WO2020029845A1 - 自动导引运输车的调度方法和调度装置 - Google Patents

自动导引运输车的调度方法和调度装置 Download PDF

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Publication number
WO2020029845A1
WO2020029845A1 PCT/CN2019/098608 CN2019098608W WO2020029845A1 WO 2020029845 A1 WO2020029845 A1 WO 2020029845A1 CN 2019098608 W CN2019098608 W CN 2019098608W WO 2020029845 A1 WO2020029845 A1 WO 2020029845A1
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Prior art keywords
temporary parking
automatic guided
parking point
guided transport
point
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PCT/CN2019/098608
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English (en)
French (fr)
Inventor
齐小飞
梁志康
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to US17/262,688 priority Critical patent/US12039472B2/en
Priority to EP19846865.4A priority patent/EP3835906A4/en
Priority to JP2021503048A priority patent/JP7226702B2/ja
Publication of WO2020029845A1 publication Critical patent/WO2020029845A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/661—Docking at a base station
    • G—PHYSICS
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/02—Reservations, e.g. for tickets, services or events
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C11/00—Arrangements, systems or apparatus for checking, e.g. the occurrence of a condition, not provided for elsewhere
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C11/00—Arrangements, systems or apparatus for checking, e.g. the occurrence of a condition, not provided for elsewhere
    • G07C2011/04—Arrangements, systems or apparatus for checking, e.g. the occurrence of a condition, not provided for elsewhere related to queuing systems

Definitions

  • the present disclosure relates to the field of computer technology, and in particular, to a scheduling method and a scheduling device for an automated guided transport vehicle.
  • Warehousing is one of the core parts of logistics.
  • warehouse picking operations are performed manually in logical areas (that is, in warehouse production, when the warehouse is large, the warehouse is generally divided into multiple logical areas, so that the The size is controlled in a suitable range) to complete the picking task, and then use a human cart to push the task box to the delivery line for delivery.
  • Unpacking and packing need to be performed back and forth between the delivery line and the picking area, which takes a lot of time and Physical strength affects work efficiency.
  • AGV Automated Guided Vehicle
  • AGV full name Automated Guided Vehicle
  • It is responsible for transporting the task box to the delivery line for delivery.
  • AGV trolley After the AGV trolley has completed the handling task, it needs to dispatch the AGV trolley to a new temporary parking point for a new handling task. Therefore, how to schedule AGV cars is of great research significance.
  • this new operation mode there is no effective method for scheduling AGV cars.
  • the embodiments of the present disclosure provide a scheduling method and a scheduling device for an automatic guided transport vehicle, which can provide a method for scheduling an automatic guided transport vehicle in a picking mode in which humans and machines cooperate.
  • a scheduling method for an automatic guided transport vehicle is provided.
  • An embodiment of the present disclosure provides a method for scheduling an automated guided transport vehicle, including: acquiring information of a temporary parking point set and information of an automated guided transport vehicle according to the scheduling task of the automated guided transport vehicle; and according to the temporary parking point.
  • Set information and the information of the automatic guided transport vehicle calculate the number of vehicles out of each temporary parking point in the temporary parking point set; and select a target temporary parking point from the temporary parking point set based on the number of vehicles lacking And dispatch the automatic guided transport vehicle to be dispatched to the target temporary parking point.
  • the method further includes: for the temporary parking point For each temporary parking spot that is centralized, determine whether the temporary parking spot is an idle temporary parking spot or an unavailable temporary parking spot, and if so, filter out the temporary parking spot; among them, the idle temporary parking spot means waiting Temporary parking points that are automatically guided by the transport vehicle and that they have not been picked up within a preset period of time for picking up and moving tasks; unavailable temporary parking points are temporary locations where the pre-occupied number of automatic guided transport vehicles reaches a preset maximum threshold Parking spot.
  • the method further includes: if the temporary parking spot is an idle temporary parking spot, retaining the temporary parking spot in the temporary parking spot The first automatic guided transport vehicle in the queue is added to the temporary parking point, and other automatic guided transport vehicles in the temporary parking point are added to the set of idle vehicles. It is determined whether there is a busy temporary parking point in the temporary parking point concentration, and if so, then Dispatching automatic guided transport vehicles from the set of idle vehicles to the busy temporary parking points, where the busy temporary parking points refer to a number of automatic guided transportation vehicles that perform a transportation task per unit time exceeding a preset value Temporary parking spot.
  • calculating the number of vehicles out of each temporary parking spot in the temporary parking spot set according to the information of the temporary parking spot set and the information of the automatic guided transport vehicle includes: for each temporary parking spot, according to The information of the temporary parking point set and the information of the automatic guided transport vehicle, calculate the required number of automatic guided transport vehicles in the temporary parking point, and then confirm the demand of the automatic guided transport vehicle in the temporary parking point.
  • the number and the pre-occupied number of the automatic guided transport vehicles in the temporary parking point are the number of cars out of the temporary parking point.
  • the information of the temporary parking point set includes: the number of temporary parking spaces at each temporary parking point; and calculating the required number of automatic guided transport vehicles in the temporary parking points includes: determining the number of temporary parking points The number of temporary parking spaces is the required number of automatic guided transport vehicles in the temporary parking spots.
  • calculating the required number of automatic guided transport vehicles in the temporary parking points based on the information of the temporary parking point set information and the information of the automatic guided transportation vehicles includes: Calculates the time consumption information corresponding to the temporary parking point, the distance to the gate, the operating speed of the automatic guided transport vehicle, and the transportation time of the temporary parking point; according to the time consumption information corresponding to the temporary parking point And the total number of the automatic guided transport vehicles, calculating the required number of automatic guided transport vehicles in the temporary parking spot.
  • calculating the required number of automatic guided transport vehicles in the temporary parking point according to the information of the temporary parking point set information and the information of the automatic guided transport vehicle includes: The number of task boxes and the number of single-handed task boxes transported by the automatic guided transport vehicle calculate the required number of automatic guided transport vehicles in the temporary parking point.
  • selecting the target temporary parking spot from the temporary parking spot concentration according to the number of missing cars includes: comparing the number of missing cars at each temporary parking spot in the temporary parking spot set, and setting the maximum value of the number of missing cars The corresponding temporary parking point is selected as the target temporary parking point.
  • a scheduling device for automatically guiding a transport vehicle is provided.
  • An embodiment of the present disclosure provides a scheduling device for an automated guided transport vehicle, including: an acquisition module for obtaining information of a temporary parking point set and information of an automated guided transport vehicle according to the scheduling task of the automated guided transport vehicle; calculation A module for calculating the number of vehicles out of each temporary parking point in the temporary parking point set according to the information of the temporary parking point set and the information of the automatic guided transport vehicle; a dispatching module for For the number of vehicles, a target temporary parking point is selected from the temporary parking points, and the automatic guided transport vehicle to be dispatched is dispatched to the target temporary parking point.
  • the device further includes a filtering module, configured to determine, for each temporary parking spot in the temporary parking spot set, whether the temporary parking spot is an idle temporary parking spot or an unavailable temporary parking spot, and if so, The temporary parking point is filtered out; wherein, the idle temporary parking point refers to a temporary parking point that has an automatic guided transport vehicle waiting, and does not have the automatic guided transport vehicle to pick up and move away within a preset time; not available Temporary parking points are temporary parking points where the pre-occupied number of automated guided transport vehicles reaches a preset maximum threshold.
  • the filtering module is further configured to: if the temporary parking point is an idle temporary parking point, retain the first guided transport vehicle queued in the temporary parking point, and place the temporary parking point The other automatic guided transport vehicles in the spot are added to the idle vehicle collection; determine whether there are busy temporary parking spots in the temporary parking spot collection; if so, the automatic guided transportation vehicles are dispatched from the idle vehicle collection to the busy temporary parking location Point, wherein the busy temporary parking point refers to a temporary parking point where the number of automatic guided transport vehicles performing a transportation task per unit time exceeds a preset value.
  • the calculation module is further configured to calculate, for each temporary parking point, the automatic guided transportation in the temporary parking point according to the information of the temporary parking point set and the information of the automatic guided transportation vehicle.
  • the required number of vehicles and then confirm that the required number of automatic guided transport vehicles in the temporary parking point and the pre-occupied number of automatic guided transport vehicles in the temporary parking point are the number of vehicles out of the temporary parking point.
  • the information of the temporary parking spot set includes: the number of temporary parking spaces at each temporary parking spot; and the calculation module is further configured to determine that the number of temporary parking spaces at the temporary parking spot is the temporary parking The required number of automatic guided transport vehicles in the spot.
  • the calculation module is further configured to calculate an office location based on a distance from a transfer starting point of the temporary parking point to a line entrance, a running speed of the automatic guided transport vehicle, and a transfer time of the temporary parking point.
  • the time consumption information corresponding to the temporary parking point is calculated; based on the time consumption information corresponding to the temporary parking point and the total number of the automatic guided transport vehicles, the required number of automatic guided transportation vehicles in the temporary parking point is calculated.
  • the calculation module is further configured to calculate the automatic guidance in the temporary parking point according to the number of task boxes to be transported in the temporary parking point and the number of single transport task boxes of the automatic guided transport vehicle. The required number of transport vehicles.
  • the scheduling module is further configured to: compare the number of vehicles lacking in each temporary parking point in the temporary parking point set, and select the temporary parking point corresponding to the maximum value of the number of missing vehicles as the target temporary parking point .
  • An embodiment of the above-mentioned invention has the following advantages or beneficial effects: first calculate the number of vehicle shortages at each temporary parking point, then select a target temporary parking point based on the number of vehicle shortages, and finally dispatch the automatic guided transport vehicle to be dispatched to the target Temporary parking spots, so as to provide a method for scheduling automatic guided transport vehicles in a picking mode of human-machine cooperation; in the embodiment of the present disclosure, before calculating the number of vehicles that are out of stock, the temporary parking spots that are idle and the temporary parking spots that are unavailable are unavailable.
  • Filtering out can improve the accuracy of dispatching AGV cars; in the embodiment of the present disclosure, after the temporary parking point is determined to be an idle temporary parking point, the excess AGV vehicles in the idle temporary parking point are placed in the idle car set, so that AGV cars are dispatched from the set of idle cars to busy temporary parking spots; when calculating the number of cars missing at each temporary parking spot in the embodiments of the present disclosure, the number of AGV cars in each temporary parking spot is first calculated according to the actual situation, and then determined The difference between the required quantity and the pre-occupied quantity is the number of missing cars, which can improve the practicability and In the embodiments of the present disclosure, considering the number of temporary parking spaces, time consumption information, and task boxes to be handled, the number of AGV vehicles required for each temporary parking point is calculated, so that it can provide multiple scenarios and improve AGV dispatching.
  • the scheduling efficiency of the trolleys further improves the practicability of the solution; in the embodiment of the present disclosure, by comparing the number of missing cars and selecting the target temporary parking point, the AGV vehicles to
  • FIG. 1 is a schematic diagram of a main flow of a method for scheduling an automatic guided transport vehicle according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a main flow of a method for scheduling an automatic guided transport vehicle according to a reference embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of a main module of a dispatching device of an automatic guided transport vehicle according to an embodiment of the present disclosure
  • FIG. 4 is an exemplary system architecture diagram to which embodiments of the present disclosure can be applied;
  • FIG. 5 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server of an embodiment of the present disclosure.
  • FIG. 1 is a schematic diagram of a main flow of a method for dispatching an automated guided transport vehicle according to an embodiment of the present disclosure.
  • the method for scheduling an automatic guided transport vehicle mainly includes the following steps:
  • Step S101 Acquire the information of the temporary parking point set and the information of the automatic guided transport vehicle according to the scheduling task of the automatic guided transport vehicle.
  • Step S102 According to the information of the temporary parking point set and the information of the automatic guided transport vehicle, calculate the number of cars lacking at each temporary parking point in the temporary parking point set.
  • Step S103 Select a target temporary parking spot from the temporary parking spots according to the number of vehicles that are out of traffic, and dispatch an automatic guided transport vehicle to be scheduled to the target temporary parking spot.
  • a logical cart is used for picking in the pedestrian picking aisle by logical carts.
  • Each logical block is equipped with a number of temporary parking points.
  • the person's cart is used to transport the task box with the product to a nearby temporary parking point, and then the AGV trolley will carry the task box to the delivery line for delivery.
  • the AGV trolley can walk in the main aisle of the periphery, which can realize rapid transportation, which can improve the picking efficiency.
  • the temporary parking spots collectively include at least one temporary parking spot.
  • the temporary parking point is the position of the AGV trolley (that is, an automatic guided transport vehicle, which is hereinafter referred to as an AGV trolley for the convenience of description) waiting for the task box.
  • step S101 after receiving the scheduling task, step S101 first obtains the information of the temporary parking point set and the information of the AGV car; and then executes step S102 to calculate the number of cars out of each temporary parking point based on the acquired information, where The number of missing cars refers to the number of AGV cars that can be accommodated in the temporary parking spot.
  • step S103 is executed to use the calculated number of missing cars to select the target temporary parking spots from the temporary parking spots. Assigned to selected target temporary parking spots.
  • the automatic guided transport vehicle of the present disclosure may further include: for each temporary parking spot in the temporary parking spot set, determining whether the temporary parking spot is an idle temporary parking spot or an unavailable temporary parking spot, and if so, filtering the temporary parking spot. This step filters out temporary and unavailable temporary parking spots.
  • the idle temporary parking point refers to a temporary parking point where there is a waiting automatic guided transport vehicle, and there is no automatic guided transport vehicle to pick up and leave the transportation task within a preset time.
  • this temporary parking point is marked as an idle temporary parking point.
  • the temporary parking point is an idle temporary parking point, the AGV car queued first in the temporary parking point is retained, and other AGV vehicles in the temporary parking point are added to the idle car set. For example, temporary parking point A is determined as an idle temporary parking point.
  • the idle trolley set is refreshed at regular intervals (which can be, but is not limited to, 30 seconds, which is not limited in this disclosure).
  • a busy temporary parking point refers to a temporary parking point where the number of AGV vehicles performing a transportation task per unit time exceeds a preset value. For example, in a unit time (may but is not limited to 5 minutes, which is not limited in this disclosure), the number of AGV carts left by the receiving and transporting task of the temporary parking point B is 5, and the preset value is 4 (may but not (Limited to 4, which is not limited in this disclosure), the temporary parking point B is considered to be a busy temporary parking point. For busy temporary parking spots, you can also apply to call a car from the set of idle cars.
  • the unavailable temporary parking point refers to a temporary parking point in which the number of AGV cars has reached a preset maximum threshold.
  • the pre-occupied number of AGV cars includes: the number of AGV cars that have been parked at temporary parking points and the number of AGV cars that are going to temporary parking points.
  • the setting of the preset maximum threshold is determined by the temporary parking space and the buffer coefficient of the temporary parking point.
  • a temporary parking spot can include multiple temporary parking spaces, but each temporary parking space can only park one AGV car.
  • the buffer coefficient is used to buffer the situation where the temporary parking space is occupied but still driving on the road. If the pre-occupied number of AGV cars is greater than the preset maximum threshold, the temporary parking point is unavailable to continue parking the AGV car, so the temporary parking point is considered to be an unavailable temporary parking point.
  • the idle temporary parking spots and the unavailable temporary parking spots can be filtered out first, or the number of car shortages at each temporary parking spot can be calculated, and the target temporary parking spot can be selected to determine whether the target temporary parking spot is Whether it is an idle temporary parking spot or an unavailable temporary parking spot, if so, re-select a new target temporary parking spot, and then determine whether the new target temporary parking spot is an idle temporary parking spot or an unavailable temporary parking spot, and so on Until you find a suitable temporary parking spot.
  • the preferred embodiment of the present disclosure is to filter the temporary parking spots first.
  • the information of the AGV cart may include: the number of AGV carts in each temporary parking spot.
  • the above step S102, based on the information of the temporary parking point set and the information of the AGV car, calculating the number of cars out of each temporary parking point in the temporary parking point set may include: for each temporary parking point, according to the information of the temporary parking point set and the AGV car Information, calculate the number of AGV cars in the temporary parking point, and then confirm that the number of AGV cars in the temporary parking point and the number of AGV cars in the temporary parking point are the number of cars out of the temporary parking point.
  • the number of AGV cars required for each temporary parking spot in the temporary parking spot set is 5 and the number of AGV cars in the temporary parking point A is 8, so the number of cars out of the temporary parking point A is 3.
  • the information of the temporary parking spot set may include: the number of temporary parking spaces of each temporary parking spot.
  • the number of AGV cars in the temporary parking spot can be calculated by using the number of temporary parking spaces, which can specifically include: determining the number of temporary parking spaces in the temporary parking spot as the number of AGV cars in the temporary parking spot.
  • the number of parking spaces at a temporary parking point may be directly taken as the required number of AGV cars.
  • the information of the temporary parking point set may include: the distance from the transportation starting point of each temporary parking point to the line entrance and the transportation time of each temporary parking point; the information of the AGV trolley may include : The running speed of AGV cars and the total number of AGV cars.
  • calculating the required number of AGV cars in the temporary parking point may include: calculating the time consumption corresponding to the temporary parking point according to the distance from the starting point of the temporary parking point to the line entrance, the operating speed of the AGV car, and the transportation time of the temporary parking point.
  • Information According to the time consumption information corresponding to the temporary parking spots and the total number of AGV cars, calculate the demand for AGV cars in the temporary parking spots.
  • AGV carts are not simply allocated according to the number of parking spaces at each temporary parking point, and the handling capacity of the AGV carts is considered, so that the processing capacity of each temporary parking point can be kept balanced.
  • c i d i / v + LP, which refers to the time consumption information of the AGV car going back and forth;
  • d i is the distance from the starting point of the temporary parking point i to the line entrance. The distance from the starting point to the drop line, plus the distance from the drop line to the starting point of the transfer;
  • v refers to the speed of the AGV car;
  • LP refers to the transit time of the temporary parking point, which means to move the task box Time to AGV car;
  • n Car refers to the total number of AGV cars;
  • j refers to the number of temporary parking points.
  • the information of the temporary parking point set may include: the number of task boxes to be transported at each temporary parking point; the information of the AGV cart may include: the number of single task carts of the AGV cart.
  • each temporary parking point is provided with a task box cache point for caching the task box cache. When there are no AGV trolleys or insufficient number of AGV trolleys at the temporary parking point, the picker will place the task box completed by picking in the task box buffer point, so that new picking tasks can continue.
  • calculating the number of AGV carts in the temporary parking point may include: calculating the AGV in the temporary parking point based on the number of task boxes to be moved in the temporary parking point and the number of AGV carts to transport the task box at a time. The number of cars required. Calculate the number of AGV cars in temporary parking point i as:
  • m i is the number of task boxes to be transported at the temporary parking point i
  • b is the number of single task boxes of the AGV trolley, symbol It means rounding down, such as rounding down the number 2.5 to 2.
  • the number of task boxes to be transported is 17, and the maximum number of task boxes that the AGV cart can transport at a time is three. Therefore, using the above formula, the required number of AGV carts is six.
  • the step of selecting the target temporary parking spot from the temporary parking spots according to the number of missing cars in the above step S103 may include: comparing the number of missing cars in each of the temporary parking spots in the temporary parking spot, and corresponding to the maximum number of missing cars.
  • the selected temporary parking point is the target temporary parking point.
  • the specific explanation is: compare the number of cars lacking at each temporary parking spot, and select the temporary parking spot corresponding to the maximum number of cars missing as the target temporary parking spot. Of course, if the number of missing cars in the plurality of temporary parking spots is the same and the maximum value is selected, one of the plurality of temporary parking spots is randomly selected as the target temporary parking spot.
  • FIG. 2 is a schematic diagram of a main flow of a method for scheduling an automated guided transport vehicle according to a reference embodiment of the present disclosure. As shown in FIG. 2, the main process of the method for dispatching an automated guided transport vehicle of the present disclosure may include:
  • Step S201 Receive the task of scheduling the AGV car C, and obtain the information of the temporary parking point set and the information of the AGV car;
  • Step S202 Select any temporary parking spot in the temporary parking spot set as the temporary parking spot A;
  • Step S203 Determine whether the temporary parking spot A is an idle temporary parking spot, and if yes, go to step S204, otherwise, go to step S205;
  • Step S204 Filter out the temporary parking point A, keep the AGV car in the first queue in the temporary parking point A, and add other AGV vehicles in the temporary parking point A to the idle car collection;
  • Step S205 Determine whether the temporary parking point A is an unavailable temporary parking point, and if so, perform step S206; otherwise, perform step S207;
  • Step S206 Filter out the temporary parking point A
  • Step S207 Calculate the number of AGV cars in the temporary parking point A according to the information of the temporary parking point A and the information of the AGV car;
  • Step S208 Calculate the required number of AGV cars in the temporary parking point A and the pre-occupied number of AGV cars in the temporary parking point A are the number of cars lacking in the temporary parking point A;
  • Step S209 determine whether to calculate the number of cars out of all the temporary parking points in the temporary parking point set, and if so, perform step S210;
  • Step S210 Compare all the number of missing cars to obtain the maximum number of missing cars, and confirm that the temporary parking point corresponding to the maximum is the target temporary parking point P;
  • Step S211 The AGV cart C is dispatched to the target temporary parking point P.
  • the present disclosure also determines whether there are busy temporary parking spots concentrated in the temporary parking spots. If there are, you can apply to collect the idle cars. AGV cars in the middle are allocated to busy temporary parking spots.
  • the determination order of the above steps S203 and S205 can be adjusted according to actual conditions. For example, it can be determined whether the temporary parking point A is an unavailable temporary parking point, and then it is determined whether the temporary parking point A is an idle temporary parking point, or it can also be At the same time, it is determined whether the temporary parking spot A is an unavailable temporary parking spot or an idle temporary parking spot.
  • the calculation of the number of AGV vehicles in temporary parking point A based on the information of temporary parking point A and the information of AGV vehicles may include: (1) if temporary parking point A is obtained The information is the number of temporary parking spaces in the temporary parking point A, and the number of temporary parking can be directly defined as the number of AGV cars in the temporary parking point A; (2) If the information of the temporary parking point A includes the temporary parking points The distance from the starting point of A to the line entrance and the moving time of temporary parking point A. At the same time, the information of the AGV car includes the running speed and the total number. Then, you can calculate the time consumption cost information of temporary parking point A, and then calculate the temporary time according to the time consumption cost.
  • the number of car shortages at each temporary parking point is calculated first, and then the target temporary parking point is selected based on the number of car shortages, and finally the AGV car to be scheduled is dispatched to the target temporary Parking spots, so as to provide a method for scheduling AGV cars in the picking mode of human-machine cooperation; in the embodiment of the present disclosure, before calculating the number of missing cars, filtering out the idle temporary parking spots and unavailable temporary parking spots, thereby The accuracy of dispatching AGV vehicles can be improved; in the embodiment of the present disclosure, after the temporary parking point is determined to be an idle temporary parking point, the excess AGV vehicles in the idle temporary parking point are placed in a set of idle cars, so that it can be collected from the idle cars.
  • AGV trolleys are dispatched to busy temporary parking spots in the embodiment of the present disclosure.
  • the number of AGV trolleys in each temporary parking spot is first calculated according to the actual situation, and then the demand quantity and the forecast are determined. The difference in the number is the number of cars missing, which can improve the practicability and feasibility of the technical solution; the present disclosure
  • the target temporary parking point is selected by comparing the number of cars lacking, so that the AGV car to be dispatched can be allocated to the target temporary parking point.
  • FIG. 3 is a schematic diagram of main modules of a dispatching device for an automated guided transport vehicle according to an embodiment of the present disclosure.
  • the scheduling device 300 of the automatic guided transport vehicle of the present disclosure mainly includes the following modules: an acquisition module 301, a calculation module 302, and a scheduling module 303.
  • the obtaining module 301 may be used to obtain the information of the temporary parking point set and the information of the automatic guided transportation vehicle according to the scheduling task of the automatic guided transportation vehicle.
  • the calculation module 302 may be configured to calculate the number of vehicles lacking in each temporary parking point set according to the information of the temporary parking point set and the information of the automatic guided transport vehicle.
  • the dispatching module 303 may be configured to select a target temporary parking spot from the temporary parking spots according to the number of vehicles lacking, and dispatch an automatic guided transport vehicle to be scheduled to the target temporary parking spot.
  • the scheduling device 300 for an automated guided transportation vehicle may further include a filtering module (not shown in the figure).
  • the filtering module can be used to determine, for each temporary parking spot in the temporary parking spot set, whether the temporary parking spot is an idle temporary parking spot or an unavailable temporary parking spot, and if so, filter the temporary parking spot.
  • the idle temporary parking point refers to a temporary parking point where there is a waiting automatic guided transport vehicle, and there is no automatic guided transportation vehicle to pick up and move away within a preset time
  • the unavailable temporary parking point refers to the automatic guided transportation vehicle.
  • the number of pre-occupied temporary parking spots reaches a preset maximum threshold.
  • the filtering module may be further configured to: if the temporary parking point is an idle temporary parking point, retain the first automatic guided transport vehicle queued in the temporary parking point, and direct other automatic guidance in the temporary parking point.
  • Transport vehicles are added to the collection of idle vehicles; determine whether there are busy temporary parking spots in the temporary parking spot collection; if so, the guided vehicles are dispatched from the idle vehicle collection to the busy temporary parking spots.
  • a busy temporary parking point refers to a temporary parking point where the number of automatic guided transport vehicles performing a transportation task per unit time exceeds a preset value.
  • the information of the automatic guided transport vehicle may include: a pre-occupied quantity of the automatic guided transport vehicle in each temporary parking point.
  • the calculation module 302 can also be used: for each temporary parking point, based on the information of the temporary parking point set and the information of the automatic guided transport vehicle, calculate the number of automatic guided transport vehicles in the temporary parking point, and then confirm the temporary parking point
  • the required number of automatic guided transport vehicles in the middle and the pre-occupied number of automatic guided transport vehicles in the temporary parking points are the number of vehicles lacking in the temporary parking points.
  • the information of the temporary parking spot set may include: the number of temporary parking spaces of each temporary parking spot.
  • the calculation module 302 may be further configured to determine that the number of temporary parking spaces in the temporary parking point is the required number of automatic guided transport vehicles in the temporary parking point.
  • the information of the temporary parking point set may include: a distance from a transportation starting point of each temporary parking point to a line entrance, and a transportation time of each temporary parking point.
  • the information of the automatic guided transport vehicle may include: the operating speed of the automatic guided transport vehicle and the total number of the automatic guided transport vehicle.
  • the calculation module 302 can also be used to calculate the time consumption information corresponding to the temporary parking point according to the distance from the starting point of the temporary parking point to the line entrance, the operating speed of the automatic guided transport vehicle and the transportation time of the temporary parking point; The time consumption information corresponding to the parking spots and the total number of the automatic guided transport vehicles, and the number of automatic guided transport vehicles in the temporary parking points is calculated.
  • the information of the temporary parking point set may include: the number of task boxes to be carried in each temporary parking point.
  • the information of the automatic guided transport vehicle may include: the number of single-handed task boxes of the automatic guided transport vehicle.
  • the calculation module 302 can also be used to calculate the required number of automatic guided transport vehicles in the temporary parking point based on the number of task boxes to be transported in the temporary parking point and the number of single guided transport vehicles in the temporary parking point.
  • the scheduling module 303 may be further configured to: compare the number of vehicles lacking, and select the temporary parking point corresponding to the maximum number of vehicles lacking as the target temporary parking point.
  • first calculate the number of car shortages at each temporary parking point then select the target temporary parking point based on the number of missing vehicles, and finally dispatch the automatic guided transport vehicle to be scheduled to the target temporary parking point, so that it can provide A method for dispatching an automated guided transport vehicle in a picking mode with human-machine cooperation; in the embodiments of the present disclosure, before calculating the number of missing vehicles, filtering idle temporary parking spots and unavailable temporary parking spots, thereby improving scheduling The accuracy of the AGV car; after determining the temporary parking point as an idle temporary parking point in the embodiment of the present disclosure, the excess AGV vehicles in the idle temporary parking point are placed in the idle car set, so that AGV can be dispatched from the idle car set From small cars to busy temporary parking spots; when calculating the number of cars missing at each temporary parking spot in the embodiment of the present disclosure, first calculate the number of AGV cars in each temporary parking spot according to the actual situation, and then determine the demand quantity and the pre-occupied quantity.
  • the difference is the number of cars missing, which can improve the practicability and feasibility of the technical solution;
  • Practicality In the embodiment of the present disclosure, by comparing the number of cars lacking, and selecting a target temporary parking point, the AGV car to be dispatched can be allocated to the target temporary parking point.
  • FIG. 4 illustrates an exemplary system architecture 400 to which an automatic guided transport vehicle scheduling method or an automatic guided transport vehicle scheduling device can be applied.
  • the system architecture 400 may include terminal devices 401, 402, and 403, a network 404, and a server 405.
  • the network 404 is a medium for providing a communication link between the terminal devices 401, 402, 403 and the server 405.
  • the network 404 may include various connection types, such as wired, wireless communication links, or fiber optic cables, and so on.
  • the user can use the terminal devices 401, 402, and 403 to interact with the server 405 through the network 404 to receive or send messages and the like.
  • Various communication client applications can be installed on the terminal devices 401, 402, and 403, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, and the like (only examples).
  • the terminal devices 401, 402, and 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers.
  • the server 405 may be a server that provides various services, for example, a background management server that provides support for a shopping website browsed by the user using the terminal devices 401, 402, and 403 (for example only).
  • the background management server can analyze and process the received product information query request and other data, and feed back the processing results (such as target push information and product information-just examples) to the terminal device.
  • the scheduling method of the automatic guided transport vehicle provided by the embodiment of the present disclosure is generally executed by the server 405, and accordingly, the scheduling device of the automatic guided transport vehicle is generally disposed in the server 405.
  • terminal devices, networks, and servers in FIG. 4 are merely exemplary. According to implementation needs, there can be any number of terminal devices, networks, and servers.
  • FIG. 5 illustrates a schematic structural diagram of a computer system 500 suitable for implementing a terminal device according to an embodiment of the present disclosure.
  • the terminal device shown in FIG. 5 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present disclosure.
  • the computer system 500 includes a central processing unit (CPU) 501 which can be loaded into a random access memory (RAM) 503 from a program stored in a read-only memory (ROM) 502 or from a storage portion 508 Instead, perform various appropriate actions and processes.
  • RAM random access memory
  • ROM read-only memory
  • various programs and data required for the operation of the system 500 are also stored.
  • the CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504.
  • An input / output (I / O) interface 505 is also connected to the bus 504.
  • the following components are connected to the I / O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), and the speaker; a storage portion 508 including a hard disk and the like ; And a communication section 509 including a network interface card such as a LAN card, a modem, and the like.
  • the communication section 509 performs communication processing via a network such as the Internet.
  • the driver 510 is also connected to the I / O interface 505 as needed.
  • a removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.
  • the process described above with reference to the flowchart may be implemented as a computer software program.
  • embodiments of the present disclosure include a computer program product including a computer program carried on a computer-readable medium, the computer program containing program code for performing a method shown in a flowchart.
  • the computer program may be downloaded and installed from a network through the communication section 509, and / or installed from a removable medium 511.
  • this computer program is executed by a central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present disclosure are executed.
  • the computer-readable medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the foregoing.
  • the computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programming read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal that is included in baseband or propagated as part of a carrier wave, and which carries computer-readable program code. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device .
  • Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, which contains one or more of the logic functions used to implement the specified logic.
  • Executable instructions may also occur in a different order than those marked in the drawings. For example, two successively represented boxes may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram or flowchart, and combinations of blocks in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with A combination of dedicated hardware and computer instructions.
  • the modules described in the embodiments of the present disclosure can be implemented by software or hardware.
  • the described module may also be provided in a processor, for example, it may be described as: a processor includes an acquisition module, a calculation module, and a scheduling module.
  • a processor includes an acquisition module, a calculation module, and a scheduling module.
  • the names of these modules do not constitute a limitation on the module itself in some cases.
  • the acquisition module can also be described as "Acquiring the information of the temporary parking point set and the automatic A module that guides the information of the transport vehicle ".
  • the present disclosure also provides a computer-readable medium, which may be included in the device described in the above embodiments; or may exist alone without being assembled into the device.
  • the computer-readable medium carries one or more programs, and when the one or more programs are executed by one of the devices, the device includes: obtaining information of a temporary parking point set and Information on automatic guided transport vehicles; Calculate the number of vehicles out of each temporary parking point set based on the information of the temporary parking point set and the information of the automatic guided transport vehicle set; select from the temporary parking points based on the number of vehicles Target temporary parking point, and dispatch the automatic guided transport vehicle to be scheduled to the target temporary parking point.
  • the number of vehicles out of each temporary parking point is calculated first, and then the target temporary parking point is selected based on the number of vehicles lacking, and finally the automatic guided transport vehicle to be dispatched is dispatched to the target temporary parking point, so that A method for dispatching an automated guided transport vehicle in a picking mode with human-machine cooperation can be provided; in the embodiment of the present disclosure, before calculating the number of missing vehicles, filtering out the temporary temporary parking spots and the unavailable temporary parking spots, so that Improve the accuracy of dispatching AGV cars; after determining the temporary parking spot as an idle temporary parking spot in the embodiment of the present disclosure, the excess AGV cars in the idle temporary parking spot are placed in the idle car collection, so that the idle car collection can be taken from the idle car collection.
  • Scheduling AGV cars to busy temporary parking spots when calculating the number of cars out of each temporary parking spot in the embodiments of the present disclosure, first calculate the number of AGV cars in each temporary parking spot according to the actual situation, and then determine the number of needs and reservation The difference between the numbers is the number of cars missing, which can improve the practicability and feasibility of this technical solution; the implementation of this disclosure
  • the number of AGV carts required for each temporary parking point is calculated, which can provide multiple scenarios and improve the scheduling efficiency of AGV carts. Improve the practicability of this solution; in the embodiment of the present disclosure, by comparing the number of cars lacking and selecting the target temporary parking point, the AGV car to be dispatched can be allocated to the target temporary parking point.

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Abstract

一种自动导引运输车的调度方法和调度装置，该方法包括：根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息（S101）；根据临时停车点集的信息和自动导引运输车的信息，计算临时停车点集中每个临时停车点的缺车数量（S102）；根据缺车数量，从临时停车点集中选择目标临时停车点，并调度待调度的自动导引运输车至目标临时停车点（S103）。该方法首先计算每个临时停车点的缺车数量，然后结合缺车数量选择目标临时停车点，最后将待调度的自动导引运输车调度至目标临时停车点，提供了一种在人机协作的拣货模式下调度自动导引运输车的方法。

Description

自动导引运输车的调度方法和调度装置 技术领域
本公开涉及计算机技术领域，尤其涉及一种自动导引运输车的调度方法和调度装置。
背景技术
仓储是物流核心环节之一，目前仓储拣选作业由人工在逻辑区(即，在仓库生产中，当仓库较大时一般会将仓库划分成多个逻辑区，从而可以将每次拣货区域的大小控制在一个合适的范围)完成拣货任务，然后使用人推车将任务箱推至投线口进行投递，需要在投线口和拣货区来回进行卸箱和装箱，花费大量时间和体力，影响工作效率。
因此，随着智能技术的规模化运用，仓储拣选作业提出一种新的人机协作的拣货模式，由人工负责将产品放入任务箱中，自动导引运输车(AGV，全称为Automated Guided Vehicle，指能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车)负责将任务箱搬运至投线口进行投递。AGV小车完成搬运任务后，需要调度AGV小车到新的临时停车点，进行新的搬运任务。因此，如何对AGV小车进行调度是具有研究意义的，但是，对于这种新的作业模式，没有一种有效的调度AGV小车的方法。
发明内容
有鉴于此，本公开实施例提供一种自动导引运输车的调度方法和调度装置，能够提供一种在人机协作的拣货模式下调度自动导引运输车的方法。
为实现上述目的，根据本公开实施例的一个方面，提供了一种自动导引运输车的调度方法。
本公开实施例的一种自动导引运输车的调度方法，包括：根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息；根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集中每个临时停车点的缺车数量；根据所述缺车数量，从所述临时停车点集中选择目标临时停车点，并调度所述待调度的自动导引运输车至所述目标临时停车点。
可选地，在根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集的缺车数量之前，所述方法还包括：针对所述临时停车点集中的每个临时停车点，判断所述临时停车点是否为空闲临时停车点或者不可用临时停车点，若是，则将所述临时停车点过滤掉；其中，空闲临时停车点是指有等待的自动导引运输车，并且在预设时间内没有自动导引运输车领取搬运任务离开的临时停车点；不可用临时停车点是指自动导引运输车的预占数量达到预设最大阈值的临时停车点。
可选地，在判断所述临时停车点是否为空闲临时停车点或者不可用临时停车点之后，所述方法还包括：若所述临时停车点是空闲临时停车点，则保留在所述临时停车点中排队位第一的自动导引运输车，并将所述临时停车点中其他自动导引运输车添加至闲置车集合；判断所述临时停车点集中是否存在繁忙临时停车点，若是，则从所述闲置车集合中调度自动导引运输车至所述繁忙临时停车点，其中，所述繁忙临时停车点是指单位时间内执行搬运任务的自动导引运输车的数目超过预设值的临时停车点。
可选地，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集中每个临时停车点的缺车数量包括：针对每个临时停车点，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量，然 后确认所述临时停车点中自动导引运输车的需求数量与所述临时停车点中自动导引运输车的预占数量为所述临时停车点的缺车数量。
可选地，所述临时停车点集的信息包括：每个临时停车点的临时停车位数量；以及计算所述临时停车点中自动导引运输车的需求数量包括：确定所述临时停车点的临时停车位数量为所述临时停车点中自动导引运输车的需求数量。
可选地，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量包括：根据所述临时停车点的搬运起点到投线口的距离、所述自动导引运输车的运行速度和所述临时停车点的搬运时间，计算所述临时停车点对应的时间消耗信息；根据所述临时停车点对应的时间消耗信息和所述自动导引运输车的总数，计算所述临时停车点中自动导引运输车的需求数量。
可选地，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量包括：根据所述临时停车点的待搬运任务箱数量和所述自动导引运输车单次搬运任务箱的数量，计算所述临时停车点中自动导引运输车的需求数量。
可选地，根据所述缺车数量，从所述临时停车点集中选择目标临时停车点包括：比较所述临时停车点集中各个临时停车点的缺车数量，将所述缺车数量的最大值对应的临时停车点选择为所述目标临时停车点。
为实现上述目的，根据本公开实施例的再一方面，提供了一种自动导引运输车的调度装置。
本公开实施例的一种自动导引运输车的调度装置，包括：获取模 块，用于根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息；计算模块，用于根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集中每个临时停车点的缺车数量；调度模块，用于根据所述缺车数量，从所述临时停车点集中选择目标临时停车点，并调度所述待调度的自动导引运输车至所述目标临时停车点。
可选地，所述装置还包括过滤模块，用于：针对所述临时停车点集中的每个临时停车点，判断所述临时停车点是否为空闲临时停车点或者不可用临时停车点，若是，则将所述临时停车点过滤掉；其中，空闲临时停车点是指有等待的自动导引运输车，并且在预设时间内没有自动导引运输车领取搬运任务离开的临时停车点；不可用临时停车点是指自动导引运输车的预占数量达到预设最大阈值的临时停车点。
可选地，所述过滤模块还用于：若所述临时停车点是空闲临时停车点，则保留在所述临时停车点中排队位第一的自动导引运输车，并将所述临时停车点中其他自动导引运输车添加至闲置车集合；判断所述临时停车点集中是否存在繁忙临时停车点，若是，则从所述闲置车集合中调度自动导引运输车至所述繁忙临时停车点，其中，所述繁忙临时停车点是指单位时间内执行搬运任务的自动导引运输车的数目超过预设值的临时停车点。
可选地，所述计算模块还用于：针对每个临时停车点，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量，然后确认所述临时停车点中自动导引运输车的需求数量与所述临时停车点中自动导引运输车的预占数量为所述临时停车点的缺车数量。
可选地，所述临时停车点集的信息包括：每个临时停车点的临时停车位数量；以及所述计算模块还用于：确定所述临时停车点的临时 停车位数量为所述临时停车点中自动导引运输车的需求数量。
可选地，所述计算模块还用于：根据所述临时停车点的搬运起点到投线口的距离、所述自动导引运输车的运行速度和所述临时停车点的搬运时间，计算所述临时停车点对应的时间消耗信息；根据所述临时停车点对应的时间消耗信息和所述自动导引运输车的总数，计算所述临时停车点中自动导引运输车的需求数量。
可选地，所述计算模块还用于：根据所述临时停车点的待搬运任务箱数量和所述自动导引运输车单次搬运任务箱的数量，计算所述临时停车点中自动导引运输车的需求数量。
可选地，所述调度模块还用于：比较所述临时停车点集中各个临时停车点的缺车数量，将所述缺车数量的最大值对应的临时停车点选择为所述目标临时停车点。
上述发明中的一个实施例具有如下优点或有益效果：首先计算每个临时停车点的缺车数量，然后结合缺车数量选择目标临时停车点，最后将待调度的自动导引运输车调度至目标临时停车点，从而可以提供一种在人机协作的拣货模式下调度自动导引运输车的方法；本公开实施例中在计算缺车数量之前，将空闲临时停车点和不可用临时停车点过滤掉，从而可以提高调度AGV小车的准确性；本公开实施例中在确定临时停车点为空闲临时停车点后，将该空闲临时停车点中多余的AGV小车放置在闲置车集合中，从而可以从闲置车集合中调度AGV小车至繁忙临时停车点；本公开实施例中计算每个临时停车点的缺车数量时，首先根据实际情况计算每个临时停车点中AGV小车的需求数量，接着确定需求数量和预占数量的差值为缺车数量，从而可以提高本技术方案的实用性和可行性；本公开实施例中从临时停车位数量、时间消耗信息和待搬运任务箱多个角度考虑，计算每个临时停车点的AGV小车需求数量，从而可以提供多种场景需求，提高调度AGV小 车的调度效率，进一步提高本方案的实用性；本公开实施例中通过比较缺车数量，选择目标临时停车点，从而可以将待调度AGV小车分配至目标临时停车点。
上述的非惯用的可选方式所具有的进一步效果将在下文中结合具体实施方式加以说明。
附图说明
附图用于更好地理解本公开，不构成对本公开的不当限定。其中：
图1是根据本公开实施例的自动导引运输车的调度方法的主要流程的示意图；
图2是根据本公开一个可参考实施例的自动导引运输车的调度方法的主要流程的示意图；
图3是根据本公开实施例的自动导引运输车的调度装置的主要模块的示意图；
图4是本公开实施例可以应用于其中的示例性系统架构图；
图5是适于用来实现本公开实施例的终端设备或服务器的计算机系统的结构示意图。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
图1是根据本公开实施例的自动导引运输车的调度方法的主要流程的示意图。根据本公开的一个可参考实施例，如图1所示，自动导引运输车的调度方法主要包括以下步骤：
步骤S101：根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息。
步骤S102：根据临时停车点集的信息和自动导引运输车的信息，计算临时停车点集中每个临时停车点的缺车数量。
步骤S103：根据缺车数量，从临时停车点集中选择目标临时停车点，并调度待调度的自动导引运输车至目标临时停车点。
目前提出一种新的人机协作的拣货模式，逻辑区内由人推车在人行拣货通道进行拣货，每个逻辑区配有若干临时停车点。当人拣货完成后，利用人推车将装载产品的任务箱运到附近临时停车点，然后AGV小车将任务箱搬运至投线口进行投递。AGV小车在外围主通道行走，可以实现快速搬运，从而可以提高拣选效率。本公开中，临时停车点集中包括至少一个临时停车点。临时停车点就是AGV小车(即，自动导引运输车，为了便于描述，下文中均称为AGV小车)排队等待搬运任务箱的位置。本公开中，步骤S101在接收到调度任务之后，首先获取临时停车点集的信息和AGV小车的信息；然后执行步骤S102，根据这些获取的信息，计算每个临时停车点的缺车数量，其中缺车数量就是指临时停车点还可以容纳的AGV小车的数量；最后执行步骤S103，利用计算的缺车数量，从临时停车点集中挑选出目标临时停车点，这样就可以将待调度的AGV小车分配至挑选的目标临时停车点。
作为本公开的又一个可参考实施例，在步骤S102根据临时停车点集的信息和自动导引运输车的信息，计算临时停车点集的缺车数量之前，本公开的自动导引运输车的调度方法还可以包括：针对临时停车点集中的每个临时停车点，判断临时停车点是否为空闲临时停车点或者不可用临时停车点，若是，则将临时停车点过滤掉。此步骤是将空闲临时停车点和不可用临时停车点过滤掉。
其中，空闲临时停车点是指有等待的自动导引运输车，并且在预设时间内没有自动导引运输车领取搬运任务离开的临时停车点。当某个临时停车点有AGV车等待，但是在3分钟(可以但不限于是3分钟，根据实际情况设置)内没有AGV小车领取搬运任务离开，则标记此临时停车点为空闲临时停车点。作为本公开的再一个实施例，若临时停车点是空闲临时停车点，则保留在临时停车点中排队位第一的AGV小车，并将临时停车点中其他AGV小车添加至闲置车集合。例如，临时停车点A被确定为空闲临时停车点，临时停车点A中有5个AGV小车，则将排名在第1的AGV小车保留，将排名在第2至第5的AGV小车添加至闲置小车集合中。值得注意的是，本公开中每隔一段时间(可以但不限于是30秒，本公开对此不作限定)对闲置小车集合进行刷新。
本公开的实施例中，需要判断临时停车点集中是否存在繁忙临时停车点，若是，则从闲置车集合中调度AGV小车至繁忙临时停车点。其中，繁忙临时停车点是指单位时间内执行搬运任务的AGV小车的数目超过预设值的临时停车点。例如，在单位时间内(可以但不限于是5分钟，本公开对此不作限定)，临时停车点B的接收搬运任务离开的AGV小车的数量是5，而预设值为4(可以但不限于是4，本公开对此不作限定)，则认为临时停车点B是繁忙临时停车点。对于繁忙临时停车点，也可以申请从闲置小车集合中调用小车。
不可用临时停车点是指AGV小车的预占数量达到预设最大阈值的临时停车点。其中，AGV小车的预占数量包括：已经在临时停车点停放的AGV小车数量和正在前往临时停车点的AGV小车的数量。预设最大阈值的设置是由临时停车点的临时停车位和缓冲系数决定的。一个临时停车点可以包括多个临时停车位，但是每个临时停车位只能停一个AGV小车。缓冲系数用于缓冲占用临时停车位但是仍然在行驶在路上的情形。如果AGV小车的预占数量大于预设最大阈值，则该临时停车点不可用继续停放AGV小车了，因此认为该临时停车点为不可用 临时停车点。
本公开中，可以首先将空闲临时停车点和不可用临时停车点过滤掉，也可以在计算每个临时停车点的缺车数量，并选择了目标临时停车点之后，判断该目标临时停车点是否是空闲临时停车点或者是不可用临时停车点，若是，则重新选择新的目标临时停车点，然后再判断新的目标临时停车点是否为空闲临时停车点或者不可用临时停车点，以此类推，直至找到符合要求的临时停车点。当然，本公开的优选实施例是先对临时停车点进行过滤。
作为本公开的再一个可参考实施例，AGV小车的信息可以包括：每个临时停车点中AGV小车的预占数量。上述步骤S102根据临时停车点集的信息和AGV小车的信息，计算临时停车点集中每个临时停车点的缺车数量可以包括：针对每个临时停车点，根据临时停车点集的信息和AGV小车的信息，计算临时停车点中AGV小车的需求数量，然后确认临时停车点中AGV小车的需求数量与临时停车点中AGV小车的预占数量为临时停车点的缺车数量。本公开中，需要计算临时停车点集中每个临时停车点需要AGV小车的数量，然后计算需求数量与预占数量的差值为该临时停车点的缺车数量。例如，临时停车点A中AGV小车的预占数量是5，同时该临时停车点A中AGV小车的需求数量是8，那么该临时停车点A的缺车数量是3。
本公开实施例中，临时停车点集的信息可以包括：每个临时停车点的临时停车位数量。这样，可以利用临时停车位的数量计算临时停车点中AGV小车的需求数量，具体可以包括：确定临时停车点的临时停车位数量为临时停车点中AGV小车的需求数量。本公开中可以直接将临时停车点的停车位的数量作为AGV小车的需求数量。
作为本公开的再一个可参考实施例，临时停车点集的信息可以包括：每个临时停车点的搬运起点到投线口的距离和每个临时停车点的 搬运时间；AGV小车的信息可以包括：AGV小车的运行速度和AGV小车的总数。这样，计算临时停车点中AGV小车的需求数量可以包括：根据临时停车点的搬运起点到投线口的距离、AGV小车的运行速度和临时停车点的搬运时间，计算临时停车点对应的时间消耗信息；根据临时停车点对应的时间消耗信息和AGV小车的总数，计算临时停车点中AGV小车的需求数量。这样处理的好处是，没有简单地按照每个临时停车点的停车位数量分配AGV小车，考虑了AGV小车的搬运能力，从而可以保持每个临时停车点的处理能力均衡。计算临时停车点i中AGV小车的需求数量为：
Figure PCTCN2019098608-appb-000001
其中，c i＝d i/v+LP，是指AGV小车来回一趟的时间消耗信息；d i为临时停车点i的搬运起点到投线口的距离，本公开中是指来回距离，即从搬运起点到投线口的距离，再加上从投线口返回至搬运起点的距离；v是指AGV小车的运行速度；LP是指临时停车点的搬运时间，也就是指将任务箱移动至AGV小车的时间；n Car是指AGV小车的总数；j是指临时停车点的个数。
作为本公开的又一个可参考实施例，临时停车点集的信息可以包括：每个临时停车点的待搬运任务箱数量；AGV小车的信息可以包括：AGV小车单次搬运任务箱的数量。本公开中，每个临时停车点都配有任务箱缓存点用于缓存任务箱缓存。当临时停车点没有AGV小车或者AGV小车数量不足时，拣货人员将拣货完成的任务箱放到任务箱缓存点，从而可以继续新的拣货任务。在知道待搬运任务箱的数量之后，计算临时停车点中AGV小车的需求数量可以包括：根据临时停车点的待搬运任务箱数量和AGV小车单次搬运任务箱的数量，计算临时停车点中AGV小车的需求数量。计算临时停车点i中AGV小车的需求数量为：
Figure PCTCN2019098608-appb-000002
其中，m i是临时停车点i的待搬运任务箱数量，b是AGV小车单 次搬运任务箱的数量，符号
Figure PCTCN2019098608-appb-000003
是向下取整的意思，如对数字2.5向下取整为2。例如，待搬运任务箱的数量是17，而AGV小车每次可以搬运任务箱的最大数量是3，因此利用上述公式，求得需要的AGV小车的数量是6。
本公开实施例中，上述步骤S103中的根据缺车数量从临时停车点集中选择目标临时停车点可以包括：比较临时停车点集中各个临时停车点的缺车数量，将缺车数量的最大值对应的临时停车点选择为目标临时停车点。具体解释为：比较每个临时停车点的缺车数量，选择缺车数量最大值对应的临时停车点为目标临时停车点。当然，如果多个临时停车点的缺车数量相同且为最大值，则从这多个临时停车点中随机选择一个为目标临时停车点。
图2是根据本公开一个可参考实施例的自动导引运输车的调度方法的主要流程的示意图。如图2所示，本公开的自动导引运输车的调度方法的主要流程可以包括：
步骤S201：接收调度AGV小车C的任务，并获取临时停车点集的信息和AGV小车的信息；
步骤S202：选择临时停车点集中任意一个临时停车点为临时停车点A；
步骤S203：判断临时停车点A是否为空闲临时停车点，若是，则执行步骤S204，否则，执行步骤S205；
步骤S204：将临时停车点A过滤掉，保留在临时停车点A中排队位第一的AGV小车，并将临时停车点A中其他AGV小车添加至闲置车集合；
步骤S205：判断临时停车点A是否为不可用临时停车点，若是，则执行步骤S206，否则，执行步骤S207；
步骤S206：将临时停车点A过滤掉；
步骤S207：根据临时停车点集中临时停车点A的信息和AGV小车的信息，计算临时停车点A中AGV小车的需求数量；
步骤S208：计算临时停车点A中AGV小车的需求数量与临时停车点A中AGV小车的预占数量为临时停车点A的缺车数量；
步骤S209：判断是否计算临时停车点集中所有的临时停车点的缺车数量，若是，则执行步骤S210；
步骤S210：比较所有缺车数量，得到缺车数量最大值，确认最大值对应的临时停车点为目标临时停车点P；
步骤S211：将AGV小车C调度至目标临时停车点P。
需要注意的是，本公开除了判断临时停车点是否为空闲临时停车点或者不可用临时停车点之外，还判断临时停车点集中是否存在繁忙临时停车点，如果存在，则可以申请将闲置车集合中的AGV小车分配至繁忙临时停车点。另外，上述步骤S203和S205的判断顺序可以根据实际情况调整，比如说可以先判断临时停车点A是否为不可用临时停车点，然后再判断临时停车点A是否为空闲临时停车，或者也可以是同时判断临时停车点A是否为不可用临时停车点或者是空闲临时停车点，当然也可以有其他的执行顺序，本公开对此不作限定。
还需要注意的是，上述步骤S207中根据临时停车点集中临时停车点A的信息和AGV小车的信息，计算临时停车点A中AGV小车的需求数量可以包括：(1)如果获取临时停车点A的信息为临时停车点A中的临时停车位数量，则可以将临时停车为数量直接定义为临时停车点A中AGV小车的需求数量；(2)如果获取临时停车点A的信息包括临时停车点A的搬运起点到投线口的距离和临时停车点A的搬运时间，同时AGV小车的信息包括运行速度和总数，则可以计算临时停车点A的时间消耗成本信息，然后根据时间消耗成本计算临时停车点A的需求数量；(3)在得知临时停车点A的待搬运任务箱数量的前提下，则可以根据任务箱的数量计算临时停车点A的需求数量。如果上述3种计算方法都可以实现，则可以根据实际情况为3种方法设置优先级顺序，比如认为如果可以确定待搬运任务箱的数量，则优先选择利用任务箱的数量计算临时停车点中AGV小车的需求数量；也可以为3种 方法设置权重值，然后根据加权算法计算临时停车点中AGV小车的需求数量，当然，还可以有其他方式确定缺车数量，本公开对此不作限定。
根据本公开实施例的AGV小车的调度技术方案可以看出，首先计算每个临时停车点的缺车数量，然后结合缺车数量选择目标临时停车点，最后将待调度的AGV小车调度至目标临时停车点，从而可以提供一种在人机协作的拣货模式下调度AGV小车的方法；本公开实施例中在计算缺车数量之前，将空闲临时停车点和不可用临时停车点过滤掉，从而可以提高调度AGV小车的准确性；本公开实施例中在确定临时停车点为空闲临时停车点后，将该空闲临时停车点中多余的AGV小车放置在闲置车集合中，从而可以从闲置车集合中调度AGV小车至繁忙临时停车点；本公开实施例中计算每个临时停车点的缺车数量时，首先根据实际情况计算每个临时停车点中AGV小车的需求数量，接着确定需求数量和预占数量的差值为缺车数量，从而可以提高本技术方案的实用性和可行性；本公开实施例中从临时停车位数量、时间消耗信息和待搬运任务箱多个角度考虑，计算每个临时停车点的AGV小车需求数量，从而可以提供多种场景需求，提高调度AGV小车的调度效率，进一步提高本方案的实用性；本公开实施例中通过比较缺车数量，选择目标临时停车点，从而可以将待调度AGV小车分配至目标临时停车点。
图3是根据本公开实施例的自动导引运输车的调度装置的主要模块的示意图。如图3所示，本公开的自动导引运输车的调度装置300主要包括如下模块：获取模块301、计算模块302和调度模块303。
其中，获取模块301可用于根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息。计算模块302可用于根据临时停车点集的信息和自动导引运输车的信息，计算临时停车点集中每个临时停车点的缺车数量。调度模块303可用于根据缺车数 量，从临时停车点集中选择目标临时停车点，并调度待调度的自动导引运输车至目标临时停车点。
本公开实施例中，自动导引运输车的调度装置300还可以包括：过滤模块(图中未示出)。该过滤模块可用于：针对临时停车点集中的每个临时停车点，判断临时停车点是否为空闲临时停车点或者不可用临时停车点，若是，则将临时停车点过滤掉。其中，空闲临时停车点是指有等待的自动导引运输车，并且在预设时间内没有自动导引运输车领取搬运任务离开的临时停车点；不可用临时停车点是指自动导引运输车的预占数量达到预设最大阈值的临时停车点。
本公开实施例中，过滤模块还可用于：若临时停车点是空闲临时停车点，则保留在临时停车点中排队位第一的自动导引运输车，并将临时停车点中其他自动导引运输车添加至闲置车集合；判断临时停车点集中是否存在繁忙临时停车点，若是，则从闲置车集合中调度自动导引运输车至繁忙临时停车点。其中，繁忙临时停车点是指单位时间内执行搬运任务的自动导引运输车的数目超过预设值的临时停车点。
本公开实施例中，自动导引运输车的信息可以包括：每个临时停车点中自动导引运输车的预占数量。以及计算模块302还可用于：针对每个临时停车点，根据临时停车点集的信息和自动导引运输车的信息，计算临时停车点中自动导引运输车的需求数量，然后确认临时停车点中自动导引运输车的需求数量与临时停车点中自动导引运输车的预占数量为临时停车点的缺车数量。
本公开实施例中，临时停车点集的信息可以包括：每个临时停车点的临时停车位数量。以及计算模块302还可用于：确定临时停车点的临时停车位数量为临时停车点中自动导引运输车的需求数量。
本公开实施例中，临时停车点集的信息可以包括：每个临时停车 点的搬运起点到投线口的距离和每个临时停车点的搬运时间。自动导引运输车的信息可以包括：自动导引运输车的运行速度和自动导引运输车的总数。以及计算模块302还可用于：根据临时停车点的搬运起点到投线口的距离、自动导引运输车的运行速度和临时停车点的搬运时间，计算临时停车点对应的时间消耗信息；根据临时停车点对应的时间消耗信息和自动导引运输车的总数，计算临时停车点中自动导引运输车的需求数量。
本公开实施例中，临时停车点集的信息可以包括：每个临时停车点的待搬运任务箱数量。自动导引运输车的信息可以包括：自动导引运输车单次搬运任务箱的数量。以及计算模块302还可用于：根据临时停车点的待搬运任务箱数量和自动导引运输车单次搬运任务箱的数量，计算临时停车点中自动导引运输车的需求数量。
本公开实施例中，调度模块303还可用于：比较缺车数量，将缺车数量的最大值对应的临时停车点选择为目标临时停车点。
从以上描述可以看出，首先计算每个临时停车点的缺车数量，然后结合缺车数量选择目标临时停车点，最后将待调度的自动导引运输车调度至目标临时停车点，从而可以提供一种在人机协作的拣货模式下调度自动导引运输车的方法；本公开实施例中在计算缺车数量之前，将空闲临时停车点和不可用临时停车点过滤掉，从而可以提高调度AGV小车的准确性；本公开实施例中在确定临时停车点为空闲临时停车点后，将该空闲临时停车点中多余的AGV小车放置在闲置车集合中，从而可以从闲置车集合中调度AGV小车至繁忙临时停车点；本公开实施例中计算每个临时停车点的缺车数量时，首先根据实际情况计算每个临时停车点中AGV小车的需求数量，接着确定需求数量和预占数量的差值为缺车数量，从而可以提高本技术方案的实用性和可行性；本公开实施例中从临时停车位数量、时间消耗信息和待搬运任务箱多个角度考虑，计算每个临时停车点的AGV小车需求数量，从而可以提供 多种场景需求，提高调度AGV小车的调度效率，进一步提高本方案的实用性；本公开实施例中通过比较缺车数量，选择目标临时停车点，从而可以将待调度AGV小车分配至目标临时停车点。
图4示出了可以应用本公开实施例的自动导引运输车的调度方法或自动导引运输车的调度装置的示例性系统架构400。
如图4所示，系统架构400可以包括终端设备401、402、403，网络404和服务器405。网络404用以在终端设备401、402、403和服务器405之间提供通信链路的介质。网络404可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
用户可以使用终端设备401、402、403通过网络404与服务器405交互，以接收或发送消息等。终端设备401、402、403上可以安装有各种通讯客户端应用，例如购物类应用、网页浏览器应用、搜索类应用、即时通信工具、邮箱客户端、社交平台软件等(仅为示例)。
终端设备401、402、403可以是具有显示屏并且支持网页浏览的各种电子设备，包括但不限于智能手机、平板电脑、膝上型便携计算机和台式计算机等等。
服务器405可以是提供各种服务的服务器，例如对用户利用终端设备401、402、403所浏览的购物类网站提供支持的后台管理服务器(仅为示例)。后台管理服务器可以对接收到的产品信息查询请求等数据进行分析等处理，并将处理结果(例如目标推送信息、产品信息--仅为示例)反馈给终端设备。
需要说明的是，本公开实施例所提供的自动导引运输车的调度方法一般由服务器405执行，相应地，自动导引运输车的调度装置一般设置于服务器405中。
应该理解，图4中的终端设备、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的终端设备、网络和服务器。
下面参考图5，其示出了适于用来实现本公开实施例的终端设备的计算机系统500的结构示意图。图5示出的终端设备仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图5所示，计算机系统500包括中央处理单元(CPU)501，其可以根据存储在只读存储器(ROM)502中的程序或者从存储部分508加载到随机访问存储器(RAM)503中的程序而执行各种适当的动作和处理。在RAM 503中，还存储有系统500操作所需的各种程序和数据。CPU 501、ROM 502以及RAM 503通过总线504彼此相连。输入/输出(I/O)接口505也连接至总线504。
以下部件连接至I/O接口505：包括键盘、鼠标等的输入部分506；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分507；包括硬盘等的存储部分508；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分509。通信部分509经由诸如因特网的网络执行通信处理。驱动器510也根据需要连接至I/O接口505。可拆卸介质511，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器510上，以便于从其上读出的计算机程序根据需要被安装入存储部分508。
特别地，根据本公开公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分509从网络上被下载和安装，和/或从可拆卸介质511被安装。在该计算机程序被中央处理单元 (CPU)501执行时，执行本公开的系统中限定的上述功能。
需要说明的是，本公开所示的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的 是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开实施例中所涉及到的模块可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的模块也可以设置在处理器中，例如，可以描述为：一种处理器包括获取模块、计算模块和调度模块。其中，这些模块的名称在某种情况下并不构成对该模块本身的限定，例如，获取模块还可以被描述为“根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息的模块”。
作为另一方面，本公开还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的设备中所包含的；也可以是单独存在，而未装配入该设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被一个该设备执行时，使得该设备包括：根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息；根据临时停车点集的信息和自动导引运输车的信息，计算临时停车点集中每个临时停车点的缺车数量；根据缺车数量，从临时停车点集中选择目标临时停车点，并调度待调度的自动导引运输车至目标临时停车点。
根据本公开实施例的技术方案，首先计算每个临时停车点的缺车数量，然后结合缺车数量选择目标临时停车点，最后将待调度的自动导引运输车调度至目标临时停车点，从而可以提供一种在人机协作的拣货模式下调度自动导引运输车的方法；本公开实施例中在计算缺车数量之前，将空闲临时停车点和不可用临时停车点过滤掉，从而可以提高调度AGV小车的准确性；本公开实施例中在确定临时停车点为空闲临时停车点后，将该空闲临时停车点中多余的AGV小车放置在闲置车集合中，从而可以从闲置车集合中调度AGV小车至繁忙临时停车点；本公开实施例中计算每个临时停车点的缺车数量时，首先根据实际情 况计算每个临时停车点中AGV小车的需求数量，接着确定需求数量和预占数量的差值为缺车数量，从而可以提高本技术方案的实用性和可行性；本公开实施例中从临时停车位数量、时间消耗信息和待搬运任务箱多个角度考虑，计算每个临时停车点的AGV小车需求数量，从而可以提供多种场景需求，提高调度AGV小车的调度效率，进一步提高本方案的实用性；本公开实施例中通过比较缺车数量，选择目标临时停车点，从而可以将待调度AGV小车分配至目标临时停车点。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，取决于设计要求和其他因素，可以发生各种各样的修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。

Claims (18)

  1. 一种自动导引运输车的调度方法，其特征在于，包括：
    根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息；
    根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集中每个临时停车点的缺车数量；
    根据所述缺车数量，从所述临时停车点集中选择目标临时停车点，并调度所述待调度的自动导引运输车至所述目标临时停车点。
  2. 根据权利要求1所述的方法，其特征在于，在根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集的缺车数量之前，所述方法还包括：
    针对所述临时停车点集中的每个临时停车点，判断所述临时停车点是否为空闲临时停车点或者不可用临时停车点，若是，则将所述临时停车点过滤掉；其中，
    空闲临时停车点是指有等待的自动导引运输车，并且在预设时间内没有自动导引运输车领取搬运任务离开的临时停车点；不可用临时停车点是指自动导引运输车的预占数量达到预设最大阈值的临时停车点。
  3. 根据权利要求2所述的方法，其特征在于，在判断所述临时停车点是否为空闲临时停车点或者不可用临时停车点之后，所述方法还包括：
    若所述临时停车点是空闲临时停车点，则保留在所述临时停车点中排队位第一的自动导引运输车，并将所述临时停车点中其他自动导引运输车添加至闲置车集合；
    判断所述临时停车点集中是否存在繁忙临时停车点，若是，则从所述闲置车集合中调度自动导引运输车至所述繁忙临时停车点，其中 所述繁忙临时停车点是指单位时间内执行搬运任务的自动导引运输车的数目超过预设值的临时停车点。
  4. 根据权利要求1所述的方法，其特征在于，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集中每个临时停车点的缺车数量包括：
    针对每个临时停车点，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量，然后确认所述临时停车点中自动导引运输车的需求数量与所述临时停车点中自动导引运输车的预占数量为所述临时停车点的缺车数量。
  5. 根据权利要求4所述的方法，其特征在于，所述临时停车点集的信息包括：每个临时停车点的临时停车位数量；以及
    计算所述临时停车点中自动导引运输车的需求数量包括：
    确定所述临时停车点的临时停车位数量为所述临时停车点中自动导引运输车的需求数量。
  6. 根据权利要求4所述的方法，其特征在于，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量包括：
    根据所述临时停车点的搬运起点到投线口的距离、所述自动导引运输车的运行速度和所述临时停车点的搬运时间，计算所述临时停车点对应的时间消耗信息；
    根据所述临时停车点对应的时间消耗信息和所述自动导引运输车的总数，计算所述临时停车点中自动导引运输车的需求数量。
  7. 根据权利要求4所述的方法，其特征在于，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量包括：
    根据所述临时停车点的待搬运任务箱数量和所述自动导引运输车单次搬运任务箱的数量，计算所述临时停车点中自动导引运输车的需求数量。
  8. 根据权利要求1所述的方法，其特征在于，根据所述缺车数量，从所述临时停车点集中选择目标临时停车点包括：
    比较所述临时停车点集中各个临时停车点的缺车数量，将所述缺车数量的最大值对应的临时停车点选择为所述目标临时停车点。
  9. 一种自动导引运输车的调度装置，其特征在于，包括：
    获取模块，用于根据自动导引运输车的调度任务，获取临时停车点集的信息和自动导引运输车的信息；
    计算模块，用于根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点集中每个临时停车点的缺车数量；
    调度模块，用于根据所述缺车数量，从所述临时停车点集中选择目标临时停车点，并调度所述待调度的自动导引运输车至所述目标临时停车点。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括过滤模块，用于：
    针对所述临时停车点集中的每个临时停车点，判断所述临时停车点是否为空闲临时停车点或者不可用临时停车点，若是，则将所述临时停车点过滤掉；其中，
    空闲临时停车点是指有等待的自动导引运输车，并且在预设时间内没有自动导引运输车领取搬运任务离开的临时停车点；不可用临时停车点是指自动导引运输车的预占数量达到预设最大阈值的临时停车点。
  11. 根据权利要求10所述的装置，其特征在于，所述过滤模块还用于：
    若所述临时停车点是空闲临时停车点，则保留在所述临时停车点中排队位第一的自动导引运输车，并将所述临时停车点中其他自动导引运输车添加至闲置车集合；
    判断所述临时停车点集中是否存在繁忙临时停车点，若是，则从所述闲置车集合中调度自动导引运输车至所述繁忙临时停车点，其中，所述繁忙临时停车点是指单位时间内执行搬运任务的自动导引运输车的数目超过预设值的临时停车点。
  12. 根据权利要求9所述的装置，其特征在于，所述计算模块还用于：针对每个临时停车点，根据所述临时停车点集的信息和所述自动导引运输车的信息，计算所述临时停车点中自动导引运输车的需求数量，然后确认所述临时停车点中自动导引运输车的需求数量与所述临时停车点中自动导引运输车的预占数量为所述临时停车点的缺车数量。
  13. 根据权利要求12所述的装置，其特征在于，所述临时停车点集的信息包括：每个临时停车点的临时停车位数量；以及
    所述计算模块还用于：确定所述临时停车点的临时停车位数量为所述临时停车点中自动导引运输车的需求数量。
  14. 根据权利要求12所述的装置，其特征在于，所述计算模块还用于：
    根据所述临时停车点的搬运起点到投线口的距离、所述自动导引运输车的运行速度和所述临时停车点的搬运时间，计算所述临时停车点对应的时间消耗信息；
    根据所述临时停车点对应的时间消耗信息和所述自动导引运输车的总数，计算所述临时停车点中自动导引运输车的需求数量。
  15. 根据权利要求12所述的装置，其特征在于，所述计算模块还用于：根据所述临时停车点的待搬运任务箱数量和所述自动导引运输 车单次搬运任务箱的数量，计算所述临时停车点中自动导引运输车的需求数量。
  16. 根据权利要求9所述的装置，其特征在于，所述调度模块还用于：比较所述临时停车点集中各个临时停车点的缺车数量，将所述缺车数量的最大值对应的临时停车点选择为所述目标临时停车点。
  17. 一种电子设备，其特征在于，包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-8中任一所述的方法。
  18. 一种计算机可读介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现如权利要求1-8中任一所述的方法。
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CN113283839A (zh) * 2021-06-07 2021-08-20 浙江中烟工业有限责任公司 一种防差错的卷烟销售出库rfid扫码设备自动开启系统
CN113283839B (zh) * 2021-06-07 2022-10-14 浙江中烟工业有限责任公司 一种防差错的卷烟销售出库rfid扫码设备自动开启系统

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