CN115818091B - Scheduling method and system for single-roadway double-stacker - Google Patents
Scheduling method and system for single-roadway double-stacker Download PDFInfo
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- CN115818091B CN115818091B CN202310045975.5A CN202310045975A CN115818091B CN 115818091 B CN115818091 B CN 115818091B CN 202310045975 A CN202310045975 A CN 202310045975A CN 115818091 B CN115818091 B CN 115818091B
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Abstract
The embodiment of the specification provides a scheduling method and system of a single-roadway double-stacker, which are applied to the single-roadway double-stacker, wherein the single-roadway double-stacker comprises a first stacker and a second stacker, and comprises the following steps: acquiring an avoidance parameter, a first row range parameter of a first stacker and a second row range parameter of a second stacker; acquiring a task to be issued, fetched and placed; acquiring a first real-time column parameter of a first stacker and a second real-time column parameter of a second stacker; judging whether the first stacker or the second stacker interferes with a target picking and placing position corresponding to a picking and placing task to be issued or not, and generating an interference judging result; based on the interference judgment result, the to-be-issued picking and placing task, the first array range parameter of the first stacker and the second array range parameter of the second stacker, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, the target stacker is determined, and the method has the advantages of reducing interference of the single-tunnel double-stacker, optimizing scheduling instructions and improving efficiency.
Description
Technical Field
The specification relates to the field of stereoscopic warehouses, in particular to a scheduling method and system of a single-roadway double-stacker.
Background
The stereoscopic warehouse can adopt a single tunnel double stacker, namely, two stackers are arranged on a single tunnel, and platforms and shelves for entering and exiting are arranged on two sides of the single tunnel. When the single-rail double-stacker works, each stacker can be stored to a goods shelf after receiving goods from a platform, and can be transported to the platform after taking goods from the goods shelf. The two stackers work simultaneously, so that the working efficiency can be greatly improved, and the stacker is particularly suitable for large-scale stereoscopic warehouses. How to improve the anti-collision safety of the single-roadway double-stacker and reduce the potential safety hazard is a key problem for restricting the single-roadway double-stacker from moving to large-scale application.
Therefore, it is necessary to provide a scheduling method and system for single-tunnel double-stacker, which are used for reducing interference of the single-tunnel double-stacker, optimizing scheduling instructions and improving efficiency.
Disclosure of Invention
One of the embodiments of the present disclosure provides a scheduling method for a single-tunnel double-stacker, which is applied to a single-tunnel double-stacker, wherein the single-tunnel double-stacker includes a first stacker and a second stacker that are disposed on the same tunnel, and the scheduling method includes: acquiring an avoidance parameter, a first row range parameter of the first stacker and a second row range parameter of the second stacker; acquiring a task to be issued, fetched and placed; acquiring a first real-time column parameter of the first stacker and a second real-time column parameter of the second stacker; judging whether the first stacker or the second stacker interferes with a target picking and placing position corresponding to the to-be-issued picking and placing task or not based on the to-be-issued picking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, and generating an interference judgment result; and determining a target stacker from the first stacker and the second stacker based on the interference judging result, the to-be-issued picking and placing task, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker.
In some embodiments, the determining, based on the interference determination result, the task to be issued for picking and placing, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the target stacker from the first stacker and the second stacker includes: judging whether at least partial coincidence exists between the first column range parameter of the first stacker and the second column range parameter of the second stacker based on the first column range parameter of the first stacker and the second column range parameter of the second stacker; if the first column range parameter of the first stacker and the second column range parameter of the second stacker do not overlap at least partially, judging whether the target picking and placing position corresponding to the picking and placing task to be issued is located in the first column range parameter, if the target picking and placing position corresponding to the picking and placing task to be issued is located in the first column range parameter, taking the first stacker as a target stacker, and if the target picking and placing position corresponding to the picking and placing task to be issued is not located in the first column range parameter, taking the second stacker as a target stacker; and according to the interference judging result, the real-time state of the first stacker and the real-time state of the second stacker, the task to be issued, fetched and placed to the target stacker.
In some embodiments, the issuing the task to be issued for picking and placing to the target stacker according to the interference determination result, the real-time state of the first stacker, and the real-time state of the second stacker includes: if the interference judging result is that the first stacker and the second stacker are not interfered with the target picking and placing positions corresponding to the picking and placing task to be issued, and the real-time state of the first stacker and the real-time state of the second stacker are idle, issuing the picking and placing task to be issued to the target stacker; and if the interference judging result is that the other stacker except the target stacker in the first stacker and the second stacker interferes with the target picking and placing position corresponding to the to-be-issued picking and placing task, the real-time state of the first stacker and the real-time state of the second stacker are idle, and after the other stacker is controlled to move out of the interference range, the to-be-issued picking and placing task is issued to the target stacker.
In some embodiments, the issuing the task to be issued for picking and placing to the target stacker according to the interference determination result, the real-time state of the first stacker, and the real-time state of the second stacker further includes: if the state of the other stacker is the task execution state, based on the picking and placing position corresponding to the picking and placing task being executed by the other stacker and the target picking and placing position corresponding to the picking and placing task to be issued, judging whether the other stacker interferes with the target picking and placing position corresponding to the picking and placing task to be issued, if the other stacker interferes with the target pick-and-place corresponding to the pick-and-place task to be issued, after the other stacker completes the pick-and-place task being executed, the other stacker is controlled to move out of the interference range, and the pick-and-place task to be issued is issued to the target stacker.
In some embodiments, the determining the target stacker from the first stacker and the second stacker based on the interference determination result, the task to be delivered, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker, and the second real-time column parameter of the second stacker further includes: if there is at least partial coincidence between the first column range parameter of the first stacker and the second column range parameter of the second stacker, the interference judging result is that the first stacker and the second stacker are not interfered with the target picking and placing positions corresponding to the picking and placing task to be issued, the first stacker and the second stacker are in idle states, the first travelling distance from the first stacker to the target picking and placing position corresponding to the picking and placing task to be issued is determined based on the first real-time column parameter of the first stacker, the second travelling distance from the second stacker to the target picking and placing position corresponding to the picking and placing task to be issued is determined based on the second real-time column parameter of the second stacker, and the target stacker is determined based on the first travelling distance and the second travelling distance from the first stacker and the second stacker.
In some embodiments, the determining the target stacker from the first stacker and the second stacker based on the interference determination result, the task to be delivered, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker, and the second real-time column parameter of the second stacker further includes: if at least partial coincidence exists between the first column range parameter of the first stacker and the second column range parameter of the second stacker, the interference judging result is that the first stacker and/or the second stacker are/is not interfered with the target picking and placing position corresponding to the to-be-released picking and placing task, the first stacker and the second stacker are in an idle state, based on the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the first travelling distance from the first stacker to the target picking and placing position corresponding to the to-be-released picking and placing task and the first avoiding distance from the first stacker to the target picking and placing position corresponding to the first to-be-released picking and placing task are determined, and based on the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the second travelling distance from the first stacker to the target picking and placing position corresponding to the first to the target picking and placing position corresponding to the to-be-released picking and placing task is determined.
In some embodiments, the determining the target stacker from the first stacker and the second stacker based on the interference determination result, the task to be delivered, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker, and the second real-time column parameter of the second stacker further includes: if the state of the other stacker is the task execution state, based on the picking and placing position corresponding to the picking and placing task being executed by the other stacker and the target picking and placing position corresponding to the picking and placing task to be issued, judging whether the other stacker interferes with the target picking and placing position corresponding to the picking and placing task to be issued, if the other stacker interferes with the target pick-and-place corresponding to the pick-and-place task to be issued, after the other stacker completes the pick-and-place task being executed, the other stacker is controlled to move out of the interference range, and the pick-and-place task to be issued is issued to the target stacker.
In some embodiments, the determining, based on the interference determination result, the task to be issued for picking and placing, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the target stacker from the first stacker and the second stacker includes: judging whether a fault stacker exists in the first stacker and the second stacker; if the fault stacker exists, judging whether the fault stacker is in a movable state or not; if the fault stacker is judged to be in a movable state, controlling the fault stacker to move into a safety area; determining an effective moving range of the non-fault stacker based on the avoidance parameter, the first range parameter of the first stacker, the second range parameter of the second stacker and the safety area, and taking the non-fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
In some embodiments, the determining, based on the interference determination result, the task to be issued for picking and placing, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the target stacker from the first stacker and the second stacker includes: judging whether a fault stacker exists in the first stacker and the second stacker; if the fault stacker exists, judging whether the fault stacker is in a movable state or not; if the fault stacker is judged to be in an immovable state, determining an effective moving range of the non-fault stacker based on the avoidance parameter, a first row range parameter of the first stacker, a second row range parameter of the second stacker, a first real-time row parameter of the first stacker and a second real-time row parameter of the second stacker, and taking the non-fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
One of the embodiments of the present specification provides a scheduling system of two stackers in single tunnel, is applied to two stackers in single tunnel, wherein, two stackers in single tunnel include the first stacker and the second stacker that set up on same tunnel, include: the parameter setting module is used for acquiring an avoidance parameter, a first row range parameter of the first stacker and a second row range parameter of the second stacker; the task acquisition module is used for acquiring a to-be-issued picking and placing task; the position acquisition module is used for acquiring a first real-time column parameter of the first stacker and a second real-time column parameter of the second stacker; the interference judging module is used for judging whether the first stacker or the second stacker interferes with a target picking and placing position corresponding to the to-be-issued picking and placing task or not based on the to-be-issued picking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, and generating an interference judging result; the task issuing module is used for determining a target stacker from the first stacker and the second stacker based on the interference judging result, the to-be-issued picking and placing task, the first row range parameter of the first stacker, the second row range parameter of the second stacker, the first real-time row parameter of the first stacker and the second real-time row parameter of the second stacker.
Compared with the prior art, the scheduling method and the scheduling system for the single-roadway double-stacker have the following beneficial effects:
based on the to-be-issued goods taking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, whether the first stacker or the second stacker interferes with a target goods taking and placing position corresponding to the to-be-issued goods taking and placing task or not can be accurately judged, the target stacker is further determined based on an interference result, a scheduling instruction is optimized, interference of the single-roadway double-stacker in the task executing process can be effectively avoided, and meanwhile the goods taking and placing effect is improved.
Drawings
The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:
FIG. 1 is an exemplary block diagram of a scheduling system for a single lane dual stacker shown in accordance with some embodiments of the present disclosure;
fig. 2 is an exemplary flow chart of a method of scheduling a single lane dual stacker shown in accordance with some embodiments of the present description.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.
As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
A flowchart is used in this specification to describe the operations performed by the system according to embodiments of the present specification. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.
Fig. 1 is an exemplary block diagram of a scheduling system for a single lane dual stacker shown in accordance with some embodiments of the present description. The scheduling system of the single-tunnel double-stacker can be applied to the single-tunnel double-stacker, wherein the single-tunnel double-stacker comprises a first stacker and a second stacker which are arranged on the same tunnel. As shown in fig. 1, the scheduling system of the single-roadway double-stacker may include a parameter setting module, a task obtaining module, a position obtaining module, an interference judging module and a task issuing module.
The parameter setting module may be configured to obtain the avoidance parameter, a first range parameter of the first stacker, and a second range parameter of the second stacker.
The task acquisition module can be used for acquiring a to-be-issued picking and placing task.
The position acquisition module may be configured to acquire a first real-time column parameter of the first stacker and a second real-time column parameter of the second stacker.
The interference judging module can be used for judging whether the first stacker or the second stacker interferes with a target picking and placing position corresponding to the to-be-issued picking and placing task or not based on the to-be-issued picking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, and generating an interference judging result.
The task issuing module may be configured to determine a target stacker from the first stacker and the second stacker based on the interference determination result, the task to be issued, the first range parameter of the first stacker, the second range parameter of the second stacker, the first real-time range parameter of the first stacker, and the second real-time range parameter of the second stacker.
In some embodiments, the task delivery module may also be configured to: judging whether at least partial coincidence exists between the first column range parameter of the first stacker and the second column range parameter of the second stacker based on the first column range parameter of the first stacker and the second column range parameter of the second stacker; if the first row range parameter of the first stacker and the second row range parameter of the second stacker do not overlap at least partially, judging whether a target picking and placing position corresponding to the picking and placing task to be issued is located in the first row range parameter, if the target picking and placing position corresponding to the picking and placing task to be issued is located in the first row range parameter, taking the first stacker as a target stacker, and if the target picking and placing position corresponding to the picking and placing task to be issued is not located in the first row range parameter, taking the second stacker as the target stacker; and issuing the task to be issued to the target stacker according to the interference judging result, the real-time state of the first stacker and the real-time state of the second stacker.
In some embodiments, the task delivery module may also be configured to: if the interference judging result is that the first stacker and the second stacker are not interfered with the target picking and placing positions corresponding to the to-be-issued picking and placing task, and the real-time state of the first stacker and the real-time state of the second stacker are idle, issuing the to-be-issued picking and placing task to the target stacker; if the interference judging result is that the other stacker except the target stacker in the first stacker and the second stacker interferes with the target picking and placing position corresponding to the task to be issued, and the real-time state of the first stacker and the real-time state of the second stacker are idle, controlling the other stacker to move out of the interference range, and issuing the task to be issued to the target stacker.
In some embodiments, the task delivery module may also be configured to: if the state of the other stacker is the task executing state, judging whether the other stacker interferes with the target picking and placing position corresponding to the task to be issued or not based on the picking and placing position corresponding to the task to be issued and the target picking and placing position corresponding to the task to be issued, and if so, controlling the other stacker to move out of the interference range after the task to be executed is completed by the other stacker, and issuing the task to be issued to the target stacker.
In some embodiments, the task delivery module may also be configured to: if at least partial coincidence exists between the first row range parameter of the first stacker and the second row range parameter of the second stacker, the interference judging result is that the first stacker and the second stacker are not interfered with the target picking and placing positions corresponding to the picking and placing task to be issued, the first stacker and the second stacker are in idle states, the first travelling distance of the first stacker moving to the target picking and placing position corresponding to the picking and placing task to be issued is determined based on the first real-time row parameter of the first stacker, the second travelling distance of the second stacker moving to the target picking and placing position corresponding to the picking and placing task to be issued is determined based on the second real-time row parameter of the second stacker, and the target stacker is determined from the first stacker and the second stacker based on the first travelling distance and the second travelling distance.
In some embodiments, the task delivery module may also be configured to: if at least partial coincidence exists between the first column range parameter of the first stacker and the second column range parameter of the second stacker, the interference judging result is that the first stacker and/or the second stacker are/is not interfered with the target pick-and-place corresponding to the to-be-issued pick-and-place, and the first stacker and the second stacker are in idle states, based on the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the first travel distance of the first stacker to the target pick-and-place corresponding to the to-be-issued pick-and-place and the first avoidance distance of the second stacker are determined, based on the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the second travel distance of the second stacker to the target pick-and-place corresponding to the to-be-issued pick-and-place corresponding to-issued pick-place is determined, and the second avoidance distance of the second stacker from the first stacker to the first travel distance of the first stacker to the target pick-and the second stacker is determined.
In some embodiments, the task delivery module may also be configured to: if the state of the other stacker is the task executing state, judging whether the other stacker interferes with the target picking and placing position corresponding to the task to be issued or not based on the picking and placing position corresponding to the task to be issued and the target picking and placing position corresponding to the task to be issued, and if so, controlling the other stacker to move out of the interference range after the task to be executed is completed by the other stacker, and issuing the task to be issued to the target stacker.
In some embodiments, the task delivery module may also be configured to: judging whether a fault stacker exists in the first stacker and the second stacker; if the fault stacker exists, judging whether the fault stacker is in a movable state or not; if the fault stacker is judged to be in a movable state, controlling the fault stacker to move into a safety area; determining an effective moving range of the non-fault stacker based on the avoidance parameter, the first row range parameter of the first stacker, the second row range parameter of the second stacker and the safety area, and taking the non-fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
In some embodiments, the task delivery module may also be configured to: judging whether a fault stacker exists in the first stacker and the second stacker; if the fault stacker exists, judging whether the fault stacker is in a movable state or not; if the fault stacker is judged to be in an immovable state, determining an effective moving range of the fault stacker based on the avoidance parameter, the first range parameter of the first stacker and the second range parameter of the second stacker, and taking the fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
Fig. 2 is an exemplary flow chart of a method of scheduling a single lane dual stacker shown in accordance with some embodiments of the present description. The scheduling method of the single-tunnel double-stacker can be applied to the single-tunnel double-stacker, wherein the single-tunnel double-stacker comprises a first stacker and a second stacker which are arranged on the same tunnel. As shown in fig. 2, the scheduling method of the single lane double stacker may include the following procedures. In some embodiments, the scheduling method of the single lane double stacker may be performed by a scheduling system of the single lane double stacker.
Step 210, obtaining an avoidance parameter, a first range parameter of a first stacker and a second range parameter of a second stacker.
The avoidance parameter is a minimum distance between the first stacker and the second stacker, for example, 1 column, 2 columns, 3 columns, and the like. It will be appreciated that the first stacker and the second stacker interfere when they are less than the avoidance parameter.
In some embodiments, the avoidance parameters corresponding to different lanes are different, for example, the avoidance parameter of the lane one is 1 column, the avoidance parameter of the lane two is 3 columns, and so on.
The first column range parameter is a column range in which the first stacker can move on the roadway, and the second column range parameter is a column range in which the second stacker can move on the roadway. In some embodiments, the first column range parameter, the second column range parameter may not coincide. For example, the first column range parameter may be one half of a column of a roadway and the second column range parameter may be the other half of the roadway. In some embodiments, there may be at least partial overlap of the first column range parameter, the second column range parameter. For example, the first column range parameter and the second column range parameter may both be all columns of a roadway.
Step 220, obtaining the task to be issued for picking and placing goods.
The to-be-issued pick-and-place task may be a pick-and-place task to be executed.
Step 230, obtain a first real-time column parameter of the first stacker and a second real-time column parameter of the second stacker.
The first real-time column parameter of the first stacker may be a real-time column value of the first stacker in the roadway, and the second real-time column parameter of the second stacker may be a real-time column value of the second stacker in the roadway. In some embodiments, the position obtaining module may read the real-time column values of the first stacker and the second stacker in real time through OPC (OLE for Process Control), where the reading frequency is 200ms, and the real-time column values of the lanes where the first stacker and the second stacker are located may be read in real time in all states of online, automatic, manual and maintenance of the stackers, if the column values cannot be read in real time due to a fault (power failure and communication abnormality) of the stackers, the value is a reported column value before the fault, and if the column values are not read in real time by a person moving the stackers, the current column value is set in the software system manually.
Step 240, based on the to-be-issued picking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, determining whether the first stacker or the second stacker interferes with the target picking and placing position corresponding to the to-be-issued picking and placing task, and generating an interference determination result.
In some embodiments, the interference judging module may judge whether the first stacker interferes with the target pick-and-place corresponding to the pick-and-place to be issued according to the target pick-and-place corresponding to the pick-and-place to be issued, the avoidance parameter, and the first real-time column parameter of the first stacker. For example, if the row level difference between the first real-time row parameter of the first stacker and the target pick-and-place position corresponding to the to-be-issued pick-and-place task is smaller than the avoidance parameter, it may be determined that the first stacker interferes with the target pick-and-place position corresponding to the to-be-issued pick-and-place task. The interference judging module can judge whether the second stacker interferes with the target pick-and-place corresponding to the pick-and-place to be issued according to the target pick-and-place corresponding to the pick-and-place to be issued, the avoidance parameter and the second real-time array parameter of the second stacker. For example, if the row level difference between the second real-time row parameter of the second stacker and the target pick-and-place position corresponding to the to-be-issued pick-and-place task is smaller than the avoidance parameter, it may be determined that the second stacker interferes with the target pick-and-place position corresponding to the to-be-issued pick-and-place task.
Step 250, determining a target stacker from the first stacker and the second stacker based on the interference determination result, the to-be-issued picking and placing task, the first range parameter of the first stacker and the second range parameter of the second stacker, the first real-time range parameter of the first stacker and the second real-time range parameter of the second stacker.
In some embodiments, the task issuing module may determine whether a fault stacker exists in the first stacker and the second stacker according to the state of the first stacker and the state of the second stacker, where the fault stacker may be a stacker with a fault such as power failure, communication abnormality, machine fault, and the like. If the first stacker and the second stacker are in the fault state, the task to be delivered and the task to be delivered are not delivered.
In some embodiments, if it is determined that a faulty stacker exists, determining whether the faulty stacker is in a movable state; if the fault stacker is judged to be in a movable state, controlling the fault stacker to move into a safety area, wherein the safety area can be an area outside the range of a goods shelf on a roadway; determining an effective moving range of the non-fault stacker based on the avoidance parameter, the first row range parameter of the first stacker, the second row range parameter of the second stacker and the safety area, and taking the non-fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space. For example, if the first stacker is a fault stacker and the second stacker is a normal stacker, the task issuing module may determine an invalid range of values by using a range of values and an avoidance parameter included in the safety area, and subtract the invalid range of values from a second range parameter of the second stacker to determine an effective cargo space of an effective movement range of the non-fault stacker. For example, the second column range parameter of the second stacker is (1, 10), the safety area includes a column value range of (8, 9), the avoidance parameter is 1 column, the invalid column value range is (7, 10), and the effective cargo space of the effective movement range of the non-fault stacker determined by subtracting the invalid column value range from the second column range parameter of the second stacker is (1, 6).
In some embodiments, if the target pick-and-place corresponding to the pick-and-place task to be issued is located within the effective movement range, the task issuing module may issue the pick-and-place task to be issued to the target stacker; if the target picking and placing position corresponding to the to-be-issued picking and placing task is located outside the effective moving range, the task issuing module can determine the effective position of the to-be-issued picking and placing task in the effective moving range of the non-fault stacker, wherein the effective position refers to a row which can be used for replacing the target picking and placing position corresponding to the to-be-issued picking and placing task in the effective moving range.
In some embodiments, if the fault stacker is determined to be in an immovable state, determining an effective movement range of the fault stacker based on the avoidance parameter, the first column range parameter of the first stacker, the second column range parameter of the second stacker, the first real-time column parameter of the first stacker, and the second real-time column parameter of the second stacker, and taking the fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
For example, if the first stacker is a faulty stacker and the second stacker is a stacker that works normally, the task issuing module may determine an invalid range of values based on a second range parameter of the second stacker, a first real-time range parameter of the first stacker, and an avoidance parameter, and subtract the invalid range of values from the second range parameter of the second stacker to determine an effective cargo space of an effective movement range of the non-faulty stacker. For example, the second column range parameter of the second stacker is (1, 10), the first real-time column parameter of the first stacker is 9, the avoidance parameter is 1 column, the invalid column value range is (8, 10), and the effective cargo space of the effective movement range of the non-fault stacker determined by subtracting the invalid column value range from the second column range parameter of the second stacker is (1, 7).
In some embodiments, if the first stacker and the second stacker are both in a normal working state, the task issuing module may determine whether there is at least partial overlap between the first column range parameter of the first stacker and the second column range parameter of the second stacker based on the first column range parameter of the first stacker and the second column range parameter of the second stacker. For example, when the first column range parameter of the first stacker is half of the lane and the second column range parameter of the second stacker is the other half of the lane, there is no partial overlap between the first column range parameter of the first stacker and the second column range parameter of the second stacker.
In some embodiments, if there is no at least partial overlap between the first range parameter of the first stacker and the second range parameter of the second stacker, the task issuing module may determine whether the target pick-and-place location corresponding to the pick-and-place task to be issued is located in the first range parameter, take the first stacker as the target stacker if the target pick-and-place location corresponding to the pick-and-place task to be issued is located in the first range parameter, and take the second stacker as the target stacker if the target pick-and-place location corresponding to the pick-and-place task to be issued is not located in the first range parameter.
In some embodiments, the task issuing module may issue the task to be issued for picking and placing to the target stacker according to the interference determination result, the real-time state of the first stacker, and the real-time state of the second stacker. For example, the judgment results are that the first stacker and the second stacker do not interfere with the target picking and placing positions corresponding to the picking and placing tasks to be issued, the real-time state of the first stacker and the real-time state of the second stacker are idle, and the task issuing module can issue the picking and placing tasks to be issued to the target stacker. For another example, the judging result is that the other stacker except the target stacker in the first stacker and the second stacker interferes with the target picking and placing position corresponding to the task to be issued, and the real-time state of the first stacker and the real-time state of the second stacker are idle states, and after the other stacker is controlled to move out of the interference range, the task to be issued is issued to the target stacker. The interference range may be determined based on the target pick-and-place location corresponding to the pick-and-place task to be issued and the avoidance parameter, for example, the target pick-and-place location corresponding to the pick-and-place task to be issued is 7, and the avoidance parameter is 2, and the interference range may be (5, 9).
In some embodiments, if the state of the other stacker is the task execution state, the task issuing module may determine whether the other stacker interferes with the target pick-and-place corresponding to the task to be issued based on the pick-and-place corresponding to the task to be issued and the target pick-and-place corresponding to the task to be issued, and if it is determined that the other stacker interferes with the target pick-and-place corresponding to the task to be issued, after the other stacker completes the task to be executed, control the other stacker to move out of the interference range, and issue the task to be issued to the target stacker.
For example, if the first stacker that is executing the task is the target stacker, then the first stacker waits for the first stacker to execute the task to be delivered to take the goods after completing the current task; if the second stacker is the target stacker, determining whether the first stacker interferes with the second stacker to execute the task to be issued and put goods, if so, after the first stacker is controlled to complete the task to be issued and put goods, the first stacker is controlled to move out of the interference range and then issue the task to be issued and put goods to the target stacker, and if the task to be executed by the first stacker is not within the walking range of the second stacker to execute the task to be issued and put goods, directly issuing the task to be issued and put goods to the target stacker.
In some embodiments, if there is at least partial coincidence between the first range parameter of the first stacker and the second range parameter of the second stacker, the interference determination result is that the first stacker and the second stacker are both not interfered with the target pick-and-place corresponding to the pick-and-place task to be issued and the first stacker and the second stacker are both in idle states, determining, based on the first real-time column parameter of the first stacker, a first travel distance for the first stacker to move to the target pick-and-place corresponding to the pick-and-place task to be issued, determining, based on the second real-time column parameter of the second stacker, a second travel distance for the second stacker to move to the target pick-and-place corresponding to the pick-and-place task to be issued, and determining, based on the first travel distance and the second travel distance, the target stacker from the first stacker and the second stacker.
For example, when the first travel distance is greater than the second travel distance, the task issuing module may take the second stacker as the target stacker; when the first walking distance is smaller than the second walking distance, the task issuing module can take the first stacker as a target stacker.
In some embodiments, if there is at least partial coincidence between the first range parameter of the first stacker and the second range parameter of the second stacker, the interference judgment result is that the first stacker and/or the second stacker are/is not interfered with the target pick-and-place corresponding to the to-be-delivered pick-and-place task and the first stacker and the second stacker are in idle states, based on the first real-time range parameter of the first stacker and the second real-time range parameter of the second stacker, the first travel distance of the first stacker to the target pick-and-place corresponding to the to-be-delivered pick-and-place task and the first avoidance distance of the second stacker are determined, based on the first travel distance of the first stacker to the target pick-and-place corresponding to-be-delivered pick-place corresponding to-delivered pick-and-place corresponding to-and the second real-time range parameter of the second stacker, the second travel distance of the second stacker to the target pick-and the target pick-place corresponding to the to-be-delivered pick-place corresponding to-and-place corresponding to-delivered pick-place is determined, and the second travel distance of the second stacker from the first stacker to the target pick-and the target pick-place corresponding to the first stacker to the target pick-and place corresponding to the second stacker.
The first avoiding distance of the second stacker may be a distance that needs to be moved when the second stacker leaves the interference range, and the second avoiding distance of the first stacker may be a distance that needs to be moved when the first stacker leaves the interference range.
In some embodiments, the task issuing module may calculate a sum of the first travelling distance and the first avoidance distance and a sum of the second travelling distance and the second avoidance distance, compare a sum of the first travelling distance and the first avoidance distance with a sum of the second travelling distance and the second avoidance distance, and if the sum of the second travelling distance and the second avoidance distance is smaller than the sum of the first travelling distance and the first avoidance distance, the task issuing module may use the second stacker as the target stacker, and if the sum of the second travelling distance and the second avoidance distance is greater than the sum of the first travelling distance and the first avoidance distance, the task issuing module may use the first stacker as the target stacker.
In some embodiments, if the state of the other stacker is the task execution state, based on the pick-and-place corresponding to the pick-and-place task being executed by the other stacker and the target pick-and-place corresponding to the task to be issued, determining whether the other stacker interferes with the target pick-and-place corresponding to the task to be issued, if it is determined that the other stacker interferes with the target pick-and-place corresponding to the task to be issued, after the task to be executed by the other stacker is completed, controlling the other stacker to move out of the interference range, and issuing the task to be issued to the target stacker.
While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.
Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.
Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.
Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.
Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.
Claims (8)
1. The scheduling method of the single-roadway double-stacker is applied to the single-roadway double-stacker, wherein the single-roadway double-stacker comprises a first stacker and a second stacker which are arranged on the same roadway, and is characterized by comprising the following steps:
Acquiring an avoidance parameter, a first row range parameter of the first stacker and a second row range parameter of the second stacker;
acquiring a task to be issued, fetched and placed; acquiring a first real-time column parameter of the first stacker and a second real-time column parameter of the second stacker; judging whether the first stacker or the second stacker interferes with a target picking and placing position corresponding to the to-be-issued picking and placing task or not based on the to-be-issued picking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, and generating an interference judgment result;
determining a target stacker from the first stacker and the second stacker based on the interference judging result, the to-be-issued picking and placing task, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker;
the determining, based on the interference determination result, the task to be issued and placed, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, a target stacker from the first stacker and the second stacker includes:
Judging whether a fault stacker exists in the first stacker and the second stacker according to the state of the first stacker and the state of the second stacker, wherein the fault stacker is a stacker with power failure, abnormal communication and machine fault in the first stacker and the second stacker;
if one fault stacker is judged to exist, judging whether the fault stacker is in a movable state or not; if the fault stacker is judged to be in a movable state, controlling the fault stacker to move into a safety area, wherein the safety area is an area outside the range of a goods shelf on a roadway; determining an effective moving range of a non-fault stacker based on the avoidance parameter, a first row range parameter of the first stacker, a second row range parameter of the second stacker and a safety area, and taking the non-fault stacker as a target stacker; determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space;
the determining the effective moving range of the non-fault stacker based on the avoiding parameter, the first column range parameter of the first stacker, the second column range parameter of the second stacker and the safety area includes:
Determining an invalid column value range based on a column value range and an avoidance parameter included in the safety area, and subtracting the invalid column value range from the column value range parameter corresponding to the non-fault stacker to determine an effective cargo space of an effective movement range of the non-fault stacker;
if the target picking and placing position corresponding to the picking and placing task to be issued is located in the effective moving range, issuing the picking and placing task to be issued to the target stacker; if the target picking and placing position corresponding to the picking and placing task to be issued is located outside the effective moving range, determining an effective position of the picking and placing task to be issued in an effective moving range of the non-fault stacker, wherein the effective position refers to a column used for replacing the target picking and placing position corresponding to the picking and placing task to be issued in the effective moving range;
if the fault stacker is judged to be in an immovable state, determining an effective moving range of the non-fault stacker based on the avoidance parameter, a first row range parameter of the first stacker, a second row range parameter of the second stacker, a first real-time row parameter of the first stacker and a second real-time row parameter of the second stacker, and taking the non-fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
2. The method for scheduling a single-lane double-stacker according to claim 1, wherein determining a target stacker from the first stacker and the second stacker based on the interference determination result, the to-be-issued picking and placing task, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker includes:
judging whether at least partial coincidence exists between the first column range parameter of the first stacker and the second column range parameter of the second stacker based on the first column range parameter of the first stacker and the second column range parameter of the second stacker;
if the first column range parameter of the first stacker and the second column range parameter of the second stacker do not overlap at least partially, judging whether the target picking and placing position corresponding to the picking and placing task to be issued is located in the first column range parameter, if the target picking and placing position corresponding to the picking and placing task to be issued is located in the first column range parameter, taking the first stacker as a target stacker, and if the target picking and placing position corresponding to the picking and placing task to be issued is not located in the first column range parameter, taking the second stacker as a target stacker;
And according to the interference judging result, the real-time state of the first stacker and the real-time state of the second stacker, the task to be issued, fetched and placed to the target stacker.
3. The method for scheduling the single-roadway double-stacker according to claim 2, wherein the issuing the task to be issued to the target stacker according to the interference determination result, the real-time state of the first stacker and the real-time state of the second stacker includes:
if the interference judging result is that the first stacker and the second stacker are not interfered with the target picking and placing positions corresponding to the picking and placing task to be issued, and the real-time state of the first stacker and the real-time state of the second stacker are idle, issuing the picking and placing task to be issued to the target stacker;
and if the interference judging result is that the other stacker except the target stacker in the first stacker and the second stacker interferes with the target picking and placing position corresponding to the to-be-issued picking and placing task, the real-time state of the first stacker and the real-time state of the second stacker are idle, and after the other stacker is controlled to move out of the interference range, the to-be-issued picking and placing task is issued to the target stacker.
4. The method for scheduling a single-roadway double-stacker according to claim 3, wherein the issuing the task to be issued to the target stacker according to the interference determination result, the real-time state of the first stacker, and the real-time state of the second stacker further includes:
if the state of the other stacker is the task execution state, based on the picking and placing position corresponding to the picking and placing task being executed by the other stacker and the target picking and placing position corresponding to the picking and placing task to be issued, judging whether the other stacker interferes with the target picking and placing position corresponding to the picking and placing task to be issued, if the other stacker interferes with the target pick-and-place corresponding to the pick-and-place task to be issued, after the other stacker completes the pick-and-place task being executed, the other stacker is controlled to move out of the interference range, and the pick-and-place task to be issued is issued to the target stacker.
5. The method for scheduling a single-lane double-stacker according to claim 2, wherein the determining a target stacker from the first stacker and the second stacker based on the interference determination result, the to-be-issued picking and placing task, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker further comprises:
If there is at least partial coincidence between the first column range parameter of the first stacker and the second column range parameter of the second stacker, the interference judging result is that the first stacker and the second stacker are not interfered with the target picking and placing positions corresponding to the picking and placing task to be issued, the first stacker and the second stacker are in idle states, the first travelling distance from the first stacker to the target picking and placing position corresponding to the picking and placing task to be issued is determined based on the first real-time column parameter of the first stacker, the second travelling distance from the second stacker to the target picking and placing position corresponding to the picking and placing task to be issued is determined based on the second real-time column parameter of the second stacker, and the target stacker is determined based on the first travelling distance and the second travelling distance from the first stacker and the second stacker.
6. The method for scheduling a single-lane dual-stacker according to claim 5, wherein determining a target stacker from the first stacker and the second stacker based on the interference determination result, the to-be-issued picking and placing task, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker further comprises:
If at least partial coincidence exists between the first column range parameter of the first stacker and the second column range parameter of the second stacker, the interference judging result is that the first stacker and/or the second stacker are/is not interfered with the target picking and placing position corresponding to the to-be-released picking and placing task, the first stacker and the second stacker are in an idle state, based on the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the first travelling distance from the first stacker to the target picking and placing position corresponding to the to-be-released picking and placing task and the first avoiding distance from the first stacker to the target picking and placing position corresponding to the first to-be-released picking and placing task are determined, and based on the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker, the second travelling distance from the first stacker to the target picking and placing position corresponding to the first to the target picking and placing position corresponding to the to-be-released picking and placing task is determined.
7. The method for scheduling a single-lane dual-stacker according to claim 6, wherein the determining a target stacker from the first stacker and the second stacker based on the interference determination result, the to-be-issued picking and placing task, the first column range parameter of the first stacker and the second column range parameter of the second stacker, the first real-time column parameter of the first stacker and the second real-time column parameter of the second stacker further comprises:
if the state of the other stacker is the task execution state, judging whether the other stacker interferes with the target pick-and-place corresponding to the task to be issued or not based on the pick-and-place corresponding to the task to be issued and the target pick-and-place corresponding to the task to be issued, and if so, controlling the other stacker to move out of the interference range after the task to be issued is completed by the other stacker.
8. The utility model provides a scheduling system of two stackers in single tunnel of scheduling method of two stackers in single tunnel, is applied to two stackers in single tunnel, wherein, two stackers in single tunnel include the first stacker and the second stacker that set up on same tunnel, its characterized in that includes:
the parameter setting module is used for acquiring an avoidance parameter, a first row range parameter of the first stacker and a second row range parameter of the second stacker;
the task acquisition module is used for acquiring a to-be-issued picking and placing task;
the position acquisition module is used for acquiring a first real-time column parameter of the first stacker and a second real-time column parameter of the second stacker;
the interference judging module is used for judging whether the first stacker or the second stacker interferes with a target picking and placing position corresponding to the to-be-issued picking and placing task or not based on the to-be-issued picking and placing task, the avoidance parameter, the first real-time array parameter of the first stacker and the second real-time array parameter of the second stacker, and generating an interference judging result;
the task issuing module is used for determining a target stacker from the first stacker and the second stacker based on the interference judging result, the to-be-issued picking and placing task, the first row range parameter of the first stacker, the second row range parameter of the second stacker, the first real-time row parameter of the first stacker and the second real-time row parameter of the second stacker;
The task issuing module is further used for:
judging whether a fault stacker exists in the first stacker and the second stacker according to the state of the first stacker and the state of the second stacker, wherein the fault stacker is a stacker with power failure, abnormal communication and machine fault in the first stacker and the second stacker;
if one fault stacker is judged to exist, judging whether the fault stacker is in a movable state or not; if the fault stacker is judged to be in a movable state, controlling the fault stacker to move into a safety area, wherein the safety area is an area outside the range of a goods shelf on a roadway; determining an effective moving range of a non-fault stacker based on the avoidance parameter, a first row range parameter of the first stacker, a second row range parameter of the second stacker and a safety area, and taking the non-fault stacker as a target stacker; determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space;
the determining the effective moving range of the non-fault stacker based on the avoiding parameter, the first column range parameter of the first stacker, the second column range parameter of the second stacker and the safety area includes:
Determining an invalid column value range based on a column value range and an avoidance parameter included in the safety area, and subtracting the invalid column value range from the column value range parameter corresponding to the non-fault stacker to determine an effective cargo space of an effective movement range of the non-fault stacker;
if the target picking and placing position corresponding to the picking and placing task to be issued is located in the effective moving range, issuing the picking and placing task to be issued to the target stacker; if the target picking and placing position corresponding to the picking and placing task to be issued is located outside the effective moving range, determining an effective position of the picking and placing task to be issued in an effective moving range of the non-fault stacker, wherein the effective position refers to a column used for replacing the target picking and placing position corresponding to the picking and placing task to be issued in the effective moving range;
if the fault stacker is judged to be in an immovable state, determining an effective moving range of the non-fault stacker based on the avoidance parameter, a first row range parameter of the first stacker, a second row range parameter of the second stacker, a first real-time row parameter of the first stacker and a second real-time row parameter of the second stacker, and taking the non-fault stacker as a target stacker; and determining an effective cargo space of the to-be-issued picking and placing task in an effective moving range of the non-fault stacker, and issuing the to-be-issued picking and placing task based on the effective cargo space.
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