dispatching subsystem and then receiving the goods. And detecting whether a warehousing operation request is received, namely detecting whether warehousing tasks needing to be executed exist.
Step 270: and if the warehousing operation request exists, selecting a target operation task for the target shuttle vehicle in the operation tasks corresponding to the current warehousing operation request.
Specifically, if the currently received warehousing operation request is one and the work task occupation amount corresponding to the warehousing operation request meets the work station amount of the target shuttle car, the work task corresponding to the warehousing operation request is determined as the target work task. If the number of the currently received warehousing operation requests is two or more, the currently received warehousing operation requests need to be sorted according to task priorities and target operation tasks are selected in sequence according to operation tasks corresponding to the warehousing operation requests, and the principle is consistent with that of the target operation tasks obtained by comparison in the operation task list, and further description is omitted.
Further, if the warehousing inter-floor line station is a multi-station inter-floor line, that is, an inter-floor line which is perpendicular to the conveying direction of the inter-floor line and can discharge a plurality of goods is arranged, and there is an operation task set in which the target shuttle car can take a plurality of goods by performing one-time goods taking action, the operation task set is preferentially determined as the target operation task.
Step 280: and if no warehousing operation request exists, continuously detecting until the waiting time of the target shuttle vehicle is longer than the preset time, and selecting a target operation task for the target shuttle vehicle in the operation tasks of the task type non-warehousing tasks.
It can be understood that when there is no warehousing operation request temporarily, there may be cached goods that need warehousing but have not arrived at the workstation temporarily at the warehousing interlayer line. When the previous goods in the warehousing interlayer line station are taken away, the goods cached in the interlayer line are supplemented into the warehousing interlayer line station, and then a warehousing operation request is initiated.
Specifically, when the target shuttle vehicle is in the warehousing area but no warehousing operation request exists temporarily at present, the target shuttle vehicle can be controlled to continue to wait, the scheduling subsystem times and detects whether the warehousing operation request is received in real time, and if the warehousing operation request is not detected yet until the waiting time of the target shuttle vehicle is longer than the preset time, the target shuttle vehicle is controlled to leave the warehousing area to execute the operation task of the non-warehousing task. It can be understood that the preset time length can be set to be longer than the time length of the goods cached in the normal interlayer line cache to be added into the warehouse interlayer line station, and the influence on the operation efficiency due to the overlong waiting time is avoided.
In one embodiment, as shown in fig. 12, the control target shuttle of step 700 performs a job in accordance with the assigned job task, including steps 720 through 740. Wherein:
step 720: and when the task type of the distributed operation task is the ex-warehouse task, controlling the target shuttle car to put goods on the corresponding interlayer line.
Specifically, the task type is an operation task of the warehouse-out task, and the goods corresponding to the operation task need to be put on the line between the warehouse-out port layers. When the inter-layer line of the warehouse-out opening is a multi-station inter-layer line, the target shuttle car can be controlled to execute one-time goods placing action to place a plurality of goods on the corresponding inter-layer line. If the inter-layer line of the warehouse-out port is a single-station inter-layer line, when the number of the operation tasks allocated to the target shuttle car is more than two, the goods of the operation tasks need to be sequentially placed on the corresponding inter-layer lines.
Step 740: and when the task type of the distributed operation task is a warehousing task or a moving task, finishing the goods delivering and placing operation according to the terminal goods position of the distributed operation task and the principle that the total walking path of the target shuttle car is shortest.
The planning mode of the principle that the total walking path of the target shuttle is the shortest is not unique and can be obtained according to algorithm planning approved by a person skilled in the art. Specifically, if the task type of the assigned job task is a warehousing task or a transfer task, the delivery and delivery operations can be sequentially completed according to the destination cargo space of the assigned job task and the principle that the total path of travel is shortest. It can be understood that if the end goods space of the assigned job task can perform one-time goods placing action, the target shuttle vehicle is controlled to simultaneously complete the goods placing operation of the corresponding job task.
In one embodiment, the task flow of the ex-warehouse or the transfer task is explained by taking a double-station shuttle as an example.
Specifically, the executable ex-warehouse task list and the executable moving-warehouse task list are screened and sorted firstly, and sorting is performed according to two dimensions of priority and issuing time under the default condition, so that logical disorder of the warehouse management subsystem caused by changing the task execution sequence is avoided.
And then judging that the shuttle can take a plurality of boxes (a plurality of idle stations).
1. If can also get 1 case, under the ideal circumstances, can preferentially distribute two homonymies and need the workbin of leaving warehouse/moving warehouse side by side, but in the actual business, according to priority and issue the time dimension back of ordering, only can distribute the workbin that arranges in the front in fact, supposing that what selected this moment is workbin A1, can judge whether A2 workbin waits to get in A1 side by side position:
(1) If A2 is to be taken, the tasks of the A1 and A2 bins are distributed to the shuttle car together, the two tasks are bound, then the shuttle car is dispatched to the side of A1, a goods taking instruction is issued, and the A1 and A2 bins are taken into the shuttle car at one time. After the taking, the idle work position in the vehicle is 0.
(2) If A2 does not need to be taken, only the task of one bin of A1 is allocated to the shuttle car first, the shuttle car is dispatched to the side of A1, and before a goods taking instruction is issued, whether the bin of A2 is to be taken or not is judged again:
(a) And if the A2 is to be taken, distributing the task to which the A2 belongs to the shuttle car, binding the two tasks, issuing a goods taking instruction, and taking the two bins of the A1 and the A2 into the shuttle car at one time. After the taking, the idle work position in the vehicle is 0.
(b) If A2 does not need to be taken, only a goods taking instruction is issued, and A1 is taken into the vehicle. And after the taking, the idle station in the vehicle is 1.
2. If 1 box can be taken, one bin B1 is selected from the sorted task list in order to be assigned to the shuttle car. And dispatching the shuttle car to the side of the B1, issuing a goods taking instruction, and taking the B1 into the car. And after the taking, the idle station in the vehicle is 0.
3. If the number of the boxes which can be taken is 0, the shuttle car cannot continue to take other boxes, the goods taking stage is finished, and the goods putting stage is started.
In one embodiment, the task flow of the warehousing task is explained by taking a double-station shuttle as an example. It can be understood that the warehousing task can schedule the shuttle cars to pick up goods at the warehousing ports only when the shuttle cars are at the warehousing ports and the warehousing ports have request signals. As shown in fig. 13, a distribution diagram of storage locations of storage ports is shown, and it is assumed that 4 storage ports A1, A2, B1, and B2 are combined, and A1 and A2 are on the same side of a shelf, and B1 and B2 are on the same side of the shelf, the diagram includes an embedded bin elevator storage distribution model (A1 and B1 are combined and stored side by side), and also includes a double-port storage model (A1 and A2 are stored side by side).
Specifically, assuming that the shuttle is now beside the A1 port, it is also first determined that the shuttle can take several boxes (with several idle stations):
1. if 2 boxes can be taken
(1) Whether the two warehousing ports [ A1 and A2] have workbins to be warehoused at the same time or not can be judged, if yes, the shuttle vehicle is allocated to fetch the workbins of the two warehousing ports [ A1 and A2] at one time. And after the taking, the idle station in the vehicle is 0.
(2) Otherwise, judging whether the two warehousing ports [ B1 and B2] have workbins to be warehoused simultaneously, if so, allocating the shuttle to fetch the workbins of the two warehousing ports [ B1 and B2] at one time. After the taking, the idle work position in the vehicle is 0.
(3) Otherwise, judging whether the warehousing ports have workbins to be warehoused according to the sequence of [ A1, A2, B1 and B2] (only when A2 needs warehousing, A1 is definitely without workbins, and similarly, when B2 needs warehousing, B1 is definitely without workbins), and firstly allocating the shuttle to fetch one workbin of the warehousing ports. And after the taking, the idle station in the vehicle is 1.
2. If 1 box can be taken
(1) Judging whether the warehousing ports have workbins to be warehoused according to the sequence of [ A1, A2, B1 and B2], and distributing the shuttle cars to fetch one workbin of the warehousing port. And after the taking, the idle station in the vehicle is 0.
(2) If 0 boxes can be taken, the shuttle car cannot continue to take other boxes, the goods taking stage is finished, and the goods putting stage is started.
In one embodiment, the operation flow of the delivery phase is explained by taking a double-station shuttle as an example. Specifically, in the stocking stage, the number of tasks in the shuttle (and the number of bins in the shuttle) is first determined:
1. if there are 2, determine which task should be performed first:
(1) If A1 is executed first, the shuttle car is dispatched to get the position near the A1 end point, and before goods placement, whether A2 can be placed together is judged first (only if the end points of A1 and A2 are exactly at one deep side and one shallow side by side goods placement positions on the same side of the goods shelf, the goods can be placed together, and if the goods are delivered, the delivery port is double-port and the goods placement is allowed at the same time).
(a) If so, the shuttle car is assigned to place [ A1, A2] on the cargo space at one time. After the goods are put, the number of tasks in the vehicle is 0.
(b) If not, the dispensing shuttle first places A1 on the cargo space. After the goods are put, the number of tasks in the vehicle is 1.
(2) If A2 is executed first, the process is similar to the process of executing A1, and details are not repeated.
2. If 1, the shuttle car is dispatched to the end point of the task, and the material box in the shuttle car is placed on the goods position by the redistribution shuttle car. After the goods are put, the number of tasks in the vehicle is 0.
3. If there are 0, the shuttle vehicle does not need to continue to put goods, the goods putting stage is finished, and the shuttle vehicle is dispatched to look for other tasks.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a shuttle vehicle task scheduling device for realizing the above related shuttle vehicle task scheduling method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the method, so the specific limitations in one or more embodiments of the shuttle task scheduling device provided below can be referred to the limitations on the shuttle task scheduling method in the foregoing, and are not described again here.
In one embodiment, as shown in fig. 14, there is provided a shuttle car task scheduling device, the device comprising: a target job task selection module 810, an associated job task selection module 820, and a job scheduling module 830.
A target job task selection module 810, configured to obtain and select a target job task according to an idle work space amount of a target shuttle vehicle, and allocate the selected target job task to the target shuttle vehicle;
the related job task selecting module 820 is used for synchronously allocating the related job tasks to the target shuttle when the occupation amount of the target job task does not meet the idle work amount of the target shuttle and the related job tasks exist in the target job task; the target operation task selection module 810 is also used for calling to obtain the target operation tasks again and selecting the target operation tasks according to the idle work position quantity of the target shuttle vehicle until the idle work position quantity of the target shuttle vehicle is zero or the target operation tasks are not selected;
and an operation scheduling module 830 for controlling the target shuttle to perform the delivery operation according to the assigned operation task.
In one embodiment, the target task selection module 810 is further configured to, when no associated task is found, allocate a second target task to the remaining idle stations of the target shuttle according to the task priority; the target job task selection module 810 is further configured to search for a related job task for the remaining idle stations of the target shuttle vehicle or allocate a third target job task according to the priority of the job task until the amount of the idle stations of the target shuttle vehicle is zero or no job task can be allocated currently.
In one embodiment, the target job task selecting module 810 is further configured to select one target task set from the target task sets as a target job task, where at least one target task set exists in the job tasks; the target task set is a set of operation tasks, wherein the operation tasks can be used for acquiring a plurality of goods when the target shuttle car executes one goods acquiring action; and if the target task set does not exist in the operation tasks, selecting one operation task as the target operation task according to the task priority or the path length between the task priority and the target shuttle vehicle.
In one embodiment, the target job task selection module 810 is further configured to, when the number of the target task sets is more than two, select the target task set with the largest pickup amount for executing one pickup action by the target shuttle car as the target job task; and when the number of the target task sets with the largest goods taking amount in one goods taking action executed by the target shuttle car is more than two, selecting the target task set with the largest goods taking amount and the closest distance to the traveling path of the target shuttle car as the target operation task.
In one embodiment, the associated job task selection module 820 is further configured to obtain a starting cargo space of the target job task; if the operation tasks exist in the operation tasks, the operation tasks which are less than the preset path length from the path of the starting point cargo space of the target operation task or the operation tasks which are positioned on the path of the target shuttle vehicle for executing the target operation task are determined as the related operation tasks; if not, the associated job task is not found.
In one embodiment, the task types of the job task comprise a warehousing task, a ex-warehouse task and a moving-warehouse task; and the related job task selecting module 820 is further configured to find a related job task and/or a next target job task of the same task type as the target job task for the remaining idle work stations of the target shuttle vehicle when the target shuttle vehicle has been assigned with the target job task.
In one embodiment, when the target shuttle vehicle is in the warehousing area, the target job task selection module 810 is further configured to detect whether there is a warehousing job request; if the warehousing operation request exists, selecting a target operation task for the target shuttle vehicle from the operation tasks corresponding to the current warehousing operation request; and if no warehousing operation request exists, continuously detecting until the waiting time of the target shuttle car is longer than the preset time, and selecting a target operation task for the target shuttle car in the operation tasks of the task type non-warehousing tasks.
In one embodiment, the job scheduling module 830 is further configured to control the target shuttle to put goods onto the corresponding inter-layer line when the task type of the assigned job task is an ex-warehouse task; and when the task type of the distributed operation task is a warehousing task or a transferring task, finishing the goods delivering and placing operation according to the terminal goods position of the distributed operation task and the principle that the total path of the target shuttle vehicle is shortest.
All or part of each module in the shuttle vehicle task scheduling device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 15. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing task data in cargo operation of the shuttle vehicle. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a shuttle task scheduling method.
It will be appreciated by those skilled in the art that the configuration shown in fig. 15 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method described above when the processor executes the computer program.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A shuttle task scheduling method, characterized in that the method comprises:
selecting a target operation task for a target shuttle vehicle, and distributing the selected target operation task to the target shuttle vehicle; wherein the target shuttle is a multi-station shuttle;
searching related operation tasks for the rest idle stations of the target shuttle vehicle, and distributing the related operation tasks to the target shuttle vehicle until the idle station amount of the target shuttle vehicle is zero or the related operation tasks are not found;
and controlling the target shuttle vehicle to operate according to the assigned operation task.
2. The method of claim 1, further comprising:
when the associated task is not found, distributing a second target task to the rest idle stations of the target shuttle vehicle according to the task priority;
and searching related operation tasks for the rest idle stations of the target shuttle vehicle or distributing a third target operation task according to the priority of the operation tasks until the idle station amount of the target shuttle vehicle is zero or no operation task can be distributed currently, and controlling the target shuttle vehicle to operate according to the distributed operation tasks.
3. The method of claim 1, wherein selecting a target job task for a target shuttle comprises:
if at least one target task set exists in the job task, selecting one target task set from each target task set as a target job task; the target task set is a set of operation tasks which can take a plurality of goods when the target shuttle car executes one goods taking action;
and if the target task set does not exist in the operation tasks, selecting one operation task as the target operation task according to the task priority or the path length from the target shuttle car.
4. The method of claim 3, wherein selecting a target task set from each of the target task sets as a target job task comprises:
when the number of the target task sets is more than two, selecting the target task set with the largest goods taking amount of the target shuttle car executing one goods taking action as a target operation task;
and when the number of the target task sets with the largest goods taking amount of the target shuttle car executing one goods taking action is more than two, selecting the target task set with the largest goods taking amount and the closest distance to the traveling path of the target shuttle car as the target operation task.
5. The method of claim 1, wherein the finding associated job tasks for remaining idle workstations of the target shuttle car comprises:
acquiring a starting point goods position of the target operation task;
if the operation tasks exist in the operation tasks, the operation tasks with the distance from the starting point cargo space of the target operation task smaller than the preset path length or the operation tasks positioned on the path of the target shuttle vehicle for executing the target operation task are determined as the related operation tasks;
if not, the associated job task is not found.
6. The method according to claim 2, wherein the task types of the job task include a warehousing task, an ex-warehouse task, and a moving warehouse task; searching for a related operation task and/or a next target operation task for the rest idle stations of the target shuttle, wherein the method comprises the following steps:
and when the target shuttle vehicle is distributed with the target operation task, searching the associated operation task and/or the next target operation task which have the same task type as the target operation task for the rest idle stations of the target shuttle vehicle.
7. The method of claim 6, wherein the selecting a target job task for a target shuttle when the target shuttle is in a garage area comprises:
detecting whether a warehousing operation request exists;
if the warehousing operation request exists, selecting a target operation task for the target shuttle vehicle in the operation tasks corresponding to the current warehousing operation request;
and if no warehousing operation request exists, continuously detecting until the waiting time of the target shuttle car is longer than the preset time, and selecting a target operation task for the target shuttle car in the operation tasks of the task type non-warehousing tasks.
8. The method of claim 1, wherein controlling the target shuttle vehicle to perform work in accordance with the assigned work tasks comprises:
when the task type of the distributed operation task is an ex-warehouse task, controlling the target shuttle car to put goods on a corresponding interlayer line;
and when the task type of the distributed operation task is a warehousing task or a transferring task, finishing the goods delivering and placing operation according to the terminal goods position of the distributed operation task and the principle that the total path of the target shuttle vehicle is shortest.
9. A shuttle car task scheduler, the apparatus comprising:
the target operation task selection module is used for selecting a target operation task for a target shuttle vehicle and distributing the selected target operation task to the target shuttle vehicle; wherein the target shuttle is a multi-station shuttle;
the related operation task selection module is used for searching related operation tasks for the rest idle stations of the target shuttle vehicle and distributing the related operation tasks to the target shuttle vehicle until the idle station amount of the target shuttle vehicle is zero or the related operation tasks are not found;
and the operation scheduling module is used for controlling the target shuttle vehicle to operate according to the allocated operation tasks.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 8.
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