WO2021197477A1 - Device scheduling method and apparatus for high-bay warehouse - Google Patents

Abstract

A device scheduling method and apparatus for a high-bay warehouse, which relate to the field of warehouse logistics. The method comprises: in response to a received transportation task to be assigned, obtaining status information of a scheduling device; wherein the scheduling device comprises: a transportation device and a lifting device (S101); according to the status information of the scheduling device and the information of the transportation task, assigning a target scheduling device corresponding to the transportation task, and generating a scheduling task corresponding to the transportation task (S102); scheduling the target scheduling device according to the scheduling task (S103). The method can generate scheduling tasks on the basis of the transportation tasks according to the status information of the transportation device and the lifting device, and further accurately schedule the transportation device and the lifting device, thus ensuring the orderly and efficient running of the device, and avoiding the scheduling conflicts caused by there being no intercommunication of data between the transportation device and the lifting device in the prior art, which is safer and more efficient.

Description

Equipment scheduling method and device for stereo library

Cross-references to related applications

This application claims the priority of the Chinese invention patent application with the application number 202010259306.4 filed on April 3, 2020, the entire content of which is incorporated herein by reference.

Technical field

The present disclosure relates to the field of warehousing and logistics, and in particular to an equipment scheduling method and device for a three-dimensional warehouse.

Background technique

In the common three-dimensional warehouse storage in the field of warehousing and logistics, each lane has multiple layers, and scheduling equipment is needed to complete transportation tasks. For example, it is often necessary to use lifting equipment to perform layer-changing scheduling of transportation equipment to complete transportation tasks.

In the process of implementing the present technology, the inventor found that there are at least the following problems in the prior art:

The transportation equipment and the lifting equipment in the prior art operate independently, without any data communication between each other, and do not know the operating status of each other. When multiple dispatching equipment (transport equipment and lifting equipment) perform tasks at the same time, they need to work Personnel rely on experience or observation of transportation equipment and lifting equipment to judge and schedule their tasks, such as: when the transportation equipment enters the lifting equipment, when to leave the lifting equipment, dispatch the lifting equipment to which floor to perform tasks, and so on. If the staff of a certain action node judges that the scheduling is improper, it will cause scheduling conflicts between the transportation equipment and the lifting equipment, and the transportation task cannot be performed efficiently.

Summary of the invention

In view of this, the embodiments of the present disclosure provide an equipment scheduling method and device for a three-dimensional library, which can accurately schedule transportation equipment and lifting equipment according to the status information of the transportation equipment and lifting equipment, and ensure that the equipment is executed in an orderly and efficient manner. , Avoid equipment collision, more safety.

To achieve the foregoing objective, according to one aspect of the embodiments of the present disclosure, a device scheduling method for a stereo library is provided, including:

In response to the received transportation task to be assigned, the status information of the dispatching equipment is acquired; wherein the dispatching equipment includes: transportation equipment and lifting equipment;

According to the status information of the scheduling device and the information of the transportation task to be allocated, assign a target scheduling device corresponding to the transportation task to be allocated, and generate a scheduling task corresponding to the transportation task to be allocated;

Scheduling the target scheduling device according to the scheduling task.

Optionally, the state information of the dispatching device includes: failure information of the dispatching device, and existing transportation task information of the dispatching device;

The transportation task information includes: transportation task generation time information, and layer information of the transportation task.

Optionally, according to the status information of the scheduling device and the information of the transportation task to be allocated, assigning the corresponding target scheduling device to the transportation task includes:

According to the failure information of the scheduling device, select a non-faulty device from the scheduling device as the candidate scheduling device;

Determine the target transportation equipment from the transportation equipment to be selected;

According to the existing transportation task information of the target transportation device, determine the layer of the target transportation device before the transportation task to be allocated is executed, as a pre-order layer;

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the target transportation device is used as the target scheduling device;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, a target lifting device is determined from the lifting devices to be selected, and the target transportation device and the target lifting device are used together as the target scheduling device.

Optionally, according to the existing transportation task information of the target transportation device, determining the layer of the target transportation device before executing the transportation task to be allocated, as the pre-order layer, includes:

If there is no existing transportation task, use the current layer of the target transportation equipment as the pre-order layer;

If there is an existing transportation task, the layer of the existing transportation task that is earlier than the generation time of the transportation task to be allocated and closest to the generation time of the transportation task to be allocated among the existing transportation tasks is used as the pre-order layer.

Optionally, generating a scheduling task corresponding to the to-be-allocated transportation task includes:

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the scheduling task includes: the target transportation equipment performs the same layer transportation at the layer where the transportation task to be allocated is located;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, the scheduling task includes: using the target lifting device to transfer the target transportation device from the pre-order layer to the transportation task to be allocated The layer.

Optionally, the target transportation equipment is determined from the transportation equipment to be selected, including:

According to the existing transportation task information of the scheduling equipment, the number of transportation tasks to be performed for each transportation equipment to be selected is determined; the transportation equipment to be selected with the least number of transportation tasks to be performed is used as the target transportation equipment.

Optionally, the target lifting equipment is determined from the to-be-selected lifting equipment, including:

According to the existing transportation task information of the scheduling equipment, determine the number of transportation tasks to be performed for each candidate lifting equipment; take the candidate lifting equipment with the least number of transportation tasks to be performed as the target transportation equipment.

Optionally, after allocating a target scheduling device corresponding to the transportation task to be allocated, and generating a scheduling task corresponding to the transportation task to be allocated, the method further includes:

Update the status information of the target scheduling device.

Optionally, when a dispatching device fails, the existing transportation tasks of the dispatching device are allocated to other dispatching devices according to the above-mentioned method, and the state information of the dispatching device is updated.

According to another aspect of the embodiments of the present disclosure, there is provided a device scheduling device for a stereo library, including:

The obtaining module is used to obtain status information of the dispatching equipment in response to the received transportation task to be assigned; wherein the dispatching equipment includes: transportation equipment and lifting equipment;

The allocation module is used to allocate a target scheduling device corresponding to the to-be-allocated transportation task according to the status information of the scheduling device and the to-be-allocated transportation task information, and generate a schedule corresponding to the to-be-allocated transportation task Task;

The scheduling module is used to schedule the target scheduling device according to the scheduling task.

Optionally, the state information of the dispatching device includes: failure information of the dispatching device, and existing transportation task information of the dispatching device;

The transportation task information includes: transportation task generation time information, and layer information of the transportation task.

Optionally, the allocation module allocates a corresponding target scheduling device for the transportation task according to the status information of the scheduling device and the transportation task information to be allocated, including:

According to the failure information of the scheduling device, select a non-faulty device from the scheduling device as the candidate scheduling device;

Determine the target transportation equipment from the transportation equipment to be selected;

According to the existing transportation task information of the target transportation device, determine the layer of the target transportation device before the transportation task to be allocated is executed, as a pre-order layer;

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the target transportation device is used as the target scheduling device;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, a target lifting device is determined from the lifting devices to be selected, and the target transportation device and the target lifting device are used together as the target scheduling device.

Optionally, the allocation module determines the layer of the target transportation device before executing the transportation task to be allocated based on the existing transportation task information of the target transportation device, as a pre-order layer, including:

If there is no existing transportation task, use the current layer of the target transportation equipment as the pre-order layer;

If there is an existing transportation task, the layer of the existing transportation task that is earlier than the generation time of the transportation task to be allocated and closest to the generation time of the transportation task to be allocated among the existing transportation tasks is used as the pre-order layer.

Optionally, the allocation module generates a scheduling task corresponding to the transportation task to be allocated, including:

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the scheduling task includes: the target transportation equipment performs the same layer transportation at the layer where the transportation task to be allocated is located;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, the scheduling task includes: using the target lifting device to transfer the target transportation device from the pre-order layer to the transportation task to be allocated The layer.

Optionally, the allocation module determines the target transportation equipment from the transportation equipment to be selected, including:

According to the existing transportation task information of the scheduling equipment, the number of transportation tasks to be performed for each transportation equipment to be selected is determined; the transportation equipment to be selected with the least number of transportation tasks to be performed is used as the target transportation equipment.

Optionally, the distribution module determines the target lifting equipment from the to-be-selected lifting equipment, including:

According to the existing transportation task information of the scheduling equipment, determine the number of transportation tasks to be performed for each candidate lifting equipment; take the candidate lifting equipment with the least number of transportation tasks to be performed as the target transportation equipment.

Optionally, after the allocation module allocates a target scheduling device corresponding to the transportation task to be allocated and generates a scheduling task corresponding to the transportation task to be allocated, the allocation module further includes:

Update the status information of the target scheduling device.

Optionally, when the dispatching device fails, the allocation module is also used to allocate the existing transportation tasks of the dispatching device to other dispatching devices according to the above method, and update the state information of the dispatching device.

According to another aspect of the embodiments of the present disclosure, there is provided a device scheduling electronic device for a stereo library, including:

One or more processors;

Storage device for storing one or more programs,

When the one or more programs are executed by the one or more processors, the one or more processors implement the device scheduling method for the stereo library provided in the present disclosure.

According to still another aspect of the embodiments of the present disclosure, there is provided a computer-readable medium having a computer program stored thereon, and when the program is executed by a processor, the device scheduling method for a stereo library provided by the present disclosure is implemented.

An embodiment in the above disclosure has the following advantages or beneficial effects: because the scheduling task is generated based on the transportation task based on the status information of the transportation equipment and the lifting equipment, and then the transportation equipment and the lifting equipment are accurately scheduled, and updated in time during the scheduling process. The technical means of its status information avoids the scheduling conflicts caused by the non-interworking of data between the transportation equipment and the lifting equipment in the prior art, and overcomes the scheduling conflicts caused by the staff relying on experience and observation in the prior art. The technical problems of untimely scheduling, inaccuracy, insecurity, and low task execution efficiency have achieved the technical effect of enabling the equipment to perform tasks in an orderly, efficient and safe manner.

The further effects of the above non-conventional alternative manners will be described below in conjunction with specific implementation manners.

Description of the drawings

The accompanying drawings are used to better understand the present disclosure, and do not constitute an improper limitation of the present disclosure. in:

FIG. 1 is a schematic diagram of the main flow of a device scheduling method for a three-dimensional library according to an embodiment of the present disclosure;

2 is a schematic diagram of an application scenario of a device scheduling method for a stereo library according to an embodiment of the present disclosure;

FIG. 3 is a detailed flowchart of a device scheduling method for a three-dimensional library according to an embodiment of the present disclosure;

4 is a schematic flow chart of scheduling target transportation equipment and target lifting equipment in an equipment scheduling method for a three-dimensional library according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of main modules of a device scheduling device for a three-dimensional library according to an embodiment of the present disclosure;

Fig. 6 is an exemplary system architecture diagram to which the embodiments of the present disclosure can be applied;

Fig. 7 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server according to an embodiment of the present disclosure.

Detailed ways

The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be regarded as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Likewise, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

Fig. 1 is a schematic diagram of the main flow of a device scheduling method for a three-dimensional library according to an embodiment of the present disclosure, as shown in Fig. 1, including:

Step S101: In response to the received transportation task to be assigned, the status information of the dispatching device is obtained; wherein the dispatching device includes: a transportation device and a lifting device;

Step S102: According to the status information of the scheduling device and the transportation task information to be allocated, assign a target scheduling device corresponding to the transportation task to be allocated, and generate a scheduling task corresponding to the transportation task to be allocated;

Step S103: Scheduling the target scheduling device according to the scheduling task.

In some embodiments, the status information of the scheduling device includes: failure information of the scheduling device, and existing transportation task information of the scheduling device;

The transportation task information includes: transportation task generation time information, and layer information of the transportation task.

The transportation task can be the tasks of changing layers and placing items, warehousing and putting on the shelves, removing the shelves and leaving the warehouse, etc.;

Scheduling equipment may be equipment used to complete transportation tasks in a three-dimensional library storage scene, and may include transportation equipment and lifting equipment;

The transportation device may be a movable device used to carry items in a three-dimensional library storage scene, such as an AGV (Automated Guided Vehicle) car with a function of storing items or a common shuttle device; The lifting equipment may be an elevator-like equipment used in a three-dimensional library storage scene that is used to carry transportation equipment up and down to change floors, such as a shuttle hoist. In some practical application scenarios, the number of transportation equipment and lifting equipment may be more than one.

The status information of the scheduling device may be stored in a database (such as a redis database); specifically, the status information of the scheduling device may include: information about whether the device is faulty, specific information about the fault, and information about the currently executing transportation task , The existing transportation task information, equipment number information, current location (layer) information, etc. that have been arranged to the equipment and have not been completed;

The transportation task information may include the generation time information of the transportation task and the layer information of the transportation task;

Each scheduling device can have a corresponding to-do task list. The to-do task list can store information about existing transportation tasks that have been scheduled and not yet completed. The existing transportation tasks can be first arrived according to the task generation time. The following order forms an ordered task list; for example, for a certain transportation equipment A, the following transportation tasks have been arranged for the transportation equipment: a ₁ , a ₂ , a ₃ , where a ₁ , a ₂ , and a ₃ are already assigned tasks If the generation time sequence is arranged, the transportation equipment A will complete the transportation tasks a ₁ , a ₂ , and a ₃ in sequence.

Fig. 2 is a schematic diagram of an application scenario of a device scheduling method for a stereo library according to an embodiment of the present disclosure, as shown in Fig. 2:

The three-dimensional library in this application scenario has 5 floors, in which there are two transportation equipment (shuttles), including transportation equipment 201, transportation equipment 202, and a lifting equipment (shuttle elevator) 203, of which transportation equipment 201 is parked on the 2nd floor , The transportation equipment 202 stops at the 1st floor, and the lifting equipment 203 stops at the 2nd floor; if the goods on the 4th floor have transportation tasks at this time, the lifting equipment 203 needs to be used in this scenario to dispatch the transportation equipment 201 or the transportation equipment 202 to the fourth floor. Layer to perform tasks.

The present disclosure can generate scheduling tasks based on the transportation tasks based on the status information of the transportation equipment and the lifting equipment, thereby accurately scheduling the transportation equipment and the lifting equipment, ensuring the orderly and efficient execution of the equipment, and avoiding the transportation equipment and the lifting equipment in the prior art. Scheduling conflicts caused by non-interoperability of data between devices are safer and more efficient.

In some embodiments, according to the status information of the scheduling device and the information of the transportation task to be allocated, allocating the corresponding target scheduling device to the transportation task includes:

According to the failure information of the scheduling device, select a non-faulty device from the scheduling device as the candidate scheduling device;

Determine the target transportation equipment from the transportation equipment to be selected;

According to the existing transportation task information of the target transportation device, determine the layer of the target transportation device before the transportation task to be allocated is executed, as a pre-order layer;

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the target transportation device is used as the target scheduling device;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, a target lifting device is determined from the lifting devices to be selected, and the target transportation device and the target lifting device are used together as the target scheduling device.

First determine that the scheduling equipment to be selected can eliminate faulty equipment and avoid assigning transportation tasks to equipment that cannot work normally;

After the target transportation equipment is determined from the transportation equipment to be selected, it can be determined according to the status information of the target transportation equipment whether lifting equipment is needed to help the target transportation equipment complete the transportation tasks to be assigned. Whether the tasks are on the same layer and then determine whether it is necessary to use lifting equipment to help the target transportation equipment to change layers to complete the transportation tasks to be assigned;

For the method of determining the pre-order layer, the following examples illustrate:

In some embodiments, if the task generation time of the transportation task to be allocated is later than the task generation time of the existing transportation task of the target transportation device, the transportation task to be allocated will be ranked in the existing transportation task list of the target transportation device. After the last transportation task, the layer of the last transportation task in the existing transportation task list of the target transportation equipment can be used as the predecessor layer; or,

In some embodiments, if there is a task generation time that is later than the to-be-allocated transportation task among the existing transportation tasks of the target transportation equipment, then the existing transportation task is assumed to be earlier than the to-be-allocated transportation task generation time and is far from the to-be-allocated transportation task. The layer of the existing transportation task with the most recent generation time of the transportation task is used as the pre-order layer; or,

In some embodiments, if the target transportation device does not have an existing transportation task, that is, the to-do task list of the target transportation device is empty, the current layer of the target transportation device may be used as the pre-order layer;

If the pre-order layer is the same as the layer where the transportation task is to be assigned, the lifting equipment may not be needed to help the transportation equipment to change the layer, and the target transportation equipment may be directly used as the target dispatching equipment;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, then the target lifting equipment can be determined from the to-be-selected lifting equipment, and the target transportation equipment and the target lifting equipment are jointly used as the target dispatching equipment.

In some embodiments, generating a scheduling task corresponding to the to-be-allocated transportation task includes:

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the scheduling task includes: the target transportation equipment performs the same layer transportation at the layer where the transportation task to be allocated is located;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, the scheduling task includes: using the target lifting device to transfer the target transportation device from the pre-order layer to the transportation task to be allocated The layer.

The scheduling task can be regarded as a task that only involves the operation of the transportation equipment and the lifting equipment; the generation of the scheduling task can facilitate the management of the transportation equipment and the lifting equipment, avoiding the data gap between the transportation equipment and the lifting equipment in the prior art. Scheduling conflicts caused by intercommunication are safer and more efficient.

Fig. 3 is a detailed flowchart of a method for scheduling a device for a stereo library according to an embodiment of the present disclosure. As shown in Fig. 3, it includes the following steps:

Step S301 starts; Step S301 can represent the system startup and create a task scheduling thread. In some embodiments, the thread can be executed in a regular loop. The Scheduled function of the spring framework can be used to realize the timing task, such as executing once in 1s; After that, the status information of transportation equipment and lifting equipment can be initialized. Redis database can be used to store the status information data of transportation equipment and lifting equipment. The use of redis database can increase the data processing speed, and at the same time, it can use its distributed lock function to avoid concurrency;

Step S302 locks the transportation equipment and step S303 locks the lifting equipment at the same time; taking the redis database to store the status information data of the transportation equipment and the lifting equipment as an example, the system can use the redis interlock (RedissonMultiLock) function to simultaneously obtain the car and The object of the hoist is locked to ensure that the status information data of the transportation equipment and the hoisting equipment are unique at the same time and no other resources can be modified. Avoid data disorder leading to scheduling errors and equipment collisions;

In step S304, it is judged whether the locking of the transportation equipment and the lifting equipment is successful; if it is unsuccessful, it returns to the starting step of step S301; if it is successful, it executes the next step;

The order of obtaining the status information of the transportation equipment in step S305 and obtaining the status information of the lifting equipment in step S306 may be in no particular order. The status information of the transportation equipment may be obtained first, or the status information of the lifting equipment may be obtained first, or at the same time;

In step S307, it is judged whether both the transportation equipment and the lifting equipment are normally available without failure; when they are not available, step S309 is executed; when there are equipment that is normally available without failure, step S308 is executed;

Step S308 determines the target scheduling equipment corresponding to the transportation task to be allocated, and generates the scheduling task corresponding to the transportation task to be allocated;

Step S309: Release the lock of the transportation equipment and the lifting equipment, and return to the starting step of step S301.

In some embodiments, determining the target transportation equipment from the candidate transportation equipment includes:

According to the existing transportation task information of the scheduling equipment, the number of transportation tasks to be performed for each transportation equipment to be selected is determined; the transportation equipment to be selected with the least number of transportation tasks to be performed is used as the target transportation equipment.

In some actual situations, if there are the same minimum number of transportation equipment to be performed, the selection can be made based on the task generation time in the list of transportation tasks to be performed. For example, there are transportation equipment to be selected B and transportation equipment C to be selected, The transportation equipment B to be selected has ordered existing transportation tasks b ₁ , b ₂ , b ₃ , and transportation equipment C to be selected has transportation tasks c ₁ , c ₂ , and c _{3 in the} ordered order, and transportation tasks are to be performed The number is 3, which is the least; among them, if the _{generation time of transportation task b 3} is earlier than the generation time of transportation task c _{3, and the} generation time of transportation task c ₃ is earlier than the generation time of transportation task x to be assigned, the transportation equipment to be selected can be selected B is the target transportation equipment. The significance of this determination is that the transportation tasks to be allocated can be executed as soon as possible based on the current status information of each equipment.

In some embodiments, determining the target lifting equipment from the candidate lifting equipment includes:

According to the existing transportation task information of the scheduling equipment, determine the number of transportation tasks to be performed for each candidate lifting equipment; take the candidate lifting equipment with the least number of transportation tasks to be performed as the target transportation equipment.

The target scheduling equipment is determined according to the number of transportation tasks to be performed for each equipment, and transportation tasks can be distributed to the equipment relatively evenly, which can avoid the situation that a small number of equipment is assigned too many transportation tasks, and then balance the equipment load.

In some embodiments, after allocating a target scheduling device corresponding to the transportation task to be allocated and generating a scheduling task corresponding to the transportation task to be allocated, the method further includes: updating the status information of the target scheduling device .

In some embodiments, when a scheduling device fails, the existing transportation tasks of the scheduling device are allocated to other scheduling devices according to the above-mentioned method, and the status information of the scheduling device is updated.

In some actual situations, the failure of the dispatching equipment may also include the dispatching equipment's maintenance requirements, recovery requirements, etc.; the following examples illustrate:

There are candidate transportation equipment D, candidate transportation equipment E, candidate transportation equipment F; candidate elevator equipment G, candidate elevator equipment H, candidate elevator equipment I; candidate transportation equipment D has existing transportation tasks arranged in order d ₁ , d ₂ , and they all cooperate with the candidate lifting equipment G; the candidate transportation equipment E has the existing transportation tasks e ₁ , e ₂ , e _{3 in the order} , and they all cooperate with the candidate lifting equipment H; The selected transportation equipment F has the existing transportation tasks f ₁ , f ₂ , and f _{3 in a} good order, and they all cooperate with the to-be-selected lifting equipment I; when the to-be-selected transportation equipment F suddenly fails at this time, you can follow the steps in this disclosure In the method, the transportation tasks f ₁ , f ₂ , and f _{3 are} assigned to other devices in turn, and new scheduling tasks are generated accordingly; and afterwards, the status information of each device needs to be updated.

Updating the status information of the device in time can make the data more credible and make the method in the present disclosure more reliable.

In some preferred embodiments, after the scheduling task is generated, an interlock may be set for the target transportation equipment and the target lifting equipment. Setting the interlock can ensure that the equipment status information is not easily tampered with and ensure the accuracy of the data.

Fig. 4 is a schematic flow chart of equipment scheduling for target transportation equipment and target lifting equipment in an equipment scheduling method for a three-dimensional library according to an embodiment of the present disclosure. As shown in Fig. 4, it includes the following steps:

Step S401 starts; Step S401 can be regarded as a sign of the start of the process after dispatching tasks to the target transportation equipment and the target lifting equipment;

In step S402, the status information of the target transportation equipment is updated. Specifically, the status information of the target transportation equipment may be updated to "the scheduling task is being executed";

In step S403, an instruction of "arrival waiting position" is issued to the target transportation equipment; the waiting position may be a position where the transportation equipment is located in a layer where it is docked with the target lifting equipment;

Step S404 confirms that the target transportation equipment arrives at the waiting position; when the target transportation equipment reaches the waiting position, the target transportation equipment can notify the system, and the system obtains the transportation equipment redis object and locks it, marking the completion of the task of "arrived waiting position";

Step S405 is to update the status information of the target lifting device, specifically, it may be updating the status information of the target lifting device to "executing a scheduling task";

Step S406 is to issue an "arrival waiting position" instruction to the target hoisting equipment; the waiting position may be the docking position of the target hoisting equipment and the floor where the target transportation equipment is located;

Step S407 confirms that the target lifting equipment arrives at the waiting position; when the target lifting equipment reaches the waiting position, the target lifting equipment informs the system, and the system obtains the redis object of the lifting equipment, and at the same time obtains the redis object of the target transportation equipment and adds the interlock, marking the current of the target lifting equipment object "Arrival waiting position" task execution is completed;

In some embodiments, the execution order of step S402 to step S404 and step S405 to step S407 can be performed in no particular order or at the same time; step S402 to step S404 and step S405 to step S407 need to be completed before step S408 to Enable the target transportation equipment to enter the target lifting equipment normally to ensure safety;

Step S408 is to issue the "enter target lifting equipment" instruction to the target transportation equipment;

Step S409 confirms that the target transportation equipment enters the target lifting equipment; when the target transportation equipment enters the target lifting equipment, the system is notified, and the system obtains the target transportation equipment redis object, and at the same time, obtains the target lifting equipment redis object and adds the interlock to mark the target transportation equipment object current "Enter the target lifting equipment" task is completed, and the current floor number of the target transportation equipment can be marked as empty to indicate that the target transportation equipment is not in any floor;

Step S410 is to issue an "reach to destination" instruction to the target lifting device; update the execution task list of the target lifting device object, and issue the "reach to destination" instruction to the target lifting device;

Step S411 confirms that the target lifting equipment reaches the target floor; the target lifting equipment reaches the target floor, that is, the target lifting equipment carries the target transportation equipment and reaches the target floor together; when the target lifting equipment reaches the target floor, the target lifting equipment notifies the system, and the system obtains the lifting equipment redis Object, at the same time, obtain the redis object of the target transportation equipment and add interlock to mark the completion of the task of "reaching the destination layer" of the redis object of the lifting equipment;

Step S412 is to issue the instruction of "leave the target lifting equipment and enter the destination layer" to the target transportation equipment; Step S412 may be to update the target transportation equipment redis object execution task list, and issue the instruction of "leave the target lifting equipment and enter the destination layer" to the target transportation equipment ；

Step S413 confirms that the target transportation equipment leaves the target elevator equipment and enters the destination layer; when the target transportation equipment leaves the target elevator equipment and enters the destination floor, the target transportation equipment notifies the system, and the system obtains the target transportation equipment redis object, and at the same time obtains the target elevator equipment redis object and adds Interlock, mark the completion of the task of the target transportation equipment object "leave the target lifting equipment and enter the destination layer", and mark the completion of the scheduling task of the target transportation equipment;

Step S414: The task ends; the target transportation equipment status information is updated so that the target transportation equipment can perform other tasks; and the target lifting equipment redis object execution task list is updated, and the target lifting equipment scheduling task is marked as completed.

FIG. 5 is a schematic diagram of the main modules of a device scheduling device for a three-dimensional library according to an embodiment of the present disclosure. As shown in FIG. 5, the device scheduling device 500 for a three-dimensional library includes:

The obtaining module 501 is configured to obtain status information of a dispatching device in response to a received transportation task to be assigned; wherein, the dispatching device includes: a transportation device and a lifting device;

The allocation module 502 is configured to allocate a target scheduling device corresponding to the to-be-allocated transportation task according to the status information of the scheduling device and the to-be-allocated transportation task information, and generate a corresponding target scheduling device for the to-be-allocated transportation task Scheduling tasks;

The scheduling module 503 is configured to schedule the target scheduling device according to the scheduling task.

In some embodiments, the status information of the scheduling device includes: failure information of the scheduling device, and existing transportation task information of the scheduling device;

The transportation task information includes: transportation task generation time information, and layer information of the transportation task.

The transportation task can be the tasks of changing layers and placing items, warehousing and putting on the shelves, removing the shelves and leaving the warehouse, etc.;

The scheduling device may be a device used to complete transportation tasks in a three-dimensional library storage scenario, and may include transportation equipment and lifting equipment;

The transportation device may be a movable device used to carry items in a three-dimensional library storage scene, such as an AGV (Automated Guided Vehicle) car with a function of storing items or a common shuttle device; The lifting equipment may be an elevator-like equipment used in a three-dimensional library storage scene that is used to carry transportation equipment up and down to change floors, such as a shuttle hoist. In some practical application scenarios, the number of transportation equipment and lifting equipment may be more than one.

The status information of the scheduling device may be stored in a database (such as a redis database); specifically, the status information of the scheduling device may include: information about whether the device is faulty, specific information about the fault, and information about the currently executing transportation task , The existing transportation task information, equipment number information, current location (layer) information, etc. that have been arranged to the equipment and have not been completed;

The transportation task information may include the generation time information of the transportation task and the layer information of the transportation task;

Each scheduling device can have a corresponding to-do task list. The to-do task list can store information about existing transportation tasks that have been scheduled and not yet completed. The existing transportation tasks can be first arrived according to the task generation time. The following order forms an ordered task list; for example, for a certain transportation equipment A, the following transportation tasks have been arranged for the transportation equipment: a ₁ , a ₂ , a ₃ , where a ₁ , a ₂ , and a ₃ are already assigned tasks If the generation time sequence is arranged, the transportation equipment A will complete the transportation tasks a ₁ , a ₂ , and a ₃ in sequence.

The present disclosure can generate scheduling tasks based on the transportation tasks based on the status information of the transportation equipment and the lifting equipment, thereby accurately scheduling the transportation equipment and the lifting equipment, ensuring the orderly and efficient execution of the equipment, and avoiding the transportation equipment and the lifting equipment in the prior art. Scheduling conflicts caused by non-interoperability of data between devices are safer and more efficient.

In some embodiments, the allocation module 502 allocates a corresponding target scheduling device for the transportation task according to the status information of the scheduling device and the transportation task information to be allocated, including:

According to the failure information of the scheduling device, select a non-faulty device from the scheduling device as the candidate scheduling device;

Determine the target transportation equipment from the transportation equipment to be selected;

According to the existing transportation task information of the target transportation device, determine the layer of the target transportation device before the transportation task to be allocated is executed, as a pre-order layer;

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the target transportation device is used as the target scheduling device;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, a target lifting device is determined from the lifting devices to be selected, and the target transportation device and the target lifting device are used together as the target scheduling device.

First determine that the scheduling equipment to be selected can eliminate faulty equipment and avoid assigning transportation tasks to equipment that cannot work normally;

After the target transportation equipment is determined from the transportation equipment to be selected, it can be determined according to the status information of the target transportation equipment whether lifting equipment is needed to help the target transportation equipment complete the transportation tasks to be assigned. Whether the tasks are on the same layer and then determine whether it is necessary to use lifting equipment to help the target transportation equipment to change layers to complete the transportation tasks to be assigned;

For the method of determining the pre-order layer, the following examples illustrate:

In some embodiments, if the task generation time of the transportation task to be allocated is later than the task generation time of the existing transportation task of the target transportation device, the transportation task to be allocated will be ranked in the existing transportation task list of the target transportation device. After the last transportation task, the layer of the last transportation task in the existing transportation task list of the target transportation equipment can be used as the predecessor layer; or,

In some embodiments, if there is a task generation time that is later than the to-be-allocated transportation task among the existing transportation tasks of the target transportation equipment, then the existing transportation task is assumed to be earlier than the to-be-allocated transportation task generation time and is far from the to-be-allocated transportation task. The layer of the existing transportation task with the most recent generation time of the transportation task is used as the pre-order layer; or,

In some embodiments, if the target transportation device does not have an existing transportation task, that is, the to-do task list of the target transportation device is empty, the current layer of the target transportation device may be used as the pre-order layer;

If the pre-order layer is the same as the layer where the transportation task is to be assigned, the lifting equipment may not be needed to help the transportation equipment to change the layer, and the target transportation equipment may be directly used as the target dispatching equipment;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, then the target lifting equipment can be determined from the to-be-selected lifting equipment, and the target transportation equipment and the target lifting equipment are jointly used as the target dispatching equipment.

In some embodiments, the allocation module 502 generates a scheduling task corresponding to the transportation task to be allocated, including:

If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the scheduling task includes: the target transportation equipment performs the same layer transportation at the layer where the transportation task to be allocated is located;

If the pre-order layer is different from the layer where the transportation task to be allocated is located, the scheduling task includes: using the target lifting device to transfer the target transportation device from the pre-order layer to the transportation task to be allocated The layer.

The scheduling task can be regarded as a task that only involves the operation of the transportation equipment and the lifting equipment; the generation of the scheduling task can facilitate the management of the transportation equipment and the lifting equipment, avoiding the data gap between the transportation equipment and the lifting equipment in the prior art. Scheduling conflicts caused by intercommunication are safer and more efficient.

In some embodiments, the allocation module 502 determines the target transportation equipment from the transportation equipment to be selected, including:

According to the existing transportation task information of the scheduling equipment, the number of transportation tasks to be performed for each transportation equipment to be selected is determined; the transportation equipment to be selected with the least number of transportation tasks to be performed is used as the target transportation equipment.

In some actual situations, if there are the same minimum number of transportation equipment to be performed, the selection can be made based on the task generation time in the list of transportation tasks to be performed. For example, there are transportation equipment to be selected B and transportation equipment C to be selected, The transportation equipment B to be selected has ordered existing transportation tasks b ₁ , b ₂ , b ₃ , and transportation equipment C to be selected has transportation tasks c ₁ , c ₂ , and c _{3 in the} ordered order, and transportation tasks are to be performed The number is 3, which is the least; among them, if the _{generation time of transportation task b 3} is earlier than the generation time of transportation task c _{3, and the} generation time of transportation task c ₃ is earlier than the generation time of transportation task x to be assigned, the transportation equipment to be selected can be selected B is the target transportation equipment. The significance of this determination is that the transportation tasks to be allocated can be executed as soon as possible based on the current status information of each equipment.

In some embodiments, the allocation module 502 determines the target lifting device from the candidate lifting devices, including:

According to the existing transportation task information of the scheduling equipment, determine the number of transportation tasks to be performed for each candidate lifting equipment; take the candidate lifting equipment with the least number of transportation tasks to be performed as the target transportation equipment.

The target scheduling equipment is determined according to the number of transportation tasks to be performed for each equipment, and transportation tasks can be distributed to the equipment relatively evenly, which can avoid the situation that a small number of equipment is assigned too many transportation tasks, and then balance the equipment load.

In some embodiments, after the allocation module 502 allocates a target scheduling device corresponding to the transportation task to be allocated and generates a scheduling task corresponding to the transportation task to be allocated, the allocation module 502 further includes: updating the target scheduling device Status information.

In some embodiments, when a dispatching device fails, the allocation module 502 is further configured to allocate the existing transportation tasks of the dispatching device to other dispatching devices according to the above method, and update the state information of the dispatching device.

In some actual situations, the failure of the dispatching equipment may also include the dispatching equipment's maintenance requirements, recovery requirements, etc.; the following examples illustrate:

There are candidate transportation equipment D, candidate transportation equipment E, candidate transportation equipment F; candidate elevator equipment G, candidate elevator equipment H, candidate elevator equipment I; candidate transportation equipment D has existing transportation tasks arranged in order d ₁ , d ₂ , and they all cooperate with the candidate lifting equipment G; the candidate transportation equipment E has the existing transportation tasks e ₁ , e ₂ , e _{3 in the order} , and they all cooperate with the candidate lifting equipment H; The selected transportation equipment F has the existing transportation tasks f ₁ , f ₂ , and f _{3 in a} good order, and they all cooperate with the to-be-selected lifting equipment I; when the to-be-selected transportation equipment F suddenly fails at this time, you can follow the steps in this disclosure In the method, the transportation tasks f ₁ , f ₂ , and f _{3 are} assigned to other devices in turn, and new scheduling tasks are generated accordingly; and afterwards, the status information of each device needs to be updated.

Updating the status information of the device in time can make the data more credible and make the method in the present disclosure more reliable.

In some preferred embodiments, after the allocation module 502 generates the scheduling task, it can also set an interlock for the target transportation equipment and the target lifting equipment. Setting the interlock can ensure that the equipment status information is not easily tampered with, and the data is guaranteed. accuracy.

FIG. 6 shows an exemplary system architecture 600 of a device scheduling method for a stereo library or a device scheduling apparatus for a stereo library to which an embodiment of the present disclosure can be applied.

As shown in FIG. 6, the system architecture 600 may include terminal devices 601, 602, and 603, a network 604, and a server 605. The network 504 is used to provide a medium for communication links between the terminal devices 601, 602, and 603 and the server 605. The network 604 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 601, 602, and 603 to interact with the server 605 via the network 604 to receive or send messages and so on. Various communication client applications, such as web browser applications, search applications, instant messaging tools, email clients, and social platform software, can be installed on the terminal devices 601, 602, and 603.

The terminal devices 601, 602, and 603 may be various electronic devices that have a display screen and support web browsing, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, and so on.

The server 605 may be a server that provides various services. 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, product information-only examples) to the terminal device.

It should be noted that the device scheduling method for the stereo library provided by the embodiment of the present disclosure is generally executed by the server 605, and accordingly, the device scheduling device for the stereo library is generally set in the server 605.

It should be understood that the numbers of terminal devices, networks, and servers in FIG. 6 are merely illustrative. There can be any number of terminal devices, networks, and servers according to implementation needs.

Referring now to FIG. 7, it shows a schematic structural diagram of a computer system 700 suitable for implementing a terminal device of an embodiment of the present disclosure. The terminal device shown in FIG. 7 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present disclosure.

As shown in FIG. 7, the computer system 700 includes a central processing unit (CPU) 701, which can be based on a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 into a random access memory (RAM) 703 And perform various appropriate actions and processing. In the RAM 703, various programs and data required for the operation of the system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to the bus 704.

The following components are connected to the I/O interface 705: an input part 706 including a keyboard, a mouse, etc.; an output part 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and speakers, etc.; a storage part 708 including a hard disk, etc. ; And a communication section 709 including a network interface card such as a LAN card, a modem, and the like. The communication section 709 performs communication processing via a network such as the Internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that the computer program read therefrom is installed into the storage section 708 as needed.

In particular, according to the embodiments disclosed in the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication part 709, and/or installed from the removable medium 711. When the computer program is executed by the central processing unit (CPU) 701, the above-mentioned functions defined in the system of the present disclosure are executed.

It should be noted that 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 two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or a combination of any of the above. 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 removable Programmable 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 above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and a computer-readable program code is carried therein. This propagated data signal can 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 the computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device . The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions, and operations of the system, method, and computer program product according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more for realizing the specified logic function. Executable instructions. It should also be noted that, in some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two blocks shown one after another can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by It is realized by a combination of dedicated hardware and computer instructions.

The modules involved in the embodiments described in the present disclosure can be implemented in software or hardware. The described module may also be provided in the processor. For example, it may be described as: a processor includes an acquisition module, an allocation module, and a scheduling module. Among them, the names of these modules do not constitute a limitation on the module itself under certain circumstances. For example, the sending module can also be described as "a module that sends an image acquisition request to a connected server".

As another aspect, the present disclosure also provides a computer-readable medium. The computer-readable medium may be included in the device described in the foregoing embodiment; or it may exist alone without being assembled into the device. The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by a device, the device includes: step S101, in response to the received transportation task to be allocated, obtaining the status of the scheduling device Information; wherein, the scheduling equipment includes: transportation equipment, lifting equipment; step S102, according to the status information of the scheduling equipment and the transportation task information to be allocated, the transportation task to be allocated is assigned a corresponding target scheduling Equipment, and generate a scheduling task corresponding to the transportation task to be allocated; step S103, scheduling the target scheduling device according to the scheduling task.

According to the technical solutions of the embodiments of the present disclosure, the technology of generating scheduling tasks based on the transportation tasks based on the status information of the transportation equipment and the lifting equipment is adopted to accurately schedule the transportation equipment and the lifting equipment, and to update the status information in time during the scheduling process Therefore, it avoids the scheduling conflicts caused by the non-interoperability of data between the transportation equipment and the lifting equipment in the prior art, and overcomes the untimely and untimely scheduling caused by the staff relying on experience and observation in the prior art. The technical problems of accuracy, insecurity, and low task execution efficiency have achieved the technical effect of enabling the equipment to perform tasks in an orderly, efficient and safe manner.

The foregoing specific implementations do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that, depending on design requirements and other factors, various modifications, combinations, sub-combinations, and substitutions can occur. Any modification, equivalent replacement and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims (13)

1. A device scheduling method for a stereo library, which includes:

   In response to the received transportation task to be assigned, the status information of the dispatching equipment is acquired; wherein the dispatching equipment includes: transportation equipment and lifting equipment;

   According to the status information of the scheduling device and the information of the transportation task to be allocated, assign a target scheduling device corresponding to the transportation task to be allocated, and generate a scheduling task corresponding to the transportation task to be allocated;

   Scheduling the target scheduling device according to the scheduling task.
2. The method according to claim 1, wherein the status information of the dispatching device includes: failure information of the dispatching device, and existing transportation task information of the dispatching device;

   The transportation task information includes: transportation task generation time information, and layer information of the transportation task.
3. The method according to claim 2, wherein, according to the status information of the scheduling device and the transportation task information to be allocated, allocating the corresponding target scheduling device to the transportation task comprises:

   According to the failure information of the scheduling device, select a non-faulty device from the scheduling device as the candidate scheduling device;

   Determine the target transportation equipment from the transportation equipment to be selected;

   According to the existing transportation task information of the target transportation device, determine the layer of the target transportation device before the transportation task to be allocated is executed, as a pre-order layer;

   If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the target transportation device is used as the target scheduling device;

   If the pre-order layer is different from the layer where the transportation task to be allocated is located, a target lifting device is determined from the lifting devices to be selected, and the target transportation device and the target lifting device are used together as the target scheduling device.
4. The method according to claim 3, wherein, according to the existing transportation task information of the target transportation device, determining the layer of the target transportation device before executing the transportation task to be allocated, as a pre-order layer, comprises:

   If there is no existing transportation task, use the current layer of the target transportation equipment as the pre-order layer;

   If there is an existing transportation task, the layer of the existing transportation task that is earlier than the generation time of the transportation task to be allocated and closest to the generation time of the transportation task to be allocated among the existing transportation tasks is used as the pre-order layer.
5. The method according to claim 3, wherein generating a scheduling task corresponding to the transportation task to be allocated comprises:

   If the pre-order layer is the same as the layer where the transportation task to be allocated is located, the scheduling task includes: the target transportation equipment performs the same layer transportation at the layer where the transportation task to be allocated is located;

   If the pre-order layer is different from the layer where the transportation task to be allocated is located, the scheduling task includes: using the target lifting device to transfer the target transportation device from the pre-order layer to the transportation task to be allocated The layer.
6. The method according to claim 3, wherein determining the target transportation equipment from the candidate transportation equipment includes:

   According to the existing transportation task information of the scheduling equipment, the number of transportation tasks to be performed for each transportation equipment to be selected is determined; the transportation equipment to be selected with the least number of transportation tasks to be performed is used as the target transportation equipment.
7. The method according to claim 3, wherein determining the target lifting device from the candidate lifting devices comprises:

   According to the existing transportation task information of the scheduling equipment, determine the number of transportation tasks to be performed for each candidate lifting equipment; take the candidate lifting equipment with the least number of transportation tasks to be performed as the target transportation equipment.
8. The method according to claim 1, wherein after allocating a target scheduling device corresponding to the transportation task to be allocated and generating a scheduling task corresponding to the transportation task to be allocated, the method further comprises:

   Update the status information of the target scheduling device.
9. The method according to claims 1-8, further comprising:

   When a dispatching device fails, the existing transportation tasks of the dispatching device are allocated to other dispatching devices according to the method described in any one of claims 1-8, and the state information of the dispatching device is updated.
10. An equipment scheduling device for a three-dimensional library, which includes:

    The obtaining module is used to obtain status information of the dispatching equipment in response to the received transportation task to be assigned; wherein the dispatching equipment includes: transportation equipment and lifting equipment;

    The allocation module is used to allocate a target scheduling device corresponding to the to-be-allocated transportation task according to the status information of the scheduling device and the to-be-allocated transportation task information, and generate a schedule corresponding to the to-be-allocated transportation task Task;

    The scheduling module is used to schedule the target scheduling device according to the scheduling task.
11. The device according to claim 10, wherein the distribution module is further used for:

    When a dispatching device fails, the existing transportation tasks of the dispatching device are allocated to other dispatching devices according to the method described in any one of claims 1-8, and the state information of the dispatching device is updated.
12. A device scheduling electronic device for a stereo library, which includes:

    One or more processors;

    Storage device for storing one or more programs,

    When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-9.
13. A computer-readable medium with a computer program stored thereon, which when executed by a processor implements the method according to any one of claims 1-9.

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