CN117575237A - Scheduling method, system, computer equipment and storage medium of annular shuttle - Google Patents

Scheduling method, system, computer equipment and storage medium of annular shuttle Download PDF

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CN117575237A
CN117575237A CN202311557393.1A CN202311557393A CN117575237A CN 117575237 A CN117575237 A CN 117575237A CN 202311557393 A CN202311557393 A CN 202311557393A CN 117575237 A CN117575237 A CN 117575237A
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shuttle
task
information
annular
executed
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陈国赞
周友幸
屈辉现
杨斌
李晓
林曾
杨文安
章宪华
付辰辰
刘祥文
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Chaint Corp
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Chaint Corp
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    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract

The invention provides a scheduling method, a scheduling system, computer equipment and a storage medium of an annular shuttle, which relate to the technical field of logistics management, wherein the scheduling method comprises the following steps: task information of a task to be executed on the first annular track is obtained. At least one currently inactive shuttle among the plurality of shuttles on the first endless track is determined. And determining a first shuttle among the at least one currently-inactive shuttle according to the position information of the receiving station. And sending task information of the task to be executed to the first shuttle, so that the first shuttle executes the task according to the task information of the task to be executed. And receiving the first feedback information from the first shuttle and ending the task to be executed. The invention improves the utilization rate of resources and the stability of industrial production. The method realizes data interaction with the warehouse management system, optimizes the dispatching management by using the data of the warehouse management system, and solves the problems of low utilization rate and turnover rate, high cost in intellectualization and poor economical efficiency.

Description

Scheduling method, system, computer equipment and storage medium of annular shuttle
Technical Field
The present invention relates to the field of logistics management technologies, and in particular, to a method, a system, a computer device, and a storage medium for scheduling an annular shuttle.
Background
The existing scheduling algorithm of the annular shuttle generally adopts a scheduling method of first-come first-served processing (First Come First Serve, fcfs), and the scheduling method has better performance in time response but poorer performance in resource utilization and efficiency.
The existing annular shuttle system is built by adopting an industrial control computer to realize dispatching calculation and control, so that the problem of overhigh cost exists, and the problem of reliability of realizing dispatching calculation and control by using the industrial control computer under complex and severe working conditions exists, for example, the reliability of the industrial control computer can be greatly reduced after long-time use.
The existing annular shuttle system is generally an independent system or is communicated with the outside through the whole system, so that data interaction and scheduling management are realized, and scheduling design and optimization cannot be performed by means of data fed back by other systems.
Disclosure of Invention
The embodiment of the invention aims to provide a scheduling method of an annular shuttle, which is used for solving the problem that the utilization rate and turnover rate of the annular shuttle are not high in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
in a first aspect, a scheduling method of an annular shuttle is provided, and the method is applied to a scheduling system of the annular shuttle, and includes: task information of a task to be executed on the first annular track is obtained. At least one currently inactive shuttle among the plurality of shuttles on the first endless track is determined. And determining a first shuttle among the at least one currently-inactive shuttle according to the position information of the receiving station. And sending task information of the task to be executed to the first shuttle, so that the first shuttle executes the task according to the task information of the task to be executed. And receiving the first feedback information from the first shuttle and ending the task to be executed. Wherein the task information includes location information of the receiving station and location information of the target station. The first shuttle meets a first preset condition, wherein the first preset condition comprises stopping running at a first moment and stopping due to inertia, and the distance between the traveling direction of the plurality of shuttles on the first annular track and the receiving platform is closest to the traveling direction of the plurality of shuttles. The first time is the time of acquiring task information of a task to be executed. The first feedback information is sent to the dispatching system of the annular shuttle after the first shuttle completes the task according to the task information of the task to be executed.
Optionally, the task information of the task to be executed is issued by the warehouse management system or generated manually on a man-machine interface of a dispatching system of the annular shuttle.
Optionally, determining at least one currently non-tasked shuttle among the plurality of shuttles on the first endless track includes: task information for each of a plurality of shuttles on a first endless track is retrieved. And determining the shuttle vehicle with the empty task information in the plurality of shuttle vehicles on the first annular track as the current non-task shuttle vehicle.
Optionally, determining the first shuttle among the at least one currently non-tasked shuttle according to the position information of the receiving station includes: and acquiring the position information and the speed information of each shuttle in at least one current non-task shuttle at the first moment. And acquiring the displacement of each of the at least one currently-inactive shuttle vehicles after stopping running at the first moment and stopping due to inertia according to the speed information of each of the at least one currently-inactive shuttle vehicles at the first moment. And acquiring the distance between each of the at least one currently-inactive shuttle vehicles and the receiving station along the running direction of the plurality of shuttle vehicles on the first annular track according to the position information of each of the at least one currently-inactive shuttle vehicle at the first moment, the displacement of each of the at least one currently-inactive shuttle vehicle at the first moment and the position information of the receiving station after the inertial stopping. And determining that the shuttle vehicle which is greater than or equal to 0 and is the minimum value along the running direction of the plurality of shuttle vehicles on the first annular track among the at least one currently-inactive shuttle vehicle is the first shuttle vehicle.
Optionally, the method further comprises: second feedback information from the first shuttle is received. And sending a first instruction to the first shuttle. And selecting a second shuttle from at least one currently non-tasked shuttle to execute the task to be executed. The second feedback information is sent to the dispatching system of the annular shuttle when the first shuttle fails to dock with the receiving station when reaching the receiving station. The first instruction is used for instructing the first shuttle to give up the task to be executed. The second shuttle vehicle meets a first preset condition.
Optionally, the method further comprises: third feedback information from the first shuttle is received. And sending a second instruction to the first shuttle. The third feedback information is sent to the dispatching system of the annular shuttle when the first shuttle fails to dock with the destination station when reaching the destination station. The second instruction is used for indicating that the first shuttle vehicle runs along the first annular track for one circle until reaching the destination station again and being successfully docked with the destination station.
Optionally, the method further comprises: fourth feedback information from the first shuttle is received. And sending a third instruction to an empty shuttle in front of the first shuttle. The fourth feedback information is sent to the dispatching system of the annular shuttle when the first shuttle detects that the idle shuttle in front stops the advancing route of the first shuttle. The third instruction is for instructing an empty shuttle car ahead of the first shuttle car to proceed.
In a second aspect, a dispatch system for an annular shuttle is provided. The dispatching system of the annular shuttle comprises: the system comprises a task information acquisition module, a non-task shuttle determining module, a first shuttle determining module, a task information sending module and a first feedback information receiving module. The task information acquisition module is configured to: task information of a task to be executed on the first annular track is obtained, wherein the task information comprises position information of a receiving station and position information of a target station. The task-free shuttle determination module is configured to: at least one currently inactive shuttle among the plurality of shuttles on the first endless track is determined. The first shuttle determination module is configured to: and determining a first shuttle among the at least one currently-inactive shuttle according to the position information of the receiving station. The first shuttle meets a first preset condition, wherein the first preset condition comprises stopping running at a first moment and stopping due to inertia, wherein the shuttle is located behind the receiving platform along the running direction of the plurality of shuttles on the first annular track, and the distance between the shuttle and the receiving platform is closest. The first time is the time of acquiring task information of a task to be executed. The task information sending module is set as follows: and sending task information of the task to be executed to the first shuttle. So that the first shuttle vehicle executes the task according to the task information of the task to be executed. The first feedback information receiving module is configured to: and receiving first feedback information from the first shuttle and ending the task to be executed. The first feedback information is sent to the dispatching system of the annular shuttle after the first shuttle completes the task according to the task information of the task to be executed.
In a third aspect, the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the above-mentioned scheduling method of the ring shuttle.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the above-described method of scheduling a ring shuttle.
The scheduling method, the scheduling system, the computer equipment and the storage medium of the annular shuttle provided by the invention have the beneficial effects that: the scheduling method of the annular shuttle based on logic control is used, so that the resource utilization rate is improved, the possible fault problem under the actual working condition operation condition is perfectly considered, and the stability of industrial production is improved. The method realizes data interaction with the warehouse management system, optimizes the dispatching management by using the data of the warehouse management system, realizes self-adaption and self-learning of a dispatching algorithm, improves the intelligent degree of the annular shuttle system and the warehouse management system, and solves the problems of low utilization rate and turnover rate, high cost in the intelligence and poor economy.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are required to be used in some embodiments of the present invention will be briefly described below, and it is apparent that the drawings in the following description are only drawings of some embodiments of the present invention, and other drawings may be obtained according to these drawings to those of ordinary skill in the art. Furthermore, the drawings in the following description may be regarded as schematic diagrams, not limiting the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. according to the embodiments of the present invention.
FIG. 1 is a flow chart of a method of scheduling a ring shuttle, according to some embodiments;
FIG. 2 is a flow chart of another method of scheduling a ring shuttle, according to some embodiments;
FIG. 3 is a flow chart of a method of scheduling a further ring shuttle in accordance with some embodiments;
fig. 4 is a schematic diagram of a distance between a shuttle and a receiving station according to some embodiments;
FIG. 5 is a flow chart of yet another method of scheduling a ring shuttle in accordance with some embodiments;
FIG. 6 is a flow chart of yet another method of scheduling a ring shuttle in accordance with some embodiments;
FIG. 7 is a flow chart of yet another method of scheduling a ring shuttle in accordance with some embodiments;
FIG. 8 is a block diagram of a dispatch system for a ring shuttle in accordance with some embodiments;
FIG. 9 is a block diagram of another ring shuttle scheduling system according to some embodiments;
FIG. 10 is a block diagram of a dispatch system of yet another ring shuttle in accordance with some embodiments;
FIG. 11 is a block diagram of a scheduling system of yet another ring shuttle in accordance with some embodiments;
FIG. 12 is a block diagram of a scheduling system of yet another ring shuttle in accordance with some embodiments;
FIG. 13 is a block diagram of a scheduling system of yet another ring shuttle in accordance with some embodiments;
fig. 14 is a block diagram of a computer device according to some embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments obtained by a person skilled in the art based on the embodiments provided by the present invention fall within the scope of protection of the present invention.
The embodiment of the invention provides a scheduling method of an annular shuttle, which is applied to a scheduling system of the annular shuttle.
As shown in fig. 1, the scheduling method of the annular shuttle includes steps 101 to 105.
Step 101, task information of a task to be executed on a first annular track is obtained.
In step 101, the task information includes location information of the receiving station and location information of the target station.
In some embodiments, the task information may also include a task code (e.g., task ID) and cargo information (e.g., a four digit pallet number of the cargo) to facilitate later traceability.
It will be appreciated that where a warehouse or plant includes a plurality of endless tracks, the endless shuttle scheduling system may schedule a shuttle on any of the plurality of endless tracks included in the warehouse or plant, and that the first endless track may be any of the plurality of endless tracks included in the warehouse or plant.
In some embodiments, the task information for the task to be performed is issued by a warehouse management system (Warehouse management system, WMS) or manually generated at a human-machine interface of a dispatch system of the ring shuttle.
It can be appreciated that in the scheduling method of the annular shuttle provided by the embodiment of the invention, the scheduling system of the annular shuttle can directly perform data interaction with the WMS, so that the scheduling process is simplified, and the intelligent degree of the annular shuttle system and the WMS is improved.
Step 102, determining at least one currently-inactive shuttle among a plurality of shuttles on the first endless track.
In some embodiments, as shown in fig. 2, the implementation of step 102 includes steps 1021 through 1022.
Step 1021, retrieving task information of each of the plurality of shuttles on the first endless track.
It can be appreciated that the task information of each of the plurality of shuttles on the first annular track is stored in real time on the dispatching system of the annular shuttles.
And 1022, determining the shuttle with the task information being empty in the plurality of shuttles on the first annular track as the current non-task shuttle.
It is understood that after the task information of each of the plurality of shuttles on the first endless track is retrieved, a shuttle in which the task information is empty among the plurality of shuttles on the first endless track may be determined as the currently non-task shuttle.
And step 103, determining a first shuttle among at least one currently-inactive shuttle according to the position information of the receiving station.
In step 103, the first shuttle vehicle meets a first preset condition, where the first preset condition includes stopping running at a first time and the shuttle vehicle is located at the rear of the receiving platform along the running direction of the plurality of shuttle vehicles on the first endless track due to the inertia stopping, and is closest to the receiving platform. The first time is the time of acquiring task information of a task to be executed.
In some embodiments, as shown in fig. 3, the implementation method of step 103 may include steps 1031 to 1034.
Step 1031, obtaining position information and speed information of each shuttle in at least one currently non-tasked shuttle at a first moment.
It is understood that the scheduling system of the annular shuttle may collect the position information of the first shuttle in real time.
The position information of each of the at least one currently inactive shuttle at the first time is exemplified as the position M of the shuttle on the first annular track at the first time 0 The speed information of each of the at least one currently non-tasking shuttle vehicles at the first moment is the instantaneous speed V of the shuttle vehicle running on the first annular track at the first moment 0 。
Step 1032, acquiring displacement of each of the at least one currently-inactive shuttle vehicles after stopping running at the first moment and stopping due to inertia according to the speed information of each of the at least one currently-inactive shuttle vehicles at the first moment.
It will be appreciated that the displacement S of each of the at least one currently inactive shuttle at the first moment and after stopping due to inertia can be calculated according to equation (1).
In the formula (1), the components are as follows,a is the gravitational acceleration, and t may be according to t=v 0 And/a.
It will be appreciated that each of the at least one currently inactive shuttle does not stop at the first time, and the purpose of obtaining the displacement in step 1032 is to obtain whether each of the at least one currently inactive shuttle stops at the first time and predicts whether each of the at least one currently inactive shuttle is able to dock with the receiving station due to the position of inertial stopping, and after the first shuttle is selected, the first shuttle does not stop and instead travels directly to the position of the receiving station according to the task information of the task to be performed.
Step 1033, obtaining the distance between each of the at least one currently non-tasked shuttles and the receiving station along the running direction of the plurality of shuttles on the first annular track according to the position information of each of the at least one currently non-tasked shuttles at the first moment, the displacement of each of the at least one currently non-tasked shuttles after stopping at the first moment and the position information of the receiving station.
It will be appreciated that the shuttle is located at a first time at a location M on the first endless track 0 And the displacement S of the shuttle after stopping running at the first moment and due to the inertia is added, so that the position of the shuttle on the first annular track after stopping due to the inertia can be obtained, the position of the shuttle on the first annular track after stopping is compared with the position information of the receiving platform, and the distance between each shuttle and the receiving platform in at least one currently-inactive shuttle in the running direction of a plurality of shuttles on the first annular track can be obtained.
Illustratively, as shown in fig. 4, both the shuttle C1 and the shuttle C2 are currently non-tasked shuttles on the first endless track T1. The position of the shuttle C1 at the first moment is C1M 0 The position of the shuttle C1 on the first annular track after stopping due to inertia is C1M 1 Position C2M of shuttle C2 at first moment 0 Shuttle C2 is stopped due to inertia after the firstA position on the circular track of C2M 1 The receiving station ST1 is located at M 2 The position C1M of the shuttle C1 on the first endless track after stopping due to inertia along the running direction of the plurality of shuttles on the first endless track 1 The distance D1 between the receiving station ST1 and the shuttle C2 along the traveling direction of the plurality of shuttles on the first endless track can be calculated according to the formula (2) and the position C2M of the shuttle C2 on the first endless track after the shuttle is stopped due to inertia 1 The distance D2 from the receiving station ST1 can be calculated according to equation (3).
D1＝M 2 -C1M 1 (2)
D2＝M 2 -C2M 1 (3)
Step 1034, determining that the shuttle vehicle with the distance between the receiving platform and the traveling direction along the plurality of shuttle vehicles on the first annular track being greater than or equal to 0 and being the minimum value is the first shuttle vehicle in the at least one currently-inactive shuttle vehicle.
It will be appreciated that, as shown in fig. 4, in the traveling direction of the plurality of shuttles on the first endless track, the position of the shuttle C2 on the first endless track after stopping due to inertia is located at the position M of the receiving station ST1 2 In front of, i.e. in the direction of travel of the plurality of shuttles on the first endless track, the position C2M of the shuttle C2 on the first endless track after stopping due to inertia 1 The distance D2 between the first endless track and the receiving station ST1 is smaller than 0, and the traveling direction of the plurality of shuttles on the first endless track is not changed in a short time, so that the shuttle C2 cannot retract to the position M2 of the receiving station ST1, and the shuttle C2 cannot perform the task to be performed.
As shown in fig. 4, in the traveling direction of the plurality of shuttles on the first endless track, the shuttle C1 is inertial stopped and then positioned at the position M of the receiving station ST1 at the position of the first endless track 2 Behind, i.e. in the direction of travel of the plurality of shuttles on the first endless track, the position C1M of the shuttle C1 on the first endless track after stopping due to inertia 1 The distance D1 from the receiving station ST1 is greater than 0, and the shuttle C1 is on the first endless track after stopping due to inertiaPosition on track C1M 1 The distance from the receiving station ST1 is the minimum value, so that the shuttle C1 may be selected as the first shuttle.
It will be appreciated that if there is a shuttle vehicle having a distance equal to 0 from the receiving station in the traveling direction of the plurality of shuttle vehicles on the first endless track, the shuttle vehicle is selected as the first shuttle vehicle.
And 104, transmitting task information of the task to be executed to the first shuttle.
It can be understood that, after the first shuttle is selected, the scheduling system of the annular shuttle can send the task information of the task to be executed to the first shuttle, and the first shuttle can execute the task according to the task information of the task to be executed after receiving the task information of the task to be executed.
Illustratively, the process of the first shuttle performing the task may be: and according to the position information of the receiving platform, the receiving platform arrives at the receiving platform and receives the goods, and after receiving the goods, the receiving platform starts to drive to the destination platform, arrives at the destination platform and unloads the goods.
Step 105, receiving first feedback information from the first shuttle and ending the task to be executed.
In step 105, the first feedback information is sent by the first shuttle to the dispatching system of the annular shuttle after completing the task according to the task information of the task to be executed.
It can be understood that the first shuttle is used for transporting the goods received from the receiving platform to the destination platform and discharging the goods successfully, that is, the first shuttle completes the task according to the task information of the task to be executed, so that the first feedback information can be sent to the dispatching system of the annular shuttle.
In some embodiments, as shown in fig. 5, the method for scheduling a ring car further includes steps 501 to 503.
Step 501, receiving second feedback information from the first shuttle.
In step 501, the second feedback information is sent by the first shuttle to the dispatch system of the ring-shaped shuttle when the first shuttle fails to dock with the receiving station when reaching the receiving station.
It will be appreciated that in the event that the first shuttle arrives at the receiving station ready to receive cargo but fails to dock with the receiving station, the first shuttle cannot receive cargo normally, and thus needs to send second feedback information to the dispatch system of the ring shuttle.
Step 502, a first instruction is sent to a first shuttle.
In step 502, a first instruction is used to instruct a first shuttle to discard a task to be performed.
Step 503, selecting a second shuttle from at least one currently non-task shuttle to execute the task to be executed.
In step 502, the second shuttle satisfies a first preset condition.
It will be appreciated that if the first shuttle is unable to perform the task, then one shuttle (the second shuttle) may be reselected to perform the task to be performed according to step 103. After the second shuttle is selected, the second shuttle is the shuttle for executing the task to be executed, and the steps related to the first shuttle in the scheduling method of the annular shuttle provided by the embodiment of the invention are applicable to the second shuttle.
In some embodiments, as shown in fig. 6, the method for scheduling a ring car further includes steps 601 to 602.
Step 601, receiving third feedback information from the first shuttle.
In step 601, the third feedback information is sent to the dispatch system of the ring-shaped shuttle when the first shuttle fails to dock with the destination station when the first shuttle arrives at the destination station.
It will be appreciated that in the event that the first shuttle fails to dock with the destination station when it arrives at the destination station, the first shuttle cannot discharge the cargo to the destination station, and thus the third feedback information needs to be sent to the dispatch system of the ring-shaped shuttle.
Step 602, a second instruction is sent to the first shuttle.
In step 602, the second instruction is used to instruct the first shuttle to travel along the first endless track for one turn until reaching the destination station again and docking with the destination station is successful.
It can be understood that the running directions of the plurality of shuttles on the first annular track are consistent, so that the first shuttle cannot retreat, if the first shuttle fails to dock with the destination station and is positioned in front of the destination station along the running directions of the plurality of shuttles on the first annular track, the first shuttle needs to travel round along the first annular track again to arrive at the destination station again, and if the docking fails again, the first shuttle travels round along the first annular track again to arrive at the destination station again until the docking of the first shuttle with the destination station is successful.
In some embodiments, as shown in fig. 7, the method for scheduling a ring car further includes steps 701 to 702.
Step 701, receiving fourth feedback information from the first shuttle.
In step 701, the fourth feedback information is sent by the first shuttle to the scheduling system of the annular shuttle when the first shuttle detects that the idle shuttle in front blocks the forward route of the first shuttle.
Step 702, a third instruction is sent to an empty shuttle in front of the first shuttle.
In step 702, a third instruction is used to instruct an empty shuttle car ahead of the first shuttle car to proceed.
It can be appreciated that if an empty shuttle exists in front of the first shuttle and the empty shuttle blocks the path of the first shuttle, the control systems of the first shuttle and the annular shuttle perform information interaction so as to improve the efficiency of executing the task by the first shuttle.
The embodiment of the invention provides a dispatching system of annular shuttles, as shown in fig. 8, the dispatching system 800 of annular shuttles comprises a task information acquisition module 801, a non-task shuttle determination module 802, a first shuttle determination module 803, a task information sending module 804 and a first feedback information receiving module 805.
The task information acquisition module 801 is configured to: task information of a task to be executed on the first annular track is obtained, wherein the task information comprises position information of a receiving station and position information of a target station.
In some embodiments, the task information of the task to be performed is issued by the warehouse management system or generated manually at a human-machine interface of the dispatch system of the ring shuttle.
The mission-free shuttle determination module 802 is configured to: at least one currently inactive shuttle among the plurality of shuttles on the first endless track is determined.
The first shuttle determination module 803 is configured to: and determining a first shuttle among the at least one currently-inactive shuttle according to the position information of the receiving station. The first shuttle meets a first preset condition, wherein the first preset condition comprises stopping running at a first moment and stopping due to inertia, wherein the shuttle is located behind the receiving platform along the running direction of the plurality of shuttles on the first annular track, and the distance between the shuttle and the receiving platform is closest. The first time is the time of acquiring task information of a task to be executed.
The task information transmission module 804 is configured to: and sending task information of the task to be executed to the first shuttle. So that the first shuttle vehicle executes the task according to the task information of the task to be executed. And
the first feedback information receiving module 805 is configured to: and receiving first feedback information from the first shuttle and ending the task to be executed. The first feedback information is sent to the dispatching system of the annular shuttle after the first shuttle completes the task according to the task information of the task to be executed.
In the embodiment, the scheduling method of the annular shuttle based on logic control is used, so that the resource utilization rate is improved, the possible fault problem under the actual working condition operation condition is perfectly considered, and the stability of industrial production is improved.
In the embodiment, a Programmable Logic Controller (PLC) is used as a control core, so that the cost is saved, the economy is improved, and the stability and the reliability of the system are improved.
In some embodiments, as shown in fig. 9, the no-task shuttle determination module 802 includes a task information retrieval unit 8021 and a no-task shuttle determination unit 8022.
The task information retrieval unit 8021 is configured to: task information for each of a plurality of shuttles on a first endless track is retrieved.
The no-task shuttle determination unit 8022 is set to: and determining the shuttle with the task information being empty in the plurality of shuttles on the first annular track as the current no-task shuttle.
In some embodiments, as shown in fig. 10, the first shuttle determination module 803 includes a position and velocity information acquisition unit 8031, a displacement determination unit 8032, a distance determination unit 8033, and a first shuttle determination unit 8034.
The position and velocity information acquisition unit 8031 is configured to: and acquiring the position information and the speed information of each shuttle in at least one current non-task shuttle at the first moment.
The displacement determination unit 8032 is configured to: and acquiring the displacement of each of the at least one currently-inactive shuttle vehicles after stopping running at the first moment and stopping due to inertia according to the speed information of each of the at least one currently-inactive shuttle vehicles at the first moment.
The distance determination unit 8033 is configured to: and acquiring the distance between each of the at least one currently-inactive shuttle vehicles and the receiving station along the running direction of the plurality of shuttle vehicles on the first annular track according to the position information of each of the at least one currently-inactive shuttle vehicle at the first moment, the displacement of each of the at least one currently-inactive shuttle vehicle at the first moment and the position information of the receiving station after the inertial stopping.
The first shuttle determination unit 8034 is configured to: among at least one currently inactive shuttle, a shuttle that is a minimum value and has a distance of 0 or more from the receiving station in the traveling direction of the plurality of shuttles on the first endless track is determined as the first shuttle.
In some embodiments, as shown in fig. 11, the dispatching system 800 of the ring-shaped shuttle further includes a second feedback information receiving module 806, a first instruction sending module 807, and a second shuttle determining module 808.
The second feedback information receiving module 806 is configured to: second feedback information from the first shuttle is received. The second feedback information is sent to the dispatching system of the annular shuttle when the first shuttle fails to dock with the receiving station when arriving at the receiving station.
The first instruction sending module 807 is configured to: and sending a first instruction to the first shuttle. The first instruction is used for instructing the first shuttle to give up the task to be executed.
The second shuttle determination module 808 is configured to: and selecting a second shuttle from at least one currently non-task shuttle to execute the task to be executed. The second shuttle vehicle meets a first preset condition.
In some embodiments, as shown in fig. 12, the dispatch system 800 of the ring-shaped shuttle further includes a third feedback information receiving module 809 and a second instruction sending module 810.
The third feedback information receiving module 809 is configured to: third feedback information from the first shuttle is received. The third feedback information is sent to the dispatching system of the annular shuttle when the first shuttle fails to dock with the destination station when reaching the destination station.
The second instruction sending module 810 is configured to: and sending a second instruction to the first shuttle. The second instruction is used for indicating that the first shuttle vehicle runs along the first annular track for one circle until reaching the destination station again and being successfully docked with the destination station.
In some embodiments, as shown in fig. 13, the scheduling system 800 of the ring-shaped shuttle further includes a fourth feedback information receiving module 811 and a third instruction transmitting module 812.
The fourth feedback information receiving module 811 is configured to: fourth feedback information from the first shuttle is received. The fourth feedback information is sent to the dispatching system of the annular shuttle when the first shuttle detects that the idle shuttle in front stops the advancing route of the first shuttle.
The third instruction sending module 812 is configured to: and sending a third instruction to an empty shuttle in front of the first shuttle car. The third instruction is for instructing an empty shuttle car ahead of the first shuttle car to proceed.
Illustratively, the shuttle control system includes an electric cabinet and a data acquisition module. The inner side of the electric cabinet, which is close to the track, is provided with a remote control signal receiving device for receiving a remote control signal of the remote controller to the shuttle vehicle. The electric cabinet is internally provided with a frequency converter, a communication device, a main control unit and the frequency converter. The communication device is used for sending and receiving signals and control commands of the shuttle main control unit and other terminals; the main control unit is used for processing signals of various sensors, sending out corresponding operation instructions according to the corresponding signals, and an alarm indicator lamp is arranged above the electric cabinet and used for indicating the state of the shuttle. The data acquisition module comprises a bar code scanner and a light sensation for detecting goods, wherein the bar code scanner is used for reading bar codes attached to the rails and acquiring position data of the shuttle car. The light sensation is used for sensing the shuttle cargo signal.
It is appreciated that the modules of the dispatch system 800 of the ring shuttle may be integrated into an electric cabinet.
It can be appreciated that the scheduling system of the annular shuttle provided by the embodiment of the invention uses the Programmable Logic Controller (PLC) as a control core, so that the cost can be saved, the economy can be improved, and the stability and the reliability of the system can be improved. The scheduling system of the annular shuttle provided by the embodiment of the invention uses the scheduling method of the annular shuttle based on logic control, improves the resource utilization rate, perfects and considers possible fault problems under the condition of actual working condition operation, and improves the stability of industrial production. The scheduling system of the annular shuttle provided by the embodiment of the invention realizes data interaction with the WMS, optimizes scheduling management by using the data feedback of the WMS, realizes self-adaption and self-learning of a scheduling algorithm, and improves the degree of intellectualization of the scheduling system of the annular shuttle and the WMS.
The specific scheme and the beneficial effects of the scheduling system 800 for an annular shuttle according to the embodiments of the present invention may refer to the related description of the scheduling method for an annular shuttle according to the embodiments of the present invention, which is not described herein again.
An embodiment of the present invention provides a computer apparatus, as shown in fig. 14, where the computer apparatus 1400 includes a memory 1401 and a processor 1402, and the memory 1401 stores a computer program, and when the processor 1402 runs the computer program stored in the memory 1401, the processor 1402 executes the method for scheduling a ring-shaped shuttle in the above embodiment.
The specific scheme and the beneficial effects of the computer device 1400 can refer to the related description of a scheduling method of the annular shuttle vehicle provided by the embodiment of the present invention, which is not repeated herein.
An embodiment of the present invention provides a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the method for scheduling a ring shuttle in the above embodiment.
The specific scheme and the beneficial effects of the readable storage medium can refer to the related description of the scheduling method of the annular shuttle provided by the embodiment of the invention, and are not repeated here.
The foregoing is merely illustrative of the embodiments of the present invention, and the present invention is not limited thereto, and any person skilled in the art will recognize that changes and substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The scheduling method of the annular shuttle is applied to a scheduling system of the annular shuttle and is characterized by comprising the following steps of:
acquiring task information of a task to be executed on a first annular track, wherein the task information comprises position information of a receiving station and position information of a target station;
determining at least one currently non-tasked shuttle among a plurality of shuttles on the first endless track;
determining a first shuttle among the at least one currently non-tasked shuttle according to the position information of the receiving station; the first shuttle car meets a first preset condition, wherein the first preset condition comprises stopping running at a first moment, and the shuttle car is located behind the receiving platform along the running direction of a plurality of shuttle cars on the first annular track after being stopped due to inertia, and the distance between the first shuttle car and the receiving platform is closest; the first moment is the moment of acquiring the task information of the task to be executed;
transmitting task information of the task to be executed to the first shuttle; so that the first shuttle vehicle executes the task according to the task information of the task to be executed; and
receiving first feedback information from the first shuttle and ending the task to be executed; the first feedback information is sent to the dispatching system of the annular shuttle after the first shuttle completes the task according to the task information of the task to be executed.
2. The method for dispatching the annular shuttle according to claim 1, wherein the task information of the task to be executed is issued by a warehouse management system or generated manually on a human-computer interface of a dispatching system of the annular shuttle.
3. The method for scheduling annular shuttles of claim 1 wherein said determining at least one currently inactive shuttle among a plurality of shuttles on said first annular track comprises:
retrieving task information of each shuttle in the plurality of shuttles on the first annular track; and
and determining the shuttle with the empty task information in the plurality of shuttles on the first annular track as the current no-task shuttle.
4. The method for scheduling annular shuttles of claim 1 wherein said determining a first shuttle among said at least one currently inactive shuttle based on said receiving station location information comprises:
acquiring position information and speed information of each shuttle in the at least one currently-inactive shuttle at a first moment;
acquiring displacement of each of the at least one currently-inactive shuttle vehicles after stopping running at the first moment and stopping due to inertia according to the speed information of each of the at least one currently-inactive shuttle vehicles at the first moment;
acquiring the distance between each of the at least one currently-inactive shuttle vehicles and the receiving station along the running direction of the plurality of shuttle vehicles on the first annular track according to the position information of each of the at least one currently-inactive shuttle vehicle at the first moment, the displacement of each of the at least one currently-inactive shuttle vehicle at the first moment after the at least one currently-inactive shuttle vehicle stops running and due to inertia and the position information of the receiving station; and
and determining that the shuttle vehicle which is greater than or equal to 0 and is the minimum value along the running direction of the plurality of shuttle vehicles on the first annular track in the at least one currently-inactive shuttle vehicle is the first shuttle vehicle.
5. The method for scheduling an annular shuttle of claim 1, further comprising:
receiving second feedback information from the first shuttle; the second feedback information is sent to a dispatching system of the annular shuttle when the first shuttle is failed to dock with the receiving station when reaching the receiving station;
sending a first instruction to the first shuttle; the first instruction is used for indicating the first shuttle to give up the task to be executed; and
selecting a second shuttle from the at least one currently non-task shuttle to execute the task to be executed; the second shuttle vehicle meets the first preset condition.
6. The method for scheduling an annular shuttle of claim 1, further comprising:
receiving third feedback information from the first shuttle; the third feedback information is sent to a dispatching system of the annular shuttle when the first shuttle is failed to dock with the destination station when reaching the destination station;
sending a second instruction to the first shuttle; the second instruction is used for indicating that the first shuttle vehicle runs along the first annular track for one circle until reaching the destination station again and docking with the destination station is successful.
7. The method for scheduling an annular shuttle of claim 1, further comprising:
receiving fourth feedback information from the first shuttle; the fourth feedback information is sent to the dispatching system of the annular shuttle when the first shuttle detects that the idle shuttle in front stops the advancing route of the first shuttle;
sending a third instruction to an empty shuttle in front of the first shuttle; the third instruction is to instruct an empty shuttle car forward in front of the first shuttle car.
8. A dispatch system for an annular shuttle, comprising:
a task information acquisition module configured to: acquiring task information of a task to be executed on a first annular track, wherein the task information comprises position information of a receiving station and position information of a target station;
the no-task shuttle determining module is configured to: determining at least one currently non-tasked shuttle among a plurality of shuttles on the first endless track;
a first shuttle determination module configured to: determining a first shuttle among the at least one currently non-tasked shuttle according to the position information of the receiving station; the first shuttle car meets a first preset condition, wherein the first preset condition comprises stopping running at a first moment, and the shuttle car is located behind the receiving platform along the running direction of a plurality of shuttle cars on the first annular track after being stopped due to inertia, and the distance between the first shuttle car and the receiving platform is closest; the first moment is the moment of acquiring the task information of the task to be executed;
a task information transmission module configured to: transmitting task information of the task to be executed to the first shuttle; so that the first shuttle vehicle executes the task according to the task information of the task to be executed; and
a first feedback information receiving module configured to: receiving first feedback information from the first shuttle and ending the task to be executed; the first feedback information is sent to the dispatching system of the annular shuttle after the first shuttle completes the task according to the task information of the task to be executed.
9. A computer device, characterized by comprising a memory and a processor, the memory having stored therein a computer program, which when executed by the processor performs the method of scheduling a ring shuttle according to any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the scheduling method of the endless shuttle vehicle according to any one of claims 1 to 7.
CN202311557393.1A 2023-11-21 2023-11-21 Scheduling method, system, computer equipment and storage medium of annular shuttle Pending CN117575237A (en)

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