CN116125921A - Material scheduling method, computer device and storage medium - Google Patents
Material scheduling method, computer device and storage medium Download PDFInfo
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- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
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Abstract
The application provides a material scheduling method, a computer device and a storage medium, wherein the method comprises the following steps: determining first machine data of a material calling machine, generating a material scheduling task according to the first machine data, and determining second machine data of a material sending machine corresponding to the material scheduling task; determining a target lifting device and a target navigation vehicle for executing the material scheduling task based on the first machine data and the second machine data, and determining a target path of the target navigation vehicle; and controlling the target navigation vehicle to run according to the target path, and finishing the material dispatching task in cooperation with the target lifting device. According to the material dispatching method and device, the material dispatching task can be automatically generated, and the material dispatching efficiency is improved based on the navigation vehicle and the lifting device.
Description
Technical Field
The present disclosure relates to the field of logistics technologies, and in particular, to a material scheduling method, a computer device, and a storage medium.
Background
In conventional manufacturing production, a worker manually pulls a cart to deliver the invoked material to a designated production line based on the assigned job ticket. Under the condition that the number of work orders is huge and the materials are more, a great deal of manpower is often consumed, and the efficiency is low.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a material scheduling method, a computer device, and a storage medium that can automatically generate a material scheduling task and improve the efficiency of material scheduling based on a navigation vehicle and a lifting device.
The material scheduling method comprises the following steps: determining first machine data of a material calling machine, generating a material scheduling task according to the first machine data, and determining second machine data of a material sending machine corresponding to the material scheduling task;
determining a target lifting device and a target navigation vehicle for executing the material scheduling task based on the first machine data and the second machine data, and determining a target path of the target navigation vehicle;
and controlling the target navigation vehicle to run according to the target path, and finishing the material dispatching task in cooperation with the target lifting device.
Optionally, the method further comprises: and monitoring the material quantity of all production machines, and taking any production machine as the material calling machine when the material quantity of any production machine is smaller than a preset material threshold.
Optionally, the method further comprises:
determining the distance between the position of each production machine in each floor and each lifting device;
And distributing corresponding lifting devices for each production machine of each floor according to the distance, and establishing a corresponding relation between each production machine and the distributed lifting devices.
Optionally, the first machine data includes a material calling floor where the material calling machine is located, a first position of the material calling machine at the material calling floor, and a lifting device corresponding to the material calling machine;
the second machine table data comprise a material sending floor where the material sending machine table is located, a second position where the material sending machine table is located, and a lifting device corresponding to the material sending machine table.
Optionally, the method further comprises: based on the first machine data and the second machine data, determining whether the lifting device corresponding to the material calling machine and the lifting device corresponding to the material sending machine are identical or not:
when the material calling machine table and the material sending machine table correspond to the same lifting device and the corresponding lifting device is in an idle state, the corresponding lifting device is used as the target lifting device; when the corresponding lifting device is not in an idle state, selecting a lifting device which is nearest to the corresponding lifting device and is in an idle state as the target lifting device;
When the material calling machine table and the material sending machine table correspond to different lifting devices, any lifting device in an idle state in the two corresponding lifting devices is determined to be used as the target lifting device; and if both corresponding lifting devices are not in the idle state, selecting the lifting device which is recovered to the idle state fastest as the target lifting device.
Optionally, determining the target navigation vehicle based on the first machine data and the second machine data includes:
determining a first navigation vehicle positioned on the material calling floor based on a first distance between all navigation vehicles in an idle state of the material calling floor and the first position and a second distance between the material calling machine and the target lifting device;
determining a second navigation vehicle positioned on the material sending floor based on a third distance between all navigation vehicles in an idle state of the material sending floor and the target lifting device and a fourth distance between the material sending machine table and the target lifting device;
and taking the first navigation vehicle and the second navigation vehicle as the target navigation vehicle.
Optionally, the determining the target path of the target navigation vehicle includes:
Determining a shortest running path and a common rail area of the target navigation vehicle based on a preset grid map of each floor, determining the running path of the target navigation vehicle in the common rail area, and splicing the shortest running path outside the common rail area and the running path in the common rail area into the target path, wherein the method for determining the common rail area comprises the following steps: and determining the intersection area of a plurality of shortest running paths of the plurality of target navigation vehicles as a common rail area of the plurality of target navigation vehicles.
Optionally, the controlling the target navigation vehicle to travel according to the target path and complete the material dispatching task in cooperation with the target lifting device includes:
controlling the target lifting device to run to the material calling floor;
controlling the first navigation vehicle to travel to the material calling machine according to the target path;
after the first navigation vehicle carries the carrier with the empty state, controlling the first navigation vehicle to travel to the target lifting device according to the target path;
controlling the target lifting device to convey the empty carrier to the material sending floor;
controlling the second navigation vehicle to travel to the target lifting device according to the target path;
After the second navigation vehicle bears the empty carrier, controlling the second navigation vehicle to travel to the material sending machine according to the target path;
controlling the second navigation vehicle to convey the carrier loaded with the materials to the target lifting device according to the target path;
after the first navigation vehicle bears the carrier for loading the materials, controlling the target lifting device to convey the carrier for loading the materials to the material calling floor;
and controlling the first navigation vehicle to convey the carrier for loading the materials to the material calling machine table according to the target path, so as to finish the material dispatching task.
The computer readable storage medium stores at least one instruction that when executed by a processor implements the material scheduling method.
The computer device includes a memory and at least one processor, the memory having at least one instruction stored therein that when executed by the at least one processor implements the material scheduling method.
Compared with the prior art, the material scheduling method, the computer device and the storage medium can generate a material scheduling task for the material calling machine, determine the material sending machine corresponding to the material calling machine, determine the target navigation vehicle and the target lifting device according to the material calling machine and the material sending machine, plan a target path for the target navigation vehicle, control the target navigation vehicle to run according to the target path, and finish the material scheduling task in cooperation with the target lifting device. By means of the method and the device, when the production machine lacks materials, the target navigation vehicle and the target lifting device can be determined through the position relation between the machine, so that a target path is planned to control the target navigation vehicle and the target lifting device, material supplement to the production machine can be efficiently completed, material scheduling completion efficiency is improved, and production efficiency and production persistence are guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
Fig. 1 is an application environment diagram of a material scheduling method provided in an embodiment of the present application.
Fig. 2 is a flowchart illustrating an example of a material scheduling method according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating an example of a material scheduling method according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a computer device according to an embodiment of the present application.
The following detailed description will further illustrate the application in conjunction with the above-described figures.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, and the described embodiments are merely some, rather than all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Referring to fig. 1, an application environment diagram of a material scheduling method according to a preferred embodiment of the present application is shown. In this embodiment, the material scheduling method may be applied to an application environment formed by the computer device 3, the lifting device 2 and the navigation vehicle 1, where the lifting device 2 and the navigation vehicle 1 are respectively connected to the computer device 3 in a communication manner (for example, by a transmission control protocol (english full name, TCP)/internet protocol (english full name, IP), that is, a TCP/IP protocol connection).
In one embodiment, the lifting device 2 may comprise a plurality of intelligent lifting devices (e.g., elevators with control plug-ins installed, capable of remote control), and the navigator 1 may comprise a plurality of autonomous navigator vehicles (Automated Guided Vehicle, AGV) that can be driven automatically, e.g., laser navigator vehicles. The navigation vehicle 1 can automatically travel along a predetermined route without manual navigation, automatically transport goods or materials from a starting point to a destination, automatically position the goods or materials to determine the position of the goods or materials, and acquire surrounding environmental images during traveling, and the like.
The computer device 3 may include a material scheduling system 30 for remotely and cooperatively controlling the lifting device 2 and the navigation vehicle 1, so as to control the lifting device 2 and the navigation vehicle 1, as described with reference to the exemplary diagram of the computer device 3 shown in fig. 4. In this embodiment, the material dispatching system 30 may implement remote control of the lifting device 2 and the navigation vehicle 1 by using an API/SDK, where the API represents an application programming interface (Application Programming Interface), and the SDK represents a software development kit (Software Development Kit).
As shown in fig. 2, the material dispatching method specifically includes the following steps, the order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted.
Step S1, a computer device determines first machine data of a material calling machine, generates a material dispatching task according to the first machine data, and determines second machine data of a material sending machine corresponding to the material dispatching task.
The material scheduling method provided by the embodiment of the application can be applied to an intelligent factory in the manufacturing industry, the intelligent factory can comprise a plurality of buildings, each building can comprise a plurality of floors, and each floor can belong to different departments, such as a material processing department, a material storage department and the like. Each building may include a plurality of (e.g., 3) lifting devices (e.g., elevators that are vertically up and down) that operate between multiple floors of the same building to enable communication of materials between the multiple floors within the same building, e.g., to transport materials from a floor (e.g., 2 floors) at which a storage department of a storage silo to a floor (e.g., 6 floors) at which a processing department of materials is located, etc. Specifically, the material processing departments and the material storage departments of the same material are generally located on the same building, but not on the same floor.
In one embodiment, each floor may include a plurality of (e.g., 9) production tools, which may include tools for processing a certain material, which may include a part to be processed, e.g., an iron piece a to be processed, which may be used to process (e.g., polish, drill, etc.) the iron piece a. Each floor may include a plurality of (e.g., 6) warehouse stations, which may include stations for storing a material that may include components to be processed (e.g., iron sheet a to be processed).
In one embodiment, the method further comprises: and determining the distance between the position of each production machine and each lifting device in each floor, distributing corresponding lifting devices for each production machine of each floor according to the distance, and establishing the corresponding relation between each production machine and the distributed lifting devices.
In one embodiment, the production machines may be installed at fixed positions on a floor, and the euclidean distance between each production machine and each lifting device may be calculated as the distance. For example, a plane rectangular coordinate system may be established at each floor, coordinates of each production machine and each lifting device in the plane rectangular coordinate system may be determined, and the euclidean distance may be calculated according to the coordinates.
In one embodiment, the production machines of each floor may be classified according to the distance, where each class corresponds to one lifting device and each class includes a plurality of production machines, so as to allocate a corresponding lifting device to each production machine of each floor, and establish a correspondence between each production machine and the allocated lifting device. In particular, the classification may be implemented using a method such as a k-nearest neighbor algorithm.
In one embodiment, the correspondence between each warehouse rack and the assigned lifting device may also be established in the same manner as described above.
In one embodiment, after determining the environmental information such as the position of the production machine in each floor, the position of each lifting device, etc., a map corresponding to each floor may be constructed according to the environmental information. Furthermore, a map navigation two-dimensional code corresponding to the map of each floor can be generated, wherein the map navigation two-dimensional code comprises navigation paths for running among all places in the map, for example, the navigation paths from any production machine to any lifting device can be input into a navigation vehicle, and the navigation vehicle can automatically run according to the paths in the map navigation two-dimensional code.
In one embodiment, the method further comprises: and monitoring the material quantity of all production machines, and taking any production machine as the material calling machine when the material quantity of any production machine is smaller than a preset material threshold (for example, 100).
In one embodiment, the material scheduling system monitors the machine data of each production machine in real time, the machine data including the quantity of material per production machine, e.g., the quantity of iron sheets for processing the iron sheet production machines. Each production machine can comprise a material temporary storage area, and the material temporary storage areas are used for storing corresponding materials to be processed.
Specifically, because the model specifications of each material are different (for example, the width and the thickness of the iron sheet a are different from those of the iron sheet B), the carriers with different sizes can be used for carrying the corresponding materials, and the carriers carrying the materials are placed in the material temporary storage area. The material temporary storage area can also be used for storing carriers with empty states corresponding to materials.
In one embodiment, the production machine takes the material from the carrier of the material temporary storage area through a pre-installed mechanical arm device, and the mechanical arm device is used for transferring the material to a processing table of the production machine for processing.
In one embodiment, the method for obtaining the material quantity by the material monitoring system includes, but is not limited to: the method comprises the steps of obtaining a first quantity of historical material scheduling tasks of the material temporary storage area from a preset database (for example, starting from filling materials into the material temporary storage area in an empty state for the first time, obtaining a second quantity of materials transferred to a processing table of a production machine by the mechanical arm, and obtaining a material quantity updated in real time based on the first quantity and the second quantity as the material quantity.
Specifically, the material quantity scheduled by each material scheduling task can be correspondingly stored in the database, and the first quantity is obtained from the database. The amount of material filled into the material staging area may be obtained based on a first amount, the amount of material removed from the material staging area may be obtained based on the second amount, and the amount of material removed may be subtracted from the amount of material filled to obtain the amount of material for the production tool.
In addition, when the material scheduling task fills the material into the material temporary storage area, the mechanical arm can be used for taking, placing and transferring the material, and the first quantity and the second quantity can be obtained based on the operation times of the mechanical arm.
In one embodiment, after determining the material calling machine, triggering to generate a material scheduling task for the material calling machine, where the material scheduling task includes scheduling a preset number of corresponding materials for the material calling machine, where the preset number may be set according to an actual production requirement, a loading threshold of a navigation vehicle, a loading threshold of a lifting device, and the like, and may be set to 70, for example.
In one embodiment, the first machine data may be obtained from the database, where the first machine data includes a material calling floor where the material calling machine is located, a first position of the material calling machine at the material calling floor, and a lifting device corresponding to the material calling machine. For example, the first machine data may be searched in the database based on the number of the material calling machine.
In one embodiment, when the second machine data is determined according to the first machine data, a floor closest to the material calling floor may be determined as the material sending floor from floors of a material storage department corresponding to a material required by the material calling machine. And determining a storage machine closest to a lifting device corresponding to the material calling machine from storage machines with the material quantity larger than or equal to the preset quantity in the material sending floors as the material sending machine.
The second machine table data comprise a material sending floor where the material sending machine table is located, a second position where the material sending machine table is located, and a lifting device corresponding to the material sending machine table. For example, the lifting device corresponding to the material sending machine table and the second position may be searched in the database based on the number of the material sending machine table.
Step S2, the computer device determines a target lifting device and a target navigation vehicle for executing the material dispatching task based on the first machine data and the second machine data, and determines a target path of the target navigation vehicle.
In one embodiment, the method further comprises: and determining whether the lifting device corresponding to the material calling machine and the lifting device corresponding to the material sending machine are identical or not based on the first machine data and the second machine data.
When the material calling machine table and the material sending machine table correspond to the same lifting device and the corresponding lifting device is in an idle state, the corresponding lifting device is used as the target lifting device; when the corresponding lifting device is not in the idle state, a lifting device which is nearest to the corresponding lifting device and is in the idle state is selected as the target lifting device.
When the material calling machine table and the material sending machine table correspond to different lifting devices, any lifting device in an idle state in the two corresponding lifting devices is determined to be used as the target lifting device; and if both corresponding lifting devices are not in the idle state, selecting the lifting device which is recovered to the idle state fastest as the target lifting device. For example, lifter a will return to the idle state after 3 minutes and lifter B will return to the idle state after 5 minutes, identifying lifter a as the target lifter.
In one embodiment, whether the state of each lifting device is an idle state can be determined from the database, a task list of each lifting device can be obtained from the database, and the time for each lifting device to recover to the idle state is determined according to the task list, so that the lifting device which recovers to the idle state fastest is selected, and the time for a navigation vehicle to wait for the lifting device in a material scheduling task is reduced.
In one embodiment, determining the target navigation vehicle based on the first machine data and the second machine data includes:
determining a first navigation vehicle positioned on the material calling floor based on a first distance between all navigation vehicles in an idle state of the material calling floor and the first position and a second distance between the material calling machine and the target lifting device;
Determining a second navigation vehicle positioned on the material sending floor based on the third distance between the material sending machine and the target lifting device and the fourth distance between the material sending machine and the target lifting device of all navigation vehicles in the idle state of the material sending floor;
and taking the first navigation vehicle and the second navigation vehicle as the target navigation vehicle.
In one embodiment, the computer device may split the material scheduling task into a plurality of subtasks according to the first machine data and the second machine data, and may determine required task parameters, such as a first remaining power, a first distance, a second remaining power, a third distance, and the like, according to the plurality of subtasks. For example, the plurality of subtasks may include, but are not limited to: the subtasks at the call floor, the subtasks at the delivery floor, in particular, each subtask will be described in the subsequent steps.
In one embodiment, assuming that the traveling speeds of all the navigation vehicles are consistent, the determining the first navigation vehicle located at the call floor includes: and constructing a first optimization model based on the first distance and the second distance, wherein an objective function of the first optimization model aims at the shortest first running time of the navigation vehicle in the material calling floor, and the navigation vehicle with the shortest first running time is determined as the first navigation vehicle according to the first optimization model. Wherein first travel time= (first distance + second distance)/travel speed.
In one embodiment, in addition to the first distance and the second distance, a first remaining capacity (for example, 50% of the remaining capacity) of the navigation vehicle located on the charge floor may be considered, and a second optimization model of multiple targets may be constructed according to the first distance, the second distance and the first remaining capacity, where the multiple targets include a target with a shortest driving time of the navigation vehicle and a maximum remaining capacity of the navigation vehicle.
In one embodiment, the method of determining the second navigation vehicle at the delivery floor is similar to the method of determining the first navigation vehicle described above, and the description will not be repeated.
In one embodiment, the method first determines a target lift device and then determines a target navigation vehicle based on the target lift device. In other embodiments, the target navigation vehicle may be determined first, and then the target lifting device may be determined based on the target navigation vehicle, using a method similar to the method described above.
For example, a third optimization model with multiple targets can be established according to a fifth distance between the material calling machine and the navigation vehicle in an idle state of the material calling floor, a sixth distance between the material sending machine and the navigation vehicle in an idle state of the material sending floor, and the residual electric quantity of the navigation vehicle, and the first navigation vehicle and the second navigation vehicle are determined through the third optimization model; and constructing a fourth optimization model by taking the shortest time of the navigation vehicle to travel to the lifting device as a target by the seventh distance of the first navigation vehicle from each lifting device and the eighth distance of the second navigation vehicle from each lifting device, and determining the target lifting device by the fourth optimization model.
In one embodiment, the determining the target path of the target navigation vehicle includes: and determining a shortest running path and a common rail area of the target navigation vehicle based on a preset grid map of each floor, determining the running path of the target navigation vehicle in the common rail area, and splicing the shortest running path outside the common rail area and the running path in the common rail area into the target path.
In one embodiment, in combination with generating the map navigation two-dimensional code of each floor in step S1, a grid map of each floor may be further constructed in advance, where the construction method of the grid map is a conventional technical means in the art, for example, each production machine may be used as an obstacle, the grid size of the grid map may be determined according to the size of the obstacle and the size of the navigation vehicle, the grid area with the obstacle may be used as an unperceivable area, and the area without the obstacle may be used as a navigable area, so as to construct the grid map of each floor. Specifically, detailed description is not given.
In one embodiment, a common algorithm in grid map path planning, such as the A-Star algorithm, may be employed in determining the shortest travel path of the target navigation vehicle. For example, the coordinates of the material calling machine table and the coordinates of the target lifting device can be determined from the grid map corresponding to the material calling floor, and an open list and a close list are created; initializing an open list and a close list to be empty, and putting the coordinates of a material calling machine table into the open list to serve as a first starting node; judging whether the open list is empty, if so, terminating the algorithm, and if not, continuing to execute the algorithm; selecting a node n which enables a preset path cost function f (n) to be minimum from the open list as a current node, and putting the n pop-up open list into a close list; judging whether the coordinates of the node n are the coordinates of the target lifting device, if so, finding a path, starting backtracking from the current node n to the coordinates of a material calling machine table of a starting node, terminating an algorithm, and sequentially returning all father nodes to obtain the shortest running path, wherein the shortest running path is also a global optimal path from the coordinates of the material calling machine table to the coordinates of the target lifting device in a grid map; if not, go to the next step of judgment.
In one embodiment, since there may be a case where a plurality of target navigation vehicles in the same floor perform different tasks at the same time, a crossing area may exist for a plurality of shortest travel paths corresponding to the plurality of target navigation vehicles. The method for determining the common rail region comprises the following steps: and determining the intersection area of a plurality of shortest running paths of the plurality of target navigation vehicles as a common rail area of the plurality of target navigation vehicles.
In one embodiment, in order to avoid collision of the plurality of target navigation vehicles in the common rail region, a travel path of the target navigation vehicle in the common rail region needs to be determined, wherein two intersection points of a shortest travel path of the target navigation vehicle and the common rail region are first determined, and then the two intersection points are respectively corresponding to a start point and an end point of the travel path in the common rail region according to a travel direction of the target navigation vehicle. For example, a plurality of travel paths of each target navigation vehicle may be newly found in the common rail region, for example, the shortest k (e.g., 3) travel paths among the travel paths of each target navigation vehicle in the common rail region; among the plurality of travel paths of each target navigation vehicle, a travel path that does not collide with other target navigation vehicles is determined. In one embodiment, to avoid collision of a plurality of target navigation vehicles in the common rail region, the method further comprises:
Setting the common rail region as a management region when the number of the target navigation vehicles in the common rail region exceeds a management threshold (e.g., 4);
controlling the target navigation vehicle to send a passing request every preset period (for example, 5 seconds) before entering the common rail area;
and when the passing request is received and the common rail area is a control area, controlling the target navigation vehicle to stand by and continuously send the passing request in the next period, or when the passing request is received and the common rail area is not the control area, controlling the target navigation vehicle to continuously run according to the target path.
In addition, in other embodiments, the first navigation vehicle and the second navigation vehicle may be the same navigation vehicle, and the material dispatching system controls the single navigation vehicle to complete the transportation of the material at the material calling floor and the material sending floor.
And step S3, controlling the target navigation vehicle to run according to the target path, and finishing the material dispatching task in cooperation with the target lifting device.
In one embodiment, the material scheduling task may be completed by completing a plurality of subtasks into which the material scheduling task is split, the splitting manners of the material scheduling task are different, then the target paths are different, and the cooperative manners of the target navigation vehicle and the target lifting device are different. For example, the subtasks on the material calling floor may include acquiring carriers with empty status from the material calling machine, transporting carriers loaded with materials to the material calling machine, etc. (for example, task 1 shown in fig. 3); the subtasks at the delivery floor may include transporting the empty carriers to the delivery platform, transporting the carriers loaded with material to the target lifting device, etc. (e.g., task 2 shown in fig. 3).
In one embodiment, the controlling the target navigation vehicle to travel according to the target path and complete the material dispatching task in cooperation with the target lifting device includes:
controlling the target lifting device to run to the material calling floor;
controlling the first navigation vehicle to travel to the material calling machine according to the target path;
after the first navigation vehicle carries the carrier with the empty state, controlling the first navigation vehicle to travel to the target lifting device according to the target path;
controlling the target lifting device to convey the empty carrier to the material sending floor;
controlling the second navigation vehicle to travel to the target lifting device according to the target path;
after the second navigation vehicle bears the empty carrier, controlling the second navigation vehicle to travel to the material sending machine according to the target path;
controlling the second navigation vehicle to convey the carrier loaded with the materials to the target lifting device according to the target path;
after the first navigation vehicle bears the carrier for loading the materials, controlling the target lifting device to convey the carrier for loading the materials to the material calling floor;
And controlling the first navigation vehicle to convey the carrier loaded with the materials to the material calling machine table according to the target path, and completing the material dispatching task.
In one embodiment, in addition to the method that the target lifting device reaches the material calling floor in advance, the target lifting device can be controlled to synchronously run to the material calling floor while the target navigation vehicle drives to the target lifting device, so that the task efficiency is improved.
In one embodiment, after completing the material scheduling task, the method further comprises: and updating the material quantity of the material calling machine. For example, the newly scheduled material quantity is added to the existing material quantity of the feeder station.
In one implementation, as shown in fig. 3, a flow example of a material scheduling method provided in the embodiment of the present application is shown in fig. two. The material scheduling method provided by the embodiment of the application has the beneficial effects that at least: monitoring the material quantity of the production machine, and immediately starting a material transferring task for the material calling machine; the available target navigation vehicle and the target lifting device which are closest to the material scheduling task are determined, the target path with the shortest time consumption is determined for the target navigation vehicle, and the digitalization, informatization, intellectualization and automation of the logistics in the factory are realized based on the automatic linkage interaction of the target navigation vehicle and the target lifting device without manual intervention, so that the logistics efficiency and the production efficiency are improved.
The above-mentioned fig. 2-3 describe in detail the material scheduling method of the present application, and the following describes the architecture of the hardware device for implementing the material scheduling method with reference to fig. 4.
It should be understood that the embodiments described are for illustrative purposes only and are not limited to this configuration in the scope of the patent application.
Referring to fig. 4, a schematic structural diagram of a computer device according to a preferred embodiment of the present application is shown.
In the preferred embodiment of the present application, the computer device 3 includes a memory 31, at least one processor 32. It will be appreciated by those skilled in the art that the configuration of the computer device shown in fig. 4 is not limiting of the embodiments of the present application, and that either a bus-type configuration or a star-type configuration is possible, and that the computer device 3 may also include more or less other hardware or software than that shown, or a different arrangement of components.
In some embodiments, the computer device 3 includes a terminal capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and its hardware includes, but is not limited to, a microprocessor, an application specific integrated circuit, a programmable gate array, a digital processor, an embedded device, and the like.
It should be noted that the computer device 3 is only used as an example, and other electronic products that may be present in the present application or may be present in the future are also included in the scope of the present application and are incorporated herein by reference.
In some embodiments, the memory 31 is used to store program code and various data. For example, the memory 31 may be used to store a material scheduling system 30 installed in the computer apparatus 3 and to enable high-speed, automatic access to programs or data during operation of the computer apparatus 3. The Memory 31 includes a Read-Only Memory (ROM), a programmable Read-Only Memory (PROM), an erasable programmable Read-Only Memory (EPROM), a One-time programmable Read-Only Memory (One-time Programmable Read-Only Memory, OTPROM), an Electrically erasable rewritable Read-Only Memory (EEPROM), a compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, a magnetic tape Memory, or any other computer readable storage medium that can be used to carry or store data.
In some embodiments, the at least one processor 32 may be comprised of an integrated circuit, for example, a single packaged integrated circuit, or may be comprised of multiple integrated circuits packaged with the same or different functions, including one or more central processing units (Central Processing unit, CPU), microprocessors, digital processing chips, graphics processors, combinations of various control chips, and the like. The at least one processor 32 is a Control Unit (Control Unit) of the computer device 3, connects the respective components of the whole computer device 3 using various interfaces and lines, and executes various functions of the computer device 3 and processes data, such as the function of material scheduling shown in fig. 2, by running or executing programs or modules stored in the memory 31, and calling data stored in the memory 31.
In some embodiments, the material scheduling system 30 is run in the computer device 3. The material handling system 30 may comprise a plurality of functional modules that are comprised of program code segments. Program code for the individual program segments in the material handling system 30 may be stored in the memory 31 of the computer device 3 and executed by the at least one processor 32 for realizing the material handling functions shown in fig. 2.
In this embodiment, the material dispatching system 30 may be divided into a plurality of functional modules according to the functions performed by the material dispatching system. A module as referred to in this application refers to a series of computer program segments, stored in a memory, capable of being executed by at least one processor and of performing a fixed function.
Although not shown, the computer device 3 may further include a power source (such as a battery) for powering the various components, and preferably the power source may be logically connected to the at least one processor 32 via a power management device, such that functions of managing charging, discharging, and power consumption are performed by the power management device. The power supply may also include one or more of any of a direct current or alternating current power supply, recharging device, power failure detection circuit, power converter or inverter, power status indicator, etc. The computer device 3 may further include various sensors, bluetooth modules, wi-Fi modules, etc., which will not be described in detail herein.
It should be understood that the embodiments described are for illustrative purposes only and are not limited to this configuration in the scope of the patent application.
The integrated units implemented in the form of software functional modules described above may be stored in a computer readable storage medium. The software functional modules described above are stored in a storage medium and include instructions for causing a computer device (which may be a server, a personal computer, etc.) or a processor (processor) to perform portions of the methods described in various embodiments of the present application.
The memory 31 has program code stored therein, and the at least one processor 32 can invoke the program code stored in the memory 31 to perform related functions. Program code stored in the memory 31 may be executed by the at least one processor 32 to perform the functions of the various modules for purposes of material scheduling.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be other manners of division when actually implemented.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it will be obvious that the term "comprising" does not exclude other elements or that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted equally without departing from the spirit and scope of the technical solution of the present application.
Claims (10)
1. A material scheduling method applied to a computer device, wherein the computer device is in communication connection with a navigation vehicle and a lifting device, the method comprising:
determining first machine data of a material calling machine, generating a material scheduling task according to the first machine data, and determining second machine data of a material sending machine corresponding to the material scheduling task;
determining a target lifting device and a target navigation vehicle for executing the material scheduling task based on the first machine data and the second machine data, and determining a target path of the target navigation vehicle;
and controlling the target navigation vehicle to run according to the target path, and finishing the material dispatching task in cooperation with the target lifting device.
2. The method of material scheduling according to claim 1, wherein the method further comprises: and monitoring the material quantity of all production machines, and taking any production machine as the material calling machine when the material quantity of any production machine is smaller than a preset material threshold.
3. The method of material scheduling according to claim 1, wherein the method further comprises:
determining the distance between the position of each production machine in each floor and each lifting device;
and distributing corresponding lifting devices for each production machine of each floor according to the distance, and establishing a corresponding relation between each production machine and the distributed lifting devices.
4. The material scheduling method according to claim 3, wherein the first machine data includes a material calling floor where the material calling machine is located, a first position of the material calling machine at the material calling floor, and a lifting device corresponding to the material calling machine;
the second machine table data comprise a material sending floor where the material sending machine table is located, a second position where the material sending machine table is located, and a lifting device corresponding to the material sending machine table.
5. The method of material scheduling according to claim 4, further comprising:
based on the first machine data and the second machine data, determining whether the lifting device corresponding to the material calling machine and the lifting device corresponding to the material sending machine are identical or not:
when the material calling machine table and the material sending machine table correspond to the same lifting device and the corresponding lifting device is in an idle state, the corresponding lifting device is used as the target lifting device; when the corresponding lifting device is not in an idle state, selecting the lifting device which is nearest to the corresponding lifting device and is in the idle state as the target lifting device;
When the material calling machine table and the material sending machine table correspond to different lifting devices, any lifting device in an idle state in the two corresponding lifting devices is determined to be used as the target lifting device; and if both corresponding lifting devices are not in the idle state, selecting the lifting device which is recovered to the idle state fastest as the target lifting device.
6. The method of material scheduling of claim 4, wherein determining the target navigation vehicle based on the first machine data and the second machine data comprises:
determining a first navigation vehicle positioned on the material calling floor based on a first distance between all navigation vehicles in an idle state of the material calling floor and the first position and a second distance between the material calling machine and the target lifting device;
determining a second navigation vehicle positioned on the material sending floor based on a third distance between all navigation vehicles in an idle state of the material sending floor and the target lifting device and a fourth distance between the material sending machine table and the target lifting device;
and taking the first navigation vehicle and the second navigation vehicle as the target navigation vehicle.
7. The method of material scheduling according to claim 1, wherein the determining the target path of the target navigation vehicle comprises:
Determining a shortest running path and a common rail area of the target navigation vehicle based on a preset grid map of each floor, determining the running path of the target navigation vehicle in the common rail area, and splicing the shortest running path outside the common rail area and the running path in the common rail area into the target path, wherein the method for determining the common rail area comprises the following steps: and determining the intersection area of a plurality of shortest running paths of the plurality of target navigation vehicles as a common rail area of the plurality of target navigation vehicles.
8. The material scheduling method according to claim 6, wherein the controlling the target navigation vehicle to travel along the target path and complete the material scheduling task in cooperation with the target lifting device includes:
controlling the target lifting device to run to the material calling floor;
controlling the first navigation vehicle to travel to the material calling machine according to the target path;
after the first navigation vehicle carries the carrier with the empty state, controlling the first navigation vehicle to travel to the target lifting device according to the target path;
controlling the target lifting device to convey the empty carrier to the material sending floor;
Controlling the second navigation vehicle to travel to the target lifting device according to the target path;
after the second navigation vehicle bears the empty carrier, controlling the second navigation vehicle to travel to the material sending machine according to the target path;
controlling the second navigation vehicle to convey the carrier loaded with the materials to the target lifting device according to the target path;
after the first navigation vehicle bears the carrier for loading the materials, controlling the target lifting device to convey the carrier for loading the materials to the material calling floor;
and controlling the first navigation vehicle to convey the carrier loaded with the materials to the material calling machine table according to the target path, and completing the material dispatching task.
9. A computer readable storage medium storing at least one instruction which when executed by a processor implements the method of material scheduling of any one of claims 1 to 8.
10. A computer device comprising a memory and at least one processor, the memory storing at least one instruction that when executed by the at least one processor implements the material scheduling method of any one of claims 1 to 8.
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