CN117923045A

CN117923045A - Charging scheduling method and device for shuttle, shuttle and storage medium

Info

Publication number: CN117923045A
Application number: CN202410096351.0A
Authority: CN
Inventors: 马晓宇; 邓笑宇; 胡金星; 张国梁
Original assignee: Beijing Jd Yuansheng Technology Co ltd
Current assignee: Beijing Jd Yuansheng Technology Co ltd
Priority date: 2024-01-23
Filing date: 2024-01-23
Publication date: 2024-04-26

Abstract

The disclosure provides a charging scheduling method and device for a shuttle, the shuttle and a storage medium, and relates to the field of warehouse logistics. The method comprises the following steps: under the condition that the first chargers work, traversing the electric quantity of each first shuttle which is being charged by using the first chargers, and under the condition that the electric quantity of any one first shuttle is larger than an electric quantity threshold value, issuing a charging task to a second shuttle with the highest priority which waits to be charged by the first chargers; and when a plurality of third shuttles wait to be charged by the first charger, taking part of the third shuttles in the plurality of third shuttles as inter-group dispatching shuttles, and dispatching to use the second charger for charging. According to the charging method and the charging device, charging of the shuttle car in the roadway can be achieved through a small number of chargers, the utilization rate of the chargers is improved, the number of the chargers is reduced, and therefore hardware cost is reduced.

Description

Charging scheduling method and device for shuttle, shuttle and storage medium

Technical Field

The disclosure relates to the field of warehouse logistics, in particular to a charging scheduling method and device for a shuttle, the shuttle and a storage medium.

Background

In a multi-roadway automatic warehouse based on a multi-layer shuttle system, one roadway is provided with a plurality of layers of shelves, one layer of shelves is at most provided with one shuttle, the shuttle horizontally moves in the shelves, and the picking and placing tasks are executed.

The current charging scheduling method of the shuttle is that the RCS (Robots Control System, robot control system) system issues a charging task to assign the shuttle to charge only when the electric quantity of the shuttle is lower than the minimum threshold. Because a plurality of shuttles can greatly prolong the charging time of a shuttle when one charger charges, the charging efficiency is influenced, therefore, on the configuration of the chargers, one charger is generally arranged on every 4 layers of shelves to meet the charging requirement of the shuttle, and the condition that a plurality of shuttles share one charger is avoided.

Disclosure of Invention

The technical problem to be solved by the present disclosure is to provide a charging scheduling method and apparatus for a shuttle, a shuttle and a storage medium, which can improve the utilization rate of a charger and reduce the hardware cost.

According to an aspect of the present disclosure, a charging scheduling method for a shuttle is provided, including: under the condition that the first chargers work, traversing the electric quantity of each first shuttle which is being charged by using the first chargers, and under the condition that the electric quantity of any one first shuttle is larger than an electric quantity threshold value, issuing a charging task to a second shuttle with the highest priority which waits to be charged by the first chargers; and when a plurality of third shuttles wait to be charged by the first charger, taking part of the third shuttles in the plurality of third shuttles as inter-group dispatching shuttles, and dispatching to use the second charger for charging.

In some embodiments, scheduling the portion of the third shuttles of the plurality of third shuttles as inter-group scheduling shuttles to charge using the second charger comprises: aiming at each inter-group dispatching shuttle, determining a shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched according to a shelf layer where the inter-group dispatching shuttle is located and a distance value between each shelf receiving layer in the shelf receiving layers corresponding to a plurality of idle chargers, wherein the idle chargers are chargers which do not correspond to the shuttles waiting to be charged and have electric quantity of the charging shuttles larger than an electric quantity threshold; and dispatching the inter-group dispatching shuttle to the corresponding goods shelf receiving layer, and charging by using a second charger.

In some embodiments, determining the shelf receiving layer to which the inter-group dispatch shuttle is to be dispatched further comprises: and determining a goods shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched according to the distance value and the carrying task number difference value between each goods shelf receiving layer in the goods shelf receiving layers corresponding to the plurality of idle chargers.

In some embodiments, according to a shelf layer where the inter-group dispatch shuttle is located, a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers and a difference value of a number of transport tasks, determining a shelf receiving layer to which the inter-group dispatch shuttle is to be dispatched includes: calculating the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer according to the shelf layer where the inter-group dispatching shuttle is located, the distance value between the inter-group dispatching shuttle and each shelf receiving layer and the difference value of the number of carrying tasks, and selecting the shelf receiving layer with the lowest cost as an intention layer of the inter-group dispatching shuttle; and in the shuttle which takes the goods shelf receiving layer with the lowest cost selected by the inter-group scheduling shuttle as the intention layer, if the corresponding cost of the inter-group scheduling shuttle is the lowest, taking the intention layer as the goods shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled.

In some embodiments, calculating the cost of the inter-group dispatch shuttle from the shelf level to each shelf receiving level based on the distance value between the inter-group dispatch shuttle and each shelf receiving level and the number of transfer tasks difference comprises: performing a close operation on the difference value of the number of the carrying tasks corresponding to the shelf layer where the inter-group dispatching shuttle is located and the number of the carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter; taking the distance value between the shelf layer where the inter-group dispatching shuttle is located and each shelf receiving layer as a second cost parameter; and obtaining the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

In some embodiments, the shelf receiving layer corresponding to the idle charger is the shelf layer with the most handling tasks among the shelf layers corresponding to the idle charger.

In some embodiments, according to a shelf layer where the inter-group dispatch shuttle is located, determining a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, the shelf receiving layer to which the inter-group dispatch shuttle is to be dispatched includes: and determining the shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched by taking the shortest sum of distances from the shelf layer to the shelf receiving layer of the shuttle to be dispatched to the shelf receiving layer corresponding to the idle chargers for charging as a target.

In some embodiments, according to a shelf layer where the inter-group dispatch shuttle is located, determining a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, the shelf receiving layer to which the inter-group dispatch shuttle is to be dispatched includes: and determining the goods shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched by taking the shortest distance as a target.

In some embodiments, taking a portion of the third shuttles of the plurality of third shuttles as inter-group dispatch shuttles comprises: and taking part of the third shuttles as inter-group scheduling shuttles according to the order of the priority from low to high under the condition that the number of the third shuttles is larger than the number threshold, wherein the number of the inter-group scheduling shuttles is smaller than the number of the third shuttles and is larger than or equal to the difference between the number of the third shuttles and the number threshold.

In some embodiments, the charging task is terminated by issuing to the first shuttle under at least one condition that the first shuttle is full of power, the shuttle malfunctions, and the first shuttle is greater than a power threshold and the shelf layer on which the transfer task is located is satisfied.

In some embodiments, in the case of issuing a charging task to the second shuttle, issuing to the first shuttle with an electrical quantity greater than an electrical quantity threshold ends the charging task.

According to another aspect of the present disclosure, there is also provided a charging scheduling method of a shuttle, including: under the condition that the shuttle waits to be charged by the first charger, determining the priority of the shuttle waiting to be charged; when the first charger works and the electric quantity of any shuttle vehicle which is being charged by using the first charger is larger than an electric quantity threshold, if the priority of the shuttle vehicle is the highest priority, determining to charge by the first charger; and if the priority of the shuttle is not the highest priority, determining to continue to wait for charging through the first charger, or determining to schedule the goods shelf receiving layer so as to charge through the second charger.

In some embodiments, determining the shelf receiving layer to be scheduled comprises: and determining a shelf receiving layer to which the shuttle is to be dispatched according to the distance value between each shelf receiving layer in the shelf receiving layer corresponding to the plurality of idle chargers, wherein the idle chargers are chargers which do not correspond to the shuttle waiting for charging and the electric quantity of the charging shuttle is larger than an electric quantity threshold value.

In some embodiments, determining the shelf receiving layer to be scheduled further comprises: and determining a goods shelf receiving layer to be dispatched by the shuttle according to the distance value between each goods shelf receiving layer in the goods shelf receiving layers corresponding to the plurality of idle chargers and the difference value of the number of the carrying tasks.

In some embodiments, according to a shelf layer where the shuttle is located, a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers and a carrying task number difference value, determining the shelf receiving layer to which the shuttle is to be scheduled includes: according to the shelf layer where the shuttle is located, the distance value between the shelf receiving layer and each shelf receiving layer and the carrying task number difference value, calculating the cost of the shuttle from the shelf layer where the shuttle is located to each shelf receiving layer, and selecting the shelf receiving layer with the lowest cost as an intention layer of the shuttle; and receiving a scheduling instruction sent by an idle charger corresponding to the intention layer, and taking the intention layer as a goods shelf receiving layer to be scheduled by the shuttle, wherein if the idle charger determines that the shuttle is the shuttle with the lowest cost in the shuttle taking the goods shelf receiving layer corresponding to the idle charger as the intention layer, the scheduling instruction is sent.

In some embodiments, calculating the cost of the shuttle from the shelf level to each shelf receiving level based on the distance value between the shelf level of the shuttle and each shelf receiving level and the number of transfer tasks difference comprises: performing a dense operation by using a difference value between the number of carrying tasks corresponding to the shelf layer where the shuttle is located and the number of carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter; taking a distance value between a shelf layer where the shuttle is positioned and each shelf receiving layer as a second cost parameter; and obtaining the cost of the shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

In some embodiments, determining to continue waiting for charging by the first charger, or determining the shelf receiving layer to be scheduled, comprises: under the condition that the number of the shuttles waiting to be charged by the first charger is larger than a number threshold, determining whether to continue to wait for charging by the first charger according to the priority of the shuttles waiting to be charged; and determining the shelf receiving layer to be scheduled under the condition that the first charger is not continuously waiting for charging.

In some embodiments, in a case where the shuttle is being charged by the first charger, if at least one of the conditions of full charge, a shuttle failure, and a charge greater than a charge threshold and a carrier layer having a transport task is met, it is determined to end the charging.

According to another aspect of the present disclosure, there is also provided a first charging schedule apparatus, including: the intra-group scheduling module is configured to traverse the electric quantity of each first shuttle which is being charged by the first charger under the condition that the first charger works, and send a charging task to the second shuttle with the highest priority which waits to be charged by the first charger under the condition that the electric quantity of any one first shuttle is larger than an electric quantity threshold value; and the inter-group scheduling module is configured to schedule part of the third shuttles in the plurality of third shuttles as inter-group scheduling shuttles to be charged by using the second charger when the plurality of third shuttles still exist to wait for being charged by the first charger.

According to another aspect of the present disclosure, there is also provided a first charging schedule apparatus, including: a memory; and a processor coupled to the memory, the processor configured to perform a charge scheduling method as described above based on instructions stored in the memory.

According to another aspect of the present disclosure, there is also provided a second charging schedule apparatus, including: the priority determining module is configured to determine the priority of the shuttle waiting for charging when the shuttle waiting for charging by the first charger; and the processing module is configured to determine to charge through the first charger if the priority of the shuttle is the highest priority under the condition that the first charger works and the electric quantity of any one of the shuttles which are being charged by using the first charger is greater than an electric quantity threshold; and if the priority of the shuttle is not the highest priority, determining to continue to wait for charging through the first charger, or determining to schedule the goods shelf receiving layer so as to charge through the second charger.

According to another aspect of the present disclosure, there is also provided a second charging schedule apparatus, including: a memory; and a processor coupled to the memory, the processor configured to perform a charge scheduling method as described above based on instructions stored in the memory.

According to another aspect of the present disclosure, there is also provided a shuttle vehicle, including: the second charging scheduling device; or according to the instruction output by the first charging scheduling device.

According to another aspect of the disclosure, there is also provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a charge scheduling method as described above.

According to another aspect of the disclosure, a computer program product is also presented, comprising a computer program or instructions which, when executed by a processor, implement the above-described charge scheduling method.

In the embodiment of the disclosure, according to the priority of the shuttle waiting for charging, part of the shuttle participates in the intra-group scheduling, and part of the shuttle participates in the inter-group scheduling, and as the shuttle can be charged by using other charging machines with idle charging groups, the charging of the shuttle in the whole roadway can be realized by a small number of charging machines, the utilization rate of the charging machines is improved, the number of the charging machines is reduced, and therefore, the hardware cost is reduced.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which:

Fig. 1 is a flow diagram of some embodiments of a charge scheduling method of a shuttle of the present disclosure;

fig. 2 is a flow chart of other embodiments of a charging scheduling method of a shuttle of the present disclosure;

FIG. 3 is a schematic diagram of some embodiments of inter-group scheduling of the present disclosure;

fig. 4 is a flow chart of other embodiments of a charging scheduling method of a shuttle of the present disclosure;

Fig. 5 is a flow chart of other embodiments of a charging scheduling method of a shuttle of the present disclosure;

FIG. 6 is a schematic diagram of some embodiments of a charging schedule device of the present disclosure;

FIG. 7 is a schematic diagram of other embodiments of a charging schedule device of the present disclosure; and

Fig. 8 is a schematic structural diagram of other embodiments of a charging schedule device of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

In the related art, one charger is arranged on each 4-layer goods shelf, the hardware investment is large under the condition that the number of the goods shelf layers is relatively large, the total electric capacity is large, and when the number of the shuttles is small, a plurality of chargers are idle, the charger equipment utilization rate is low, and waste is caused. In addition, in the related art, the electric quantity of the shuttle car is not lower than the lower limit and can be in a standby state when no task is performed, the charging machine is in an idle state when the power of the shuttle car is consumed, the working efficiency of the shuttle car is affected, and the equipment utilization rate of the charging machine is low.

Fig. 1 is a flow diagram of some embodiments of a charge scheduling method of a shuttle of the present disclosure. This embodiment is performed by a charge scheduling device, such as an RCS system. The RCS system is responsible for task allocation, scheduling, operation and maintenance of all shuttles. Since an automated warehouse contains multiple lanes, each lane is relatively independent, each lane is handled separately.

In step 110, under the condition that the first chargers are operated, the electric quantity of each first shuttle which is being charged by the first chargers is traversed, and under the condition that the electric quantity of any one first shuttle is greater than an electric quantity threshold value, a charging task is issued to the second shuttle with the highest priority waiting to be charged by the first chargers.

In some embodiments, when the shuttle is low or idle, queuing charging is performed, and priority ordering is performed on the shuttle waiting to be charged by the first charger. For example, the shuttle vehicles to be charged by the first charger are prioritized according to the order of the vehicle numbers from low to high when the electric quantity is from low to high and the electric quantity is the same and the number of the transportation tasks is from high to low when the electric quantity and the number of the transportation tasks are the same, wherein the shuttle vehicles with high priorities are charged preferentially.

In some embodiments, the shelf level served by one charger is referred to as one charging group, and there are many chargers and how many charging groups there are. One charger is used as a service desk, a shuttle is used as a customer, each service desk serves a limited number of customers each time, and when the service desk is busy, the customers need to wait in a queue. The charging schedule of the shuttle car in one roadway can be described by m queuing models, namely m chargers are arranged, and each charger is provided with a queuing queue. The shuttle arrival time obeys the exponential distribution, and the charging time obeys the general distribution.

In some embodiments, the power threshold is, for example, 75%, and if there is a shuttle in a charging group that has a power greater than or equal to 75%, then a new shuttle is allowed to charge. If the electric quantity of each shuttle car being charged is less than 75%, other shuttle cars are not allowed to be charged, so that the problem that the charging efficiency of each shuttle car is low due to the fact that too many shuttle cars are charged simultaneously is solved.

And when the charging task is issued to the shuttle with the highest priority, issuing waiting charging tasks to other shuttle.

In step 120, when there are a plurality of third shuttles waiting for charging by the first charger, a part of the third shuttles in the plurality of third shuttles is used as an inter-group scheduling shuttle, and the inter-group scheduling shuttle is scheduled to be charged by the second charger.

In the step, if the number of the queued shuttles of one charging group is excessive, the shuttles are allowed to be changed to other groups for charging by using a layer-changing elevator in the same roadway.

In some embodiments, when the number of third shuttles is greater than the number threshold, taking part of the third shuttles as inter-group scheduling shuttles according to the order of the priority from low to high, wherein the number of inter-group scheduling shuttles is smaller than the number of the third shuttles and greater than or equal to the difference between the number of the third shuttles and the number threshold.

For example, the number threshold is 2, and if the number of shuttles waiting for charging is greater than 2, the current charging group is busy. For example, in addition to the current highest priority shuttle, the remaining shuttles participate in inter-group dispatch to charge other groups that may be charged. Or other shuttles except the current highest priority and the second highest priority participate in inter-group scheduling, namely, charging is carried out by using other idle chargers.

In the above embodiment, according to the priority of the shuttle waiting for charging, part of the shuttle participates in the intra-group scheduling, and part of the shuttle participates in the inter-group scheduling, and because the shuttle can be charged by using the idle chargers of other charging groups, the charging of the shuttle in the whole roadway can be realized by a small number of chargers, the utilization rate of the chargers is improved, the number of chargers is reduced, and thus the hardware cost is reduced.

Fig. 2 is a flow chart of other embodiments of a charging scheduling method of a shuttle vehicle of the present disclosure.

In step 210, for each inter-group scheduling shuttle, according to the shelf layer where the inter-group scheduling shuttle is located, a distance value between each shelf receiving layer in the shelf receiving layers corresponding to a plurality of idle chargers is determined, where the idle chargers are chargers that have no corresponding shuttle waiting for charging and the electric quantity of the charging shuttle is greater than an electric quantity threshold.

In some embodiments, if a certain charger does not have a corresponding shuttle waiting for charging, and the electric quantity of the charging shuttle is greater than or equal to 75%, indicating that the current charger is idle.

In some embodiments, the shelf receiving layer corresponding to the idle charger is the shelf layer with the most handling tasks among the shelf layers corresponding to the idle charger. The probability that the shuttle on the shelf layer with the most tasks is about to be charged is small, and the shelf layer is used as a shelf receiving layer, so that the probability that the layer receives other shuttles to charge and then the shuttle on the layer is required to be charged is reduced.

In some embodiments, according to the shelf layer where the inter-group dispatching shuttle is located, a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers and a carrying task number difference value, determining the shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched.

For example, according to the shelf layer where the inter-group dispatching shuttle is located, the distance value between the inter-group dispatching shuttle and each shelf receiving layer and the difference value of the number of carrying tasks, the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer is calculated, and the shelf receiving layer with the lowest cost is selected as the intention layer of the inter-group dispatching shuttle; and in the shuttle which takes the goods shelf receiving layer with the lowest cost selected by the inter-group scheduling shuttle as the intention layer, if the corresponding cost of the inter-group scheduling shuttle is the lowest, taking the intention layer as the goods shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled.

In this step, according to the auction method, for example, a shelf receiving layer is used as an auction item, a shuttle is used as a bidder, and when starting an auction, each shuttle first calculates a cost to each shelf receiving layer and selects a shelf receiving layer having the lowest cost as an intention layer, as shown in fig. 3. Each goods shelf receiving layer selects the shuttle car with the lowest cost from the shuttle cars taking the goods shelf receiving layer as the intention layer to deal. The unselected shuttle and pallet receiving tier continues the next round of auction until the shuttle or pallet receiving tier is selected.

In some embodiments, performing a close operation on a difference value between the number of carrying tasks corresponding to the shelf layer where the inter-group dispatch shuttle is located and the number of carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter; taking the distance value between the shelf layer where the inter-group dispatching shuttle is located and each shelf receiving layer as a second cost parameter; and obtaining the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

For example, using the formulaAnd calculating to obtain the cost _ij of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer, wherein i is the shelf layer of the inter-group dispatching shuttle, j is the shelf receiving layer, L _i-L_j is the distance value between the shelf layer of the inter-group dispatching shuttle and each shelf receiving layer, n _i is the task number of the shelf layer of the inter-group dispatching shuttle, n _j is the task number of the shelf receiving layer, and the task number of the shelf receiving layer is smaller than the task number of the shelf layer of the inter-group dispatching shuttle, so that the cost between the two is amplified, and otherwise, the cost between the two is reduced.

In the above steps, when the shuttle is dispatched to other charging groups for charging, the distance difference between the layer where the shuttle is located and the goods shelf receiving layer is considered, and the task difference is considered, so that the task execution efficiency can be improved.

In some embodiments, the rack receiving layer to which the inter-group dispatching shuttle is to be dispatched is determined with the aim of minimizing the sum of distances from the rack layer where the plurality of shuttle to be dispatched to the rack receiving layer corresponding to the plurality of idle chargers to charge.

For example, the matching of the idle charger and the shuttle is realized by taking the aim that the sum of differences between the layer where the matched shuttle is located and the goods shelf receiving layer is minimum or the travelling mileage of the elevator is shortest, so that the scheduling efficiency of the shuttle is improved.

In some embodiments, the rack receiving layer to which the inter-group dispatch shuttle is to be dispatched is determined with the shortest distance as a goal. The scheme is simple to calculate and convenient to implement.

In step 220, the inter-group dispatch shuttle is dispatched to the corresponding shelf receiving layer and charged using the second charger.

In some embodiments, the inter-group dispatch shuttle closest to the pallet receiving tier is dispatched by the tier-changing elevator to the corresponding pallet receiving tier such that the inter-group dispatch shuttle is charged using the other charger.

In the above embodiment, according to the shelf layer where the inter-group scheduling shuttle is located, the distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers realizes the scheduling of the inter-group scheduling shuttle, so that the inter-group scheduling shuttle charges through other idle chargers, the moving cost of the shuttle is reduced, and the problem of overlong waiting charging time can also be reduced.

In some embodiments of the present disclosure, the charging task is terminated by issuing to the first shuttle under at least one condition that the first shuttle is full of power, the shuttle malfunctions, and the first shuttle is greater than a power threshold and the shelf layer on which the transfer task is located is satisfied.

For example, if the electric quantity of a certain shuttle is full, the charging task is timely issued to the shuttle to finish the charging task, so that energy waste is avoided. If a certain shuttle is in fault, the charging task is timely issued to the shuttle to finish, and further damage to the shuttle is avoided. If the electric quantity of a certain shuttle is more than 75%, and the charging and discharging box task is available, a charging task ending instruction is issued to the shuttle, and the shuttle can execute a carrying task.

In some embodiments, in the case of issuing a charging task to the second shuttle, issuing to the first shuttle with an electrical quantity greater than an electrical quantity threshold ends the charging task. Because the electric quantity of the first shuttle is larger than the electric quantity threshold value, the electric quantity for executing the carrying task can be met by stopping charging. And when the second shuttle charges, the first shuttle stops charging, so that the number of the simultaneously charged shuttles can be reduced, and the charging efficiency of the shuttles is improved.

Fig. 4 is a flow chart of other embodiments of a charging scheduling method of a shuttle vehicle of the present disclosure. The following operations are performed for each charging group of each lane.

At step 410, a priority of shuttle charging is determined.

And when the electric quantity is from low to high and the electric quantity is the same, the priority ranking is carried out according to the order of the vehicle numbers from low to high when the number of the carrying tasks is from high to low and the electric quantity and the number of the carrying tasks are the same. And when the shuttle is idle, the device participates in queuing charging to improve the equipment utilization rate of the charger.

In step 420, it is determined whether the charger is on-line, if not, step 430 is performed, and if so, step 440 is performed.

At step 430, an exception is reported for processing of the charger.

In the step, if the charger is disconnected from the upper computer, the problem of the charger is possibly solved, and the problem needs to be reported in time so as to be manually processed.

At step 440, a charge schedule is performed for the shuttle within the charge group.

For example, if the charge of the shuttle is full, faulty, or the charge is greater than or equal to 75% and the carrier layer has a transport task, the charging is terminated, the charging potential is released, or else, the vehicle stays at the charging potential to wait for task scheduling. It will be appreciated by those skilled in the art that 75% is for example only, and that the threshold may be set as the case may be.

If the shuttle is waiting for charging and the electric quantity of the charging shuttle meets 75%, the shuttle with the highest priority is allowed to charge, and other shuttles continue waiting for the charging task. If the number of the waiting shuttle vehicles is large, other vehicles participate in inter-group scheduling except the shuttle vehicle with the highest priority.

In step 450, all the shelf receiving layers corresponding to the shuttling vehicles and the idle chargers needing to be scheduled among the groups are obtained.

For example, if no shuttle waiting for charging is in a certain charging group and the electric quantity of the currently-charged shuttle is equal to or greater than 75%, the current charging group is idle, and the layer with the greatest tasks in the current charging group can be selected to receive the charging of the shuttles of other charging groups.

And after the charging scheduling in the charging group is finished, if the shuttle vehicles needing to be charged in the changing group and the shelf layers capable of receiving the shuttle vehicles in other charging groups for charging exist, scheduling among the groups.

In step 460, according to the shelf layer where each shuttle vehicle needing inter-group scheduling is located, the distance value between shelf receiving layers corresponding to each idle charger and the difference value of the number of carrying tasks, the shelf receiving layer to which each shuttle vehicle needing inter-group scheduling is to be scheduled is determined.

At step 470, inter-group scheduling is performed.

In the embodiment, the charging scheduling in the group and among the groups is performed on the shuttles, so that the idling of the chargers caused by the small quantity of the shuttles can be reduced, the situation that the shuttles consume electricity and the chargers are idling at the same time can be reduced, the utilization rate of the charger equipment is improved, and the problems that the charging time of each shuttle is long and the charging efficiency is low due to the fact that too many shuttles charge at the same time are avoided.

In the embodiments described above, the RCS system traverses the charge group and manages the charge, wait queue using one or more threads. A distributed implementation will be described below.

Fig. 5 is a flow chart of further embodiments of a charging scheduling method for a shuttle vehicle according to the present disclosure, which is performed by a charging scheduling device, which is located on the shuttle vehicle or on the RCS system, and the solution is implemented in a distributed manner.

In step 510, in the event that the shuttle waits to be charged by the first charger, a priority of the shuttle waiting to be charged is determined.

In some embodiments, the RCS system provides a database, records the status of each shuttle and the service queue of the charger, and the charge scheduling device pulls data from the database. Or interacts with other shuttle vehicles or chargers to acquire the state of other vehicles, the service queue of the chargers and other information, and the like, and the charging is carried out by self queuing, so that the RCS system is not required to carry out charging task management.

In other embodiments, the RCS system creates a thread for each shuttle independently, the thread performs condition judgment instead of the shuttle and issues tasks to the shuttle for execution, and the shuttle only needs to report status information to the RCS at regular time.

In step 520, when the first charger is operated and the electric quantity of any one of the shuttles being charged by the first charger is greater than the electric quantity threshold, if the priority of the shuttle is the highest priority, charging by the first charger is determined.

In some embodiments, when the charging scheduling device identifies that the electric quantity of one of the shuttles being charged is greater than 75%, if the shuttle is determined to be the highest priority shuttle, the charging scheduling device determines that the charging can be performed through the first charger.

In step 530, if the priority of the shuttle is not the highest priority, it is determined to continue to wait for charging by the first charger, or to determine the shelf receiving layer to be scheduled for charging by the second charger.

In some embodiments, if the number of shuttles waiting to be charged by the first charger is greater than a number threshold, determining whether to continue to wait for charging by the first charger according to the priority of the shuttles waiting to be charged; and determining the goods shelf receiving layer to be scheduled under the condition that the first charger is not waited for to charge.

For example, when a shuttle car team waiting for charging by the first charger is too long, if the priority of the shuttle car is lowest, the shuttle car needs to be dispatched to other charging groups for charging.

In the embodiment, the charging scheduling of the shuttle is realized in a distributed mode, so that the charging efficiency can be improved, the number of chargers can be reduced, and the hardware cost is reduced.

The distributed implementation in this embodiment may be either truly distributed, i.e., the running program is placed on a shuttle car, or pseudo-distributed. The pseudo-distributed mode means that the thread is in the RCS system, the RCS system independently creates a thread for each shuttle, the pseudo-distributed mode is faster in pulling data, and the hardware cost of the CPU (Central Processing Unit ) of the shuttle is low.

In some embodiments, according to a shelf layer where the shuttle is located, determining a shelf receiving layer to which the shuttle is to be scheduled according to a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, wherein the idle chargers are chargers which have no corresponding shuttle waiting for charging and have an electric quantity of the charging shuttle greater than an electric quantity threshold.

In the embodiment, the charging group to be scheduled of the shuttle is determined through the distance between the goods shelf layer and the goods shelf receiving layer, so that the moving cost of the shuttle can be reduced, and the scheduling efficiency is improved.

In some embodiments, according to the shelf layer where the shuttle is located, a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers and a carrying task number difference value, determining the shelf receiving layer to which the shuttle is to be dispatched.

For example, according to the shelf layer where the shuttle is located, the distance value between the shelf receiving layer and each shelf receiving layer and the carrying task number difference value, calculating the cost of the shuttle from the shelf layer where the shuttle is located to each shelf receiving layer, and selecting the shelf receiving layer with the lowest cost as the intention layer of the shuttle; and receiving a scheduling instruction sent by an idle charger corresponding to the intention layer, and taking the intention layer as a goods shelf receiving layer to be scheduled by the shuttle, wherein if the idle charger determines that the shuttle is the shuttle with the lowest cost in the shuttle taking the goods shelf receiving layer corresponding to the idle charger as the intention layer, sending the scheduling instruction.

Performing a dense operation by using a difference value between the number of carrying tasks corresponding to the shelf layer where the shuttle is located and the number of carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter; taking a distance value between a shelf layer where the shuttle is positioned and each shelf receiving layer as a second cost parameter; and obtaining the cost of the shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

In the embodiment, when the shuttle is scheduled to other charging groups for charging, the distance difference between the layer where the shuttle is located and the goods shelf receiving layer is considered, and the task difference is considered, so that the task execution efficiency can be improved.

Fig. 6 is a schematic structural diagram of some embodiments of a first charging schedule device of the present disclosure, the first charging schedule device including: an intra-group scheduling module 610 and an inter-group scheduling module 620.

The intra-group scheduling module 610 is configured to traverse the power of each first shuttle that is being charged using the first charger in the event that the first charger is operating, and issue a charging task to the highest priority second shuttle waiting to be charged by the first charger in the event that the power of any one of the first shuttles is greater than a power threshold.

In some embodiments, the intra-group scheduling module 610 is further configured to issue an end charge task to the first shuttle vehicle if at least one of the first shuttle vehicle is full, the shuttle vehicle is malfunctioning, and the first shuttle vehicle is powered more than a power threshold and there is a transfer task on the shelf level.

In some embodiments, the intra-group scheduling module 610 is further configured to issue a first shuttle vehicle having a charge greater than a charge threshold to end the charging task if the charging task is issued to a second shuttle vehicle.

The inter-group scheduling module 620 is configured to schedule a portion of the third shuttles of the plurality of third shuttles as inter-group scheduling shuttles to be charged using the second charger, if there are also a plurality of third shuttles waiting to be charged by the first charger.

In some embodiments, the inter-group scheduling module 620 determines, for each inter-group scheduling shuttle, a shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled according to a distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, where the idle chargers are chargers that have no corresponding shuttle to be charged and the electric quantity of the charging shuttle is greater than the electric quantity threshold; and dispatching the inter-group dispatching shuttle to the corresponding goods shelf receiving layer, and charging by using a second charger.

The goods shelf receiving layer corresponding to the idle charger is the goods shelf layer with the largest carrying task in the goods shelf layers corresponding to the idle charger.

Performing a close operation on the difference value of the number of the carrying tasks corresponding to the shelf layer where the inter-group dispatching shuttle is located and the number of the carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter; taking the distance value between the shelf layer where the inter-group dispatching shuttle is located and each shelf receiving layer as a second cost parameter; and obtaining the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

In some embodiments, the inter-group scheduling module 620 determines the rack receiving layer to which the inter-group scheduling shuttle is to be scheduled, with the goal that the sum of distances from the rack layer where the plurality of shuttle to be scheduled to the rack receiving layer corresponding to the plurality of idle chargers to charge is shortest.

In some embodiments, the inter-group dispatch module 620 targets the shortest distance to determine the shelf receiving layer to which the inter-group dispatch shuttle is to be dispatched.

In the above embodiment, the first charging scheduling device uses a centralized manner to implement charging scheduling, that is, according to the priority of the shuttle waiting for charging, part of the shuttle participates in intra-group scheduling, and part of the shuttle participates in inter-group scheduling, so that the utilization rate of the chargers can be improved, the number of chargers can be reduced, and thus the hardware cost is reduced.

Fig. 7 is a schematic structural diagram of other embodiments of a second charging schedule device of the present disclosure, which includes a priority determining module 710 and a processing module 720.

The priority determination module 710 is configured to determine a priority of the shuttle waiting to charge if the shuttle waits to charge by the first charger.

The processing module 720 is configured to determine to charge by the first charger if the priority of the shuttle is the highest priority when the first charger is operating and the power of any one of the shuttles being charged using the first charger is greater than the power threshold; and if the priority of the shuttle is not the highest priority, determining to continue to wait for charging through the first charger, or determining to schedule the goods shelf receiving layer so as to charge through the second charger.

For example, when the number of the shuttles waiting to be charged by the first charger is greater than a number threshold, determining whether to continue to wait for charging by the first charger according to the priority of the shuttles waiting to be charged; and determining the shelf receiving layer to be scheduled under the condition that the first charger is not continuously waiting for charging.

In some embodiments, the processing module 720 determines the shelf receiving layer to which the shuttle is to be scheduled according to the shelf layer in which the shuttle is located and the distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, where the idle chargers are chargers that have no corresponding shuttle waiting for charging and the electric quantity of the charging shuttle is greater than the electric quantity threshold.

In some embodiments, the processing module 720 determines a rack receiving layer to which the shuttle is to be scheduled according to a distance value between each rack receiving layer in the rack receiving layers corresponding to the plurality of idle chargers and a difference in a number of transfer tasks.

For example, the processing module 720 calculates the cost of the shuttle from the shelf layer to each shelf receiving layer according to the distance value between the shelf layer and each shelf receiving layer of the shuttle and the difference value of the number of carrying tasks, and selects the shelf receiving layer with the lowest cost as the intention layer of the shuttle; and receiving a scheduling instruction sent by an idle charger corresponding to the intention layer, and taking the intention layer as a goods shelf receiving layer to be scheduled by the shuttle, wherein if the idle charger determines that the shuttle is the shuttle with the lowest cost in the shuttle taking the goods shelf receiving layer corresponding to the idle charger as the intention layer, the scheduling instruction is sent.

In some embodiments, the processing module 720 is further configured to determine to end the charging if at least one of the condition that the charge is full, the shuttle is malfunctioning, and the charge is greater than the charge threshold and the shelf is on a transport task, is met, if the shuttle is being charged by the first charger.

In the embodiment, the charging scheduling is realized in a distributed mode, so that the charging efficiency can be improved, the number of chargers can be reduced, and the hardware cost is reduced.

Fig. 8 is a schematic structural diagram of some embodiments of the electronic device of the present disclosure. The electronic device is a first charge scheduling device or a second charge scheduling device, including a memory 810 and a processor 820. Wherein: memory 810 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions in the above embodiments. Processor 820 is coupled to memory 810 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 820 is configured to execute instructions stored in a memory.

In some embodiments, processor 820 is coupled to memory 810 through BUS BUS 830. The electronic device 800 may also be connected to external storage 850 via a storage interface 840 to invoke external data, and may also be connected to a network or another computer system (not shown) via a network interface 860. And will not be described in detail herein.

In the embodiment, the data instruction is stored through the memory, and then the instruction is processed through the processor, so that the equipment utilization rate of the charger is improved, the charging time of the shuttle is shortened, and the task execution efficiency is improved.

In some embodiments of the present disclosure, a shuttle is also protected, the shuttle comprising a second charging schedule device, wherein the second charging schedule device implements a charging schedule policy through a distributed implementation.

In some embodiments, the shuttle operates according to instructions output by the first charging schedule device. The first charging scheduling device realizes a charging scheduling strategy through a centralized implementation mode.

In other embodiments, a computer readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the methods of the above embodiments. It will be apparent to those skilled in the art that embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

In some embodiments, a computer program product is protected, comprising a computer program or instructions which, when executed by a processor, implement the charge scheduling method described above.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Thus far, the present disclosure has been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A charging scheduling method for a shuttle vehicle, comprising:

Under the condition that a first charger works, traversing the electric quantity of each first shuttle which is being charged by using the first charger, and under the condition that the electric quantity of any one first shuttle is larger than an electric quantity threshold value, issuing a charging task to a second shuttle with the highest priority which waits to be charged by the first charger; and

And when a plurality of third shuttles wait to be charged by the first charger, taking part of the third shuttles as inter-group dispatching shuttles, and dispatching to charge by using the second charger.

2. The charge scheduling method of claim 1, wherein scheduling a portion of the third shuttles of the plurality of third shuttles as inter-group scheduling shuttles to charge using a second charger comprises:

For each inter-group scheduling shuttle, determining a shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled according to a shelf layer where the inter-group scheduling shuttle is located and a distance value between each shelf receiving layer in shelf receiving layers corresponding to a plurality of idle chargers, wherein the idle chargers are chargers which do not correspond to the shuttles waiting to be charged and have electric quantity of the shuttles being charged larger than the electric quantity threshold; and

And dispatching the inter-group dispatching shuttle to a corresponding goods shelf receiving layer, and charging by using the second charger.

3. The charge scheduling method of claim 2, wherein determining a shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled further comprises:

And determining a goods shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched according to the distance value and the carrying task number difference value between each goods shelf receiving layer in the goods shelf receiving layers corresponding to the plurality of idle chargers.

4. The charge scheduling method of claim 3, wherein determining, according to the shelf layer in which the inter-group scheduling shuttle is located, a distance value and a number of transfer tasks difference between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, the shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled includes:

calculating the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer according to the shelf layer where the inter-group dispatching shuttle is located, the distance value between the inter-group dispatching shuttle and each shelf receiving layer and the difference value of the number of carrying tasks, and selecting the shelf receiving layer with the lowest cost as the intention layer of the inter-group dispatching shuttle; and

And in the shuttle which takes the goods shelf receiving layer with the lowest cost selected by the inter-group scheduling shuttle as the intention layer, if the corresponding cost of the inter-group scheduling shuttle is the lowest, taking the intention layer as the goods shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled.

5. The charge scheduling method of claim 4, wherein calculating the cost of the inter-group dispatch shuttle from the shelf layer to the each shelf receiving layer according to the distance value between the inter-group dispatch shuttle and the each shelf receiving layer and the difference in the number of transfer tasks comprises:

performing a dense operation by using a difference value between the number of carrying tasks corresponding to the shelf layer where the inter-group dispatching shuttle is located and the number of carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter;

Taking the distance value between the shelf layer where the inter-group dispatching shuttle is located and each shelf receiving layer as a second cost parameter; and

And obtaining the cost of the inter-group dispatching shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

6. The charging scheduling method according to claim 2, wherein the shelf receiving layer corresponding to the idle charger is a shelf layer with the most handling tasks among the shelf layers corresponding to the idle charger.

7. The charge scheduling method of claim 2, wherein determining the shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled according to the distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, comprises:

And determining the shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched by taking the shortest sum of distances from the shelf layer to the shelf receiving layer, where the plurality of shuttle to be dispatched to the shelf receiving layer corresponding to the plurality of idle chargers for charging, as a target.

8. The charge scheduling method of claim 2, wherein determining the shelf receiving layer to which the inter-group scheduling shuttle is to be scheduled according to the distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, comprises:

and determining the goods shelf receiving layer to which the inter-group dispatching shuttle is to be dispatched by taking the shortest distance as a target.

9. The charge scheduling method of claim 1, wherein taking a portion of the third plurality of shuttles as an inter-group scheduling shuttle comprises:

And taking the part of the third shuttles as inter-group scheduling shuttles according to the order of the priority from low to high under the condition that the number of the third shuttles is larger than a number threshold, wherein the number of the inter-group scheduling shuttles is smaller than the number of the third shuttles and larger than or equal to the difference between the number of the third shuttles and the number threshold.

10. The charge scheduling method according to any one of claims 1 to 9, further comprising:

And issuing to the first shuttle to finish the charging task under at least one condition that the first shuttle is full in electric quantity, the shuttle fails, and the electric quantity of the first shuttle is larger than the electric quantity threshold value and a carrying task exists on a shelf layer.

11. The charge scheduling method according to any one of claims 1 to 9, further comprising:

And under the condition that the charging task is issued to the second shuttle, issuing to the first shuttle with the electric quantity larger than the electric quantity threshold value to finish the charging task.

12. A charging scheduling method for a shuttle vehicle, comprising:

Determining the priority of the shuttle waiting for charging under the condition that the shuttle waits for charging by a first charger;

When the first charger works and the electric quantity of any shuttle which is being charged by using the first charger is larger than an electric quantity threshold, if the priority of the shuttle is the highest priority, determining to charge by the first charger; and

And if the priority of the shuttle is not the highest priority, determining to continue to wait for charging through the first charger, or determining to schedule the goods shelf receiving layer so as to charge through the second charger.

13. The charge scheduling method of claim 12, wherein determining the shelf receiving layer to be scheduled comprises:

And determining a shelf receiving layer to which the shuttle is to be scheduled according to the shelf layer in which the shuttle is located and the distance value between each shelf receiving layer in the shelf receiving layers corresponding to a plurality of idle chargers, wherein the idle chargers are chargers which do not correspond to the shuttles waiting to be charged and the electric quantity of the shuttles being charged is larger than the electric quantity threshold value.

14. The charge scheduling method of claim 13, wherein determining the shelf receiving layer to be scheduled further comprises:

And determining a shelf receiving layer to be scheduled by the shuttle according to the shelf layer where the shuttle is located, the distance value between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers and the carrying task number difference value.

15. The charge scheduling method of claim 14, wherein determining the shelf receiving layer to which the shuttle is to be scheduled according to the distance value and the number of transfer tasks difference between each shelf receiving layer in the shelf receiving layers corresponding to the plurality of idle chargers, the shelf receiving layer in which the shuttle is to be scheduled comprises:

Calculating the cost of the shuttle from the shelf layer to each shelf receiving layer according to the shelf layer where the shuttle is located, the distance value between the shuttle and each shelf receiving layer and the carrying task number difference value, and selecting the shelf receiving layer with the lowest cost as the intention layer of the shuttle; and

And receiving a scheduling instruction sent by an idle charger corresponding to the intention layer, and taking the intention layer as a goods shelf receiving layer to which the shuttle is to be scheduled, wherein if the idle charger determines that the shuttle is the shuttle with the lowest cost in the shuttle taking the goods shelf receiving layer corresponding to the idle charger as the intention layer, the scheduling instruction is sent.

16. The charge scheduling method of claim 15, wherein calculating the cost of the shuttle from the shelf level to each shelf receiving level according to the distance value between the shelf level of the shuttle and each shelf receiving level and the difference in the number of transfer tasks comprises:

Performing a close operation by using a difference value between the number of carrying tasks corresponding to the shelf layer where the shuttle is located and the number of carrying tasks corresponding to each shelf receiving layer to obtain a first cost parameter;

Taking a distance value between a shelf layer where the shuttle is located and each shelf receiving layer as a second cost parameter; and

And obtaining the cost of the shuttle from the shelf layer to each shelf receiving layer according to the product of the first cost parameter and the second cost parameter.

17. The charging scheduling method of claim 14, wherein the shelf receiving layer corresponding to the idle charger is a shelf layer with the most handling tasks among the shelf layers corresponding to the idle charger.

18. The charge scheduling method of any one of claims 12 to 17, wherein determining to continue waiting for charging by the first charger or determining a shelf receiving layer to be scheduled comprises:

Under the condition that the number of the shuttles waiting to be charged by the first charger is larger than a number threshold, determining whether to continue to wait for charging by the first charger according to the priority of the shuttles waiting to be charged; and

And determining a goods shelf receiving layer to be scheduled under the condition that the first charger is not required to wait for charging.

19. The charge scheduling method according to any one of claims 12 to 17, further comprising:

And under the condition that the shuttle is being charged through the first charger, if at least one condition that the electric quantity is full, the shuttle fails, and the electric quantity is greater than the electric quantity threshold value and a carrying task exists on the shelf layer is met, determining to finish charging.

20. A first charge scheduling apparatus comprising:

The intra-group scheduling module is configured to traverse the electric quantity of each first shuttle which is being charged by using the first charger under the condition that the first charger works, and send a charging task to a second shuttle with the highest priority which waits to be charged by the first charger under the condition that the electric quantity of any one first shuttle is larger than an electric quantity threshold; and

And the inter-group scheduling module is configured to take part of the third shuttles in the plurality of third shuttles as inter-group scheduling shuttles and schedule to charge by using the second charger when the plurality of third shuttles still exist to wait for charging by the first charger.

21. A first charge scheduling apparatus comprising:

a memory; and

A processor coupled to the memory, the processor configured to perform the charge scheduling method of any one of claims 1 to 11 based on instructions stored in the memory.

22. A second charge scheduling apparatus, comprising:

the priority determining module is configured to determine the priority of the shuttle waiting for charging if the shuttle waiting for charging by the first charger; and

The processing module is configured to determine to charge through the first charger if the priority of the shuttle is the highest priority under the condition that the first charger works and the electric quantity of any one of the shuttles which are being charged by using the first charger is larger than an electric quantity threshold; and if the priority of the shuttle is not the highest priority, determining to continue to wait for charging through the first charger, or determining to schedule the goods shelf receiving layer so as to charge through the second charger.

23. A second charge scheduling apparatus, comprising:

a memory; and

A processor coupled to the memory, the processor configured to perform the charge scheduling method of any one of claims 12 to 19 based on instructions stored in the memory.

24. A shuttle, comprising:

The second charging scheduling apparatus of claim 22 or 23; or alternatively

The instruction output by the first charging schedule device according to claim 20 or 21 operates.

25. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the charge scheduling method of any one of claims 1 to 19.

26. A computer program product comprising a computer program or instructions which, when executed by a processor, implements the charge scheduling method of any one of claims 1 to 19.