WO2023226756A1

WO2023226756A1 - Device scheduling method, electronic device, and storage medium

Info

Publication number: WO2023226756A1
Application number: PCT/CN2023/093148
Authority: WO
Inventors: 郭瑞
Original assignee: 北京旷视机器人技术有限公司
Priority date: 2022-05-25
Filing date: 2023-05-10
Publication date: 2023-11-30
Also published as: CN115146915A

Abstract

Embodiments of the present application provide a device scheduling method, an electronic device, and a storage medium. The method comprises: determining candidate floor combinations corresponding to cross-floor device scheduling in a target warehouse, each candidate floor combination comprising a current candidate floor and a target candidate floor, the current candidate floor being a floor where a carrying device is currently located, and the target candidate floor being a floor to which the carrying device needs to be scheduled; for each candidate floor combination, determining a cross-floor scheduling income value of the candidate floor combination according to task information and carrying device information of the target candidate floor in the candidate floor combination and task information and carrying device information of the current candidate floor in the candidate floor combination; and determining, according to the cross-floor scheduling income values corresponding to the candidate floor combinations, a target floor combination used for instructing to perform device scheduling from among the candidate floor combinations. According to the embodiments of the present application, cross-floor device scheduling is achieved, and the task throughput efficiency in a warehouse can be improved.

Description

Equipment scheduling method, electronic equipment and storage media

This application claims priority to the Chinese patent application filed with the China Patent Office on May 25, 2022, with application number 202210576885.4 and the invention name "Equipment Scheduling Method, Electronic Device and Storage Medium", the entire content of which is incorporated herein by reference. Applying.

Technical field

Embodiments of the present application relate to the field of intelligent logistics technology, and in particular to an equipment scheduling method, electronic equipment and storage media.

Background technique

As various industries pay more and more attention to the rational utilization of land resources, intensive warehousing, such as four-way shuttle warehouses, has received increasing attention. The use of dense warehousing can, on the one hand, save passages and increase storage density, with lanes serving multiple depths; on the other hand, it can increase storage volume by developing in height directions, thus achieving the purpose of saving space resources.

Usually, for intensive warehousing, some tasks in the task pool to be executed are assigned to idle handling equipment for execution, so as to match the tasks to the handling equipment.

However, in a warehouse with relatively sparse handling equipment, there will be multiple floors used for storage, but it is not guaranteed that there will be handling equipment available on each floor on average. In addition, when the operation is in progress, there will also be a large amount of storage on a certain floor. However, other floors have surplus handling equipment resources. Efficient device scheduling is not possible for this situation.

Contents of the invention

In view of the above problems, embodiments of the present application are proposed to provide a device scheduling method, electronic device, and storage medium that overcome the above problems or at least partially solve the above problems.

According to the first aspect of the embodiment of the present application, a device scheduling method is provided, including:

Determine the candidate floor combination corresponding to the cross-floor equipment scheduling in the target warehouse. The candidate floor combination includes a candidate current floor and a candidate target floor. The candidate current floor is the floor where the handling equipment is currently located, and the candidate target floor is the The floor to which the handling equipment needs to be dispatched;

For each of the candidate floor combinations, according to the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information of the candidate current floor in the candidate floor combination. information and handling equipment information to determine the cross-floor scheduling revenue value of each candidate floor combination, where the cross-floor scheduling revenue value is the revenue value corresponding to equipment scheduling according to the candidate floor combination;

According to the cross-floor scheduling profit value corresponding to each of the candidate floor combinations, a target floor combination for instructing equipment scheduling is determined from each of the candidate floor combinations.

According to the second aspect of the embodiment of the present application, an equipment scheduling device is provided, including:

The candidate combination determination module is used to determine the candidate floor combination corresponding to the cross-floor equipment scheduling in the target warehouse. The candidate floor combination includes a candidate current floor and a candidate target floor, and the candidate current floor is the floor where the handling equipment is currently located, so The candidate target floor is the floor to which the handling equipment needs to be dispatched;

Scheduling revenue determination module, configured for each candidate floor combination, according to the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment of the candidate current floor in the candidate floor combination. information to determine the cross-floor scheduling revenue value of each candidate floor combination, where the cross-floor scheduling revenue value is the revenue value corresponding to equipment scheduling according to the candidate floor combination;

A target combination determination module is configured to determine a target floor combination for instructing equipment scheduling from each of the candidate floor combinations according to the cross-floor scheduling revenue value corresponding to each of the candidate floor combinations.

According to a third aspect of the embodiment of the present application, an electronic device is provided, including: a processor, a memory, and a computer program stored on the memory and executable on the processor, where the computer program is When executed, the processor implements the device scheduling method as described in the first aspect.

According to the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the method described in the first aspect is implemented. Equipment scheduling methods.

According to the fifth aspect of the embodiments of the present application, a computer program product is provided, which includes a computer program or computer instructions. When the computer program or computer instructions are executed by a processor, the device scheduling method described in the first aspect is implemented.

The equipment scheduling method, electronic equipment and storage media provided by the embodiments of this application determine the candidate floor combination corresponding to the cross-floor equipment scheduling in the target warehouse, and for each candidate floor combination, according to the task information of the candidate target floor in the candidate floor combination and handling equipment information, as well as the task information and handling equipment information of the candidate current floor in the candidate floor combination, determine the cross-floor scheduling revenue value of each candidate floor combination, and based on the cross-floor scheduling revenue value corresponding to each candidate floor combination, calculate the cross-floor scheduling revenue value from each candidate floor combination. Determine the target floor combination used to instruct equipment scheduling in the floor combination, achieving cross-floor Layer-level equipment scheduling can speed up task throughput efficiency in the warehouse.

The above description is only an overview of the technical solutions of the present application. In order to have a clearer understanding of the technical means of the present application, they can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable. , the specific implementation methods of the present application are specifically listed below.

Description of the drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the application.

Figure 1 is a step flow chart of a device scheduling method provided by an embodiment of the present application;

Figure 2 is a schematic diagram of intensive warehousing in the embodiment of the present application;

Figure 3 is a structural block diagram of an equipment scheduling device provided by an embodiment of the present application;

Figure 4 schematically shows a block diagram of an electronic device for performing a method according to the present application; and

Figure 5 schematically shows a storage unit for holding or carrying program code for implementing the method according to the present application.

Specific embodiments

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a thorough understanding of the present application, and to fully convey the scope of the present application to those skilled in the art.

With the development of intelligent technologies such as the Internet of Things, artificial intelligence, and big data, the demand for using these intelligent technologies to transform and upgrade the traditional logistics industry has become increasingly strong. Intelligent logistics (ILS, Intelligent Logistics System) has become a research hotspot in the field of logistics. Smart logistics uses artificial intelligence, big data and various information sensors, radio frequency identification technology, global positioning system (GPS, Global Positioning System) and other Internet of Things devices and technologies, and is widely used in material transportation, warehousing, distribution, packaging, loading and unloading and Basic activities such as information services realize intelligent analysis and decision-making, automated operation and high-efficiency optimized management of the material management process. Internet of Things technology includes sensing equipment, radio frequency identification (RFID, Radio Frequency Identification) technology, laser infrared scanning Scanning, infrared sensor recognition, etc., the Internet of Things can effectively connect materials in logistics to the network, and can monitor materials in real time. It can also sense environmental data such as humidity and temperature in the warehouse to ensure the storage environment of materials. Through big data technology, all data in logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed, etc., and finally the business processes (such as transportation, warehousing, access, picking, packaging, sorting, etc.) (picking, outbound, inventory, distribution, etc.) provide accurate data support. The application directions of artificial intelligence in logistics can be roughly divided into two types: 1) those empowered by artificial intelligence technology such as unmanned trucks, automated guided vehicles (AGV), and autonomous mobile robots (AMR) Robots), forklifts, shuttles, stackers, unmanned distribution vehicles, drones, service robots, robotic arms, intelligent terminals and other intelligent equipment to replace part of the labor force; 2) Through computer vision, machine learning, operations research optimization and other technologies or Algorithm-driven software systems such as transportation equipment management systems, warehousing management, equipment scheduling systems, and order distribution systems improve labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothing, textiles, food and other fields.

The embodiment of the present application relates to the warehousing management technology, specifically an equipment scheduling method for cross-floor equipment scheduling in a scenario with sparse handling equipment. The specific solution is as follows:

Figure 1 is a step flow chart of an equipment scheduling method provided by an embodiment of the present application. This method can be applied in the scenario of cross-floor scheduling of handling equipment in a densely stored warehouse. This method can be executed by the warehouse control system. That is, the warehouse control system performs overall scheduling of the handling equipment in the entire warehouse. Figure 2 is a schematic diagram of intensive warehousing in the embodiment of the present application. The warehouse can include multiple floors, such as 2 floors, 3 floors, etc. As shown in Figure 2, each floor contains multiple lanes 1, and the shelf depth of each lane 1 The goods can be stored continuously to increase the storage density. The shelves can be lifted up by handling equipment such as four-way shuttles and then moved through aisle 2 to elevator 3 or other exits (such as white conveyor belt 4). As can be seen from Figure 2, due to the characteristics of heavy storage in dense warehousing, shuttle vehicles and other handling equipment are often very sparse relative to the warehouse. In this case, there may be: when there are many handling equipment relative to the number of floors, some floors have idle handling equipment during the tail time of the outbound operation, and some floors still have many tasks to be completed. Among them, the tail time of the outbound operation is After the outbound peak, some floors have no outbound tasks, while some floors still have time for outbound tasks; when the number of handling equipment is relatively small relative to the floors, some floors do not have handling equipment to perform the tasks to be performed; the handling equipment is relatively small on the floor. When the number is small, there is a considerable probability that there is no handling equipment on the floor where the incoming pallets are allocated. Prepare. It can be seen that cross-floor equipment scheduling is required in a densely stored warehouse. The embodiment of the present application provides an implementation method for cross-floor equipment scheduling, as detailed below.

As shown in Figure 1, the device scheduling method may include:

Step 101: Determine the candidate floor combination corresponding to the cross-floor equipment scheduling in the target warehouse. The candidate floor combination includes a candidate current floor and a candidate target floor. The candidate current floor is the floor where the handling equipment is currently located. The candidate target floor This is the floor to which the handling equipment needs to be dispatched.

When the target warehouse has at least two floors, combine each two floors in the target warehouse. Each combination includes the current floor where the handling equipment is located and the target floor that needs to be dispatched. If the current floor or target floor in the combination is currently If there is no handling equipment, delete the combination and determine the remaining combinations as candidate floor combinations to obtain the candidate floor combinations corresponding to cross-floor equipment scheduling in the target warehouse. In the candidate floor combination, the floor where the handling equipment is currently located is the candidate current floor, and the floor to which the handling equipment needs to be dispatched is the candidate target floor. The handling equipment may be, for example, AGV (Automated Guided Vehicle), AMR (Automatic Mobile Robot), shuttle vehicle, etc.

Polling can be used to determine whether cross-floor equipment scheduling is required. If it is determined that cross-floor equipment scheduling is required, the handling equipment will be dispatched to the target floor when there is idle handling equipment on the current floor, and the handling equipment will be classified into the target floor. Floor handling equipment group, this handling equipment is scheduled as a candidate handling equipment when allocating handling equipment in the target floor.

The polling method is used to determine whether cross-floor equipment scheduling is required. That is, every time a polling cycle is reached, a determination is made. That is, when the polling cycle is reached, the candidate floor combinations in the target warehouse that can be used for cross-floor equipment scheduling are determined. . Among them, the polling cycle can be set according to needs.

Step 102: For each candidate floor combination, determine each candidate floor combination based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment information of the candidate current floor in the candidate floor combination. The cross-floor scheduling revenue of the candidate floor combination, the cross-floor scheduling revenue value is the revenue value corresponding to equipment scheduling according to the candidate floor combination.

The task information may include the number of tasks, and may also include other task information, such as task priority, latest completion time, etc. The handling equipment information may include the number of handling equipment, current task performance of the handling equipment, etc. The revenue value can represent the throughput rate within the target time period, and also It is the number of tasks completed per unit time within the target time period or other target indicators (number of pallets or number of picking boxes, etc.).

For each candidate floor combination, based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment information of the candidate current floor in the candidate combination, the current floor income corresponding to the candidate current floor can be determined value, as well as the target floor revenue value corresponding to the candidate target floor when the handling equipment in the candidate current floor is dispatched to the candidate target floor, and then based on the current floor revenue value and the target floor revenue value, it can be determined that the candidate current floor will be The corresponding cross-floor dispatching revenue value when the handling equipment is dispatched to the candidate target floor. When polling to determine the cross-floor scheduling revenue value in the candidate floor combination, one or more handling equipment can be scheduled for each candidate floor combination, preferably one handling equipment, which is more conducive to the candidate target floor and the candidate current floor. Task throughput.

In one embodiment of the present application, each candidate is determined based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment information of the candidate current floor in the candidate floor combination. The cross-floor dispatching revenue value of a floor combination includes: determining, based on the task information and handling equipment information of the candidate target floor in the candidate combination, what will happen after dispatching the handling equipment of the candidate current floor in the candidate combination to the candidate target floor. The revenue value of the target floor corresponding to the candidate target floor in the candidate floor combination. The revenue value of the target floor is the single unit of the candidate target floor after dispatching part of the idle handling equipment of the candidate current floor to the candidate target floor. The corresponding floor profit value when the handling equipment performs the task in the candidate target floor; according to the task information and handling equipment information of the candidate current floor in the candidate floor combination, determine the corresponding floor profit value of the candidate current floor in the candidate floor combination. Current floor revenue, the current floor revenue value is the floor revenue value corresponding to when a single handling equipment in the candidate current floor performs the task of the candidate current floor; determine the scheduling from the candidate current floor in the candidate floor combination The dispatch cost corresponding to transporting equipment to the candidate target floor; determine the cross-floor dispatch revenue value of the candidate floor combination based on the target floor revenue, the current floor revenue value and the dispatch cost.

Among them, the floor revenue value is the revenue value expected to be obtained by a single handling equipment completing tasks within the floor within the target time period. The revenue value of the target floor is the floor revenue value corresponding to when a single handling equipment performs the task on the target floor. It can be the floor revenue value corresponding to the average performance of the task on the target floor by any handling equipment on the target floor (regardless of task priority) and the latest to complete The revenue value of the target floor is determined in this way at the time), or it can be the floor revenue value corresponding to the last handling equipment (that is, the scheduled handling equipment) in the target floor when it performs the task of the target floor (taking into account the task priority and The target floor revenue value is determined in this way when the latest completion time is reached). Correspondingly, the current floor revenue value is the floor revenue value corresponding to when a single handling equipment performs the task on the current floor. It can be the floor revenue value corresponding to the average performance of any handling equipment on the current floor when the task on the current floor is performed (regardless of the The task priority and latest completion time are determined in this way to determine the revenue value of the current floor), or it can be the corresponding value when the last handling equipment in the current floor (that is, the handling equipment that needs to be scheduled to the target floor) performs the task on the current floor. Floor revenue value (this is how the current floor revenue value is determined when taking into account task priority and latest completion time). The target time period is a period of time after the current time.

According to the task information and handling equipment information of the candidate target floor in the candidate floor combination, and assuming that the handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor, it is determined that a single handling equipment in the candidate target floor can be used within the target time period. The number of completed tasks, and based on the number of tasks and the handling equipment information, the corresponding task revenue value of a single handling equipment in the candidate target floor when completing each task is determined, and the sum of the task revenue values corresponding to the tasks of the number of tasks is determined as The revenue value of the target floor corresponding to the candidate target floor in the candidate floor combination. The task benefit value may include the inherent benefit value corresponding to the completion of the task, and may also include other benefit values associated with task information, such as priority benefit value, latest completion time benefit value, etc.

According to the task information and handling equipment information of the candidate current floor in the candidate floor combination, determine the number of tasks that a single handling equipment in the candidate current floor can complete within the target time period, and determine the single handling in the candidate current floor based on the number of tasks and handling equipment information. The corresponding task profit value when the equipment completes each task is determined by determining the sum of the task profit values corresponding to the tasks of the number of tasks as the current floor profit value corresponding to the candidate current floor in the candidate floor combination.

The scheduling cost is the cost to switch floors, such as the estimated time cost, etc. The scheduling cost can be expressed as Cost(s,t)=COST+Cost(s)+Shift(s,t)+Cost(t), Among them, COST is the fixed cost, Cost(s) is the cost of empty driving of the candidate current floor, Cost(t) is the cost of empty driving of the candidate target floor; Shift(s,t) is the cost of elevator changing floors. When determining the scheduling cost, it can be determined according to the requirements. For example, only the fixed cost can be calculated, then Cost(s,t)=COST. Among them, the cost of empty driving can be characterized by the idle driving time of the handling equipment.

After determining the revenue value of the target floor, the revenue value of the current floor and the scheduling cost, the target floor can be The difference between the floor revenue value, the current floor revenue value and the scheduling cost is determined as the cross-floor scheduling revenue value of the candidate floor combination, that is, the cross-floor scheduling revenue value of the candidate floor combination is determined according to the following formula:
Benefit(s,t)＝Benefit(t)-Benefit(s)–Cost(s,t)

Among them, Benefit(s,t) is the cross-floor scheduling benefit value of the candidate floor combination, Benefit(t) is the benefit value of the target floor, Benefit(s) is the benefit value of the candidate current floor, Cost(s,t) is the scheduling cost.

By determining the target floor revenue value, current floor revenue value and scheduling cost, and determining the cross-floor scheduling revenue value based on the target floor revenue value, current floor revenue value and scheduling cost, a more accurate cross-floor scheduling revenue value can be obtained.

Step 103: Determine a target floor combination for instructing equipment scheduling from each of the candidate floor combinations based on the cross-floor scheduling revenue value corresponding to each of the candidate floor combinations.

After determining the cross-floor scheduling revenue value of each candidate floor combination, you can select a candidate floor combination with a positive cross-floor scheduling revenue value from each candidate floor combination, and select one or more candidate floor combinations from the selected candidate floor combinations Candidate floor combinations, used as target floor combinations for instructing equipment scheduling.

In one embodiment of the present application, determining a target floor combination for instructing equipment scheduling from each candidate floor combination according to the cross-floor scheduling revenue value corresponding to each candidate floor combination includes: Among the candidate floor combinations, the candidate floor combination with the largest cross-floor scheduling revenue value is determined as the target floor combination.

Compare the cross-floor scheduling revenue values of each of the candidate floor combinations, determine the candidate floor combination whose cross-floor scheduling revenue value is positive revenue and has the largest value, and determine the candidate floor combination as the target floor combination. By determining the candidate combination with the largest cross-floor scheduling revenue as the target floor combination, it is helpful to speed up task throughput efficiency in the warehouse.

After determining the target floor combination, one or more idle handling equipment can be determined from the current floor in the target floor combination, and the one or more idle handling equipment can be scheduled to the target floor in the target floor combination. When scheduling the handling equipment of the target floor, one or more idle handling equipment scheduled from the current floor are added to the handling equipment group of the target floor, and the handling equipment in the handling equipment group is comprehensively scheduled for the handling equipment of the target floor.

The equipment scheduling method provided in this embodiment determines the cross-floor equipment scheduling in the target warehouse. For the corresponding candidate floor combination, for each candidate floor combination, each candidate floor is determined based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment information of the candidate current floor in the candidate floor combination. The combined cross-floor scheduling revenue value, based on the cross-floor scheduling revenue value corresponding to each candidate floor combination, determines the target floor combination used to indicate equipment scheduling from each candidate floor combination, realizing cross-floor handling equipment scheduling, which can Accelerate task throughput efficiency in the warehouse.

In one embodiment of the present application, based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, it is determined that the handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. The target floor revenue value corresponding to the candidate target floor in the candidate floor combination includes: obtaining the total number of tasks to be executed on the candidate target floor from the task information of the candidate target floor in the candidate floor combination, and based on the candidate combination The handling equipment information of the candidate target floor is determined, and the total number of handling equipment on the candidate target floor is determined after the idle handling equipment of the candidate current floor is dispatched to the candidate target floor; based on the unit task revenue value and the expected completion of the task by a single handling equipment number, as well as the total number of tasks to be executed and the total number of handling equipment of the candidate target floor, to determine the target floor revenue corresponding to the candidate target floor after the idle handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. value.

Wherein, the expected number of tasks completed by a single handling equipment is the number of tasks that can be completed by a single handling equipment within the target time period after the current time, and is a constant.

When the priority and latest completion time of tasks on each floor are not considered, the task revenue value is the inherent revenue value of the task, that is, the unit task revenue value.

Obtain the number of tasks to be performed on the candidate target floor from the task information of the candidate target floor in the candidate floor combination, and obtain the total number of tasks to be performed on the candidate target floor; determine the current status of the candidate target floor based on the handling equipment information of the candidate target floor in the candidate combination. The number of existing handling equipment, and based on the number of existing handling equipment on the candidate target floor, determine the total number of handling equipment on the candidate target floor after scheduling one or more idle handling equipment in the candidate current floor to the candidate target floor, That is, the total number of handling equipment on the candidate target floor is the sum of the current number of handling equipment on the candidate target floor and the number of one or more handling equipment to be dispatched from the candidate current floor. Based on the total number of tasks to be performed and the total number of handling equipment on the candidate target floor, determine the number of tasks that a single handling equipment needs to complete in the candidate target floor, and compare the tasks that a single handling equipment needs to complete. The number of tasks and the number of tasks expected to be completed by a single handling equipment are determined to determine the number of tasks that a single handling equipment in the candidate target floor needs to complete within the target time period, and then the unit task revenue value is compared with the number of tasks that a single handling equipment in the candidate target floor needs to complete within the target time period. The product of the number of completed tasks is determined as the target floor revenue value corresponding to the candidate target floor.

By determining the task revenue value obtained by a single handling equipment within the target time period as the target floor revenue value when determining the target floor revenue value, the accuracy of the determined target floor revenue value can be improved, and it is easy to compare the target floor revenue value with the current The floor revenue value can then determine whether a single handling equipment will obtain a positive cross-floor scheduling revenue value when performing cross-floor tasks, which will help improve the task throughput efficiency during cross-floor scheduling.

On the basis of the above technical solution, it is determined to schedule the idle handling equipment of the candidate current floor based on the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be executed and the total number of handling equipment on the candidate target floor. The profit value of the target floor corresponding to the candidate target floor after arriving at the candidate target floor includes: determining the idle transportation of the candidate current floor in the candidate floor combination based on the total number of tasks to be performed and the total number of handling equipment on the candidate target floor. The number of tasks to be completed for a single handling equipment in the candidate target floor after the equipment is scheduled to the candidate target floor; determine the minimum number of tasks to be completed for a single handling equipment in the candidate target floor and the number of tasks expected to be completed by the single handling equipment value, and determine the target floor revenue value based on the minimum value and the unit task revenue value.

When determining the revenue value of the target floor, first, based on the total number of tasks to be performed and the total number of handling equipment on the candidate target floor, determine the cost of a single handling equipment in the candidate target floor after scheduling the idle handling equipment on the candidate current floor in the candidate floor combination to the candidate target floor. The number of tasks to be completed, that is, the number of tasks to be completed for a single handling equipment on the candidate target floor is the quotient of the total number of tasks to be performed on the candidate target floor and the total number of handling equipment. Compare the number of tasks to be completed for a single handling equipment in the candidate target floor and the number of tasks expected to be completed by a single handling equipment, and determine the minimum value of the number of tasks to be completed and the number of tasks expected to be completed by a single handling equipment as the number that needs to be completed by a single handling equipment in the candidate target floor The number of tasks, and the product of the number of tasks that a single handling equipment needs to complete and the unit task revenue value is determined as the target floor revenue value, that is, the target floor revenue value is determined through the following formula:
Benefit(t)＝BENEFIT*min{TaskNum(t)/RobotNum(t+1),h}

Among them, Benefit(t) is the revenue value of the target floor, BENEFIT is the revenue value of the unit task, TaskNum(t) is the total number of tasks to be executed on the candidate target floor, and RobotNum(t+1) is the candidate target floor. The total number of handling equipment on the candidate target floor after a handling equipment on the candidate current floor in the floor combination is scheduled to the candidate target floor, h is the expected number of tasks completed by a single handling equipment.

The expected number of tasks to be completed by a single handling equipment represents a short-term benefit, and the number of tasks to be completed by a single handling equipment represents a long-term benefit. By determining the minimum value of the two and determining the target floor revenue value based on the minimum value, it can be guaranteed A balance between short-term and long-term gains.

In one embodiment of the present application, determining the current floor revenue value corresponding to the candidate current floor in the candidate floor combination according to the task information and handling equipment information of the candidate current floor in the candidate floor combination includes: from the Obtain the total number of tasks to be performed on the candidate current floor from the task information of the candidate current floor in the candidate combination, and obtain the total number of transport equipment on the candidate current floor from the handling equipment information of the candidate current floor in the candidate floor combination; The revenue value of the current floor corresponding to the candidate current floor is determined based on the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be performed and the total number of handling equipment of the candidate current floor.

Obtain the number of tasks to be executed on the candidate current floor from the task information of the candidate current floor in the candidate floor combination, and obtain the total number of tasks to be executed on the candidate current floor; obtain the candidate current floor from the handling equipment information of the candidate current floor in the candidate combination The number of currently existing handling equipment, and the number of currently existing handling equipment on the candidate current floor is determined as the total number of handling equipment on the candidate current floor. Based on the total number of tasks to be performed and the total number of handling equipment on the candidate's current floor, determine the number of tasks that a single handling equipment in the candidate's current floor needs to complete, compare the number of tasks that a single handling equipment needs to complete with the expected number of tasks that a single handling equipment is expected to complete, and determine the candidate's current floor The number of tasks that a single handling equipment needs to complete within the target time period, and then the product of the unit task revenue value and the number of tasks that a single handling equipment in the candidate current floor needs to complete within the target time period is determined as the current floor corresponding to the candidate current floor. Floor revenue value.

By determining the task revenue value obtained by a single handling equipment within the target time period as the current floor revenue value when determining the current floor revenue value, the accuracy of the determined current floor revenue value can be improved, and it is convenient to compare the target floor revenue value and the current floor revenue value. The floor income value can then determine the individual moving Whether the transportation equipment will obtain a positive cross-floor scheduling revenue value when executing cross-floor tasks, which will help improve the task throughput efficiency during cross-floor scheduling.

On the basis of the above technical solution, based on the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be executed and the total number of handling equipment of the candidate current floor, the current floor corresponding to the candidate current floor is determined. The floor revenue value includes: determining the number of tasks to be completed for a single handling equipment in the candidate current floor based on the total number of tasks to be performed and the total number of handling equipment in the candidate current floor; determining the number of tasks to be completed for a single handling equipment in the candidate current floor. The minimum value of the number of completed tasks and the expected number of tasks completed by the single handling equipment is determined, and the current floor revenue value is determined based on the minimum value and the unit task revenue value.

When determining the revenue value of the current floor, first determine the number of tasks to be completed for a single handling equipment in the candidate current floor based on the total number of tasks to be performed and the total number of handling equipment on the current floor candidate, that is, the number of tasks to be completed for a single handling equipment on the current floor candidate is The candidate is the quotient of the total number of tasks to be performed on the current floor and the total number of handling equipment. Compare the number of tasks to be completed for a single handling equipment in the current floor of the candidate and the number of tasks expected to be completed by a single handling equipment, and determine the minimum value of the number of tasks to be completed and the number of tasks expected to be completed by a single handling equipment as the number of tasks to be completed by a single handling equipment in the current floor of the candidate. The number of tasks, and the product of the number of tasks that a single handling equipment needs to complete and the unit task revenue value is determined as the current floor revenue value, that is, the current floor revenue value is determined through the following formula:
Benefit(s)＝BENEFIT*min{TaskNum(s)/RobotNum(s),h}

Among them, Benefit(s) is the revenue value of the current floor, BENEFIT is the unit task revenue value, TaskNum(s) is the total number of tasks to be executed on the candidate current floor, RobotNum(t) is the total number of handling equipment on the candidate current floor, h is a single handling The number of tasks expected to be completed by the device.

The expected number of tasks completed by a single handling equipment is the number of tasks that can be completed by a single handling equipment within the target time period, which represents a short-term benefit. The number of tasks to be completed by a single handling equipment represents a long-term return. By determining the minimum of the two value, and determine the current floor income value based on the minimum value, which can ensure the balance between short-term income and long-term income.

To sum up, without considering the task priority and latest completion time, the cross-floor scheduling revenue value is expressed as follows:
Benefit(s,t)＝BENEFIT*[min{TaskNum(t)/(RobotNum(t+1),H}-
min{TaskNum(s)/RobotNum(s),H}]–Cost(s,t)

Among them, Benefit(s,t) is the cross-floor scheduling benefit value, and TaskNum(t) is the candidate target floor. The total number of tasks to be executed, TaskNum(s) is the total number of tasks to be executed on the candidate current floor, RobotNum(t+1) is the candidate target floor after scheduling a handling equipment of the candidate current floor in the candidate floor combination to the candidate target floor The total number of handling equipment; RobotNum(s) is the total number of handling equipment candidates for the current floor.

In another embodiment of the present application, according to the task information and handling equipment information of the candidate target floor in the candidate floor combination, it is determined that the handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. The target floor revenue value corresponding to the candidate target floor in the candidate floor combination includes: obtaining the priority and latest completion of each task in the candidate target floor from the task information of the candidate target floor in the candidate floor combination. Time; according to the priority of each task in the candidate target floor, the latest completion time and the handling equipment information of the candidate target floor, determine to schedule the idle handling equipment of the candidate current floor in the candidate floor combination to the candidate The tasks to be executed within the target time period of a single handling equipment in the candidate target floor after the target floor are regarded as the first tasks to be executed; the first task to be executed is determined according to the latest completion time corresponding to the first task to be executed. The completion time profit value corresponding to the task to be executed, and according to the priority of the first task to be executed, determine the priority profit value corresponding to the first task to be executed; according to the unit task profit value, the first task to be executed The target floor revenue value is determined based on the completion time revenue value and priority revenue value corresponding to the task to be executed.

When the priority and latest completion time of tasks on each floor are considered, the task benefit value includes the unit task benefit value, the priority benefit value and the completion time benefit value.

Obtain the priority and latest completion time of each task in the candidate target floor from the task information of the candidate target floor in the candidate floor combination, and based on the priority, latest completion time of each task in the candidate target floor and the handling equipment of the candidate target floor information to determine the tasks to be executed by a single handling equipment within the target time period after the idle handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. As the first task to be executed, the single handling equipment is in The tasks to be executed within the target time period are one or more tasks that need to be executed by the last handling equipment among all tasks on the candidate target floor.

The completion time benefit value of a task is a negative exponential function with respect to the latest completion time. Therefore, according to the latest completion time corresponding to the task to be executed on the candidate target floor, the value corresponding to the task to be executed on the candidate target floor can be determined according to the following formula Completion time benefit value:

Among them, Reward _t (finish_time) is the completion time reward value corresponding to the task to be executed on the candidate target floor, λ, α, and period are all constants, and finish_time _t is the latest completion time of the task to be executed on the candidate target floor. current_time is the current time.

The priority benefit value of the task is related to the priority of the task. Each priority corresponds to a fixed priority benefit value. Therefore, after the priority of the first to-be-executed task on the candidate target floor is determined, it can be directly based on the first to-be-executed task. The priority of the task is obtained by the priority benefit value corresponding to the first task to be executed.

After determining the completion time benefit value and priority benefit value corresponding to the first to-be-executed task of the candidate target floor, the sum of the unit task benefit value, completion time benefit value and priority benefit value is determined as the first to-be-executed task. As for the task profit value, when the first to-be-executed task corresponding to the candidate target floor has multiple tasks, the task profit values of the multiple tasks are added up to obtain the target floor profit value corresponding to the candidate target floor.

By considering the task priority and the latest task completion time when determining the target floor revenue value, the task completion rate and throughput efficiency can be taken into consideration when scheduling handling equipment across floors.

On the basis of the above technical solution, based on the priority of each task in the candidate target floor, the latest completion time and the transport equipment information of the candidate target floor, it is determined that the candidate idle transport equipment of the current floor in the candidate combination is The tasks to be executed by a single handling equipment in the candidate target floor within the target time period after being scheduled to the candidate target floor include: according to the priority and latest completion time of each task in the candidate target floor, the Each task in the candidate target floor is sorted; according to the handling equipment information of the candidate target floor in the candidate floor combination, it is determined that the idle handling equipment of the candidate current floor in the candidate floor combination is dispatched to the candidate target floor. The total number of handling equipment on the floor; based on the total number of handling equipment on the candidate target floor and the sorted tasks, determine the tasks to be performed by the single handling equipment in the candidate target floor within the target time period.

Sort the tasks in the candidate target floor according to the priority of each task in the candidate target floor from high to low. For multiple tasks with the same priority, sort them in the order of the latest completion time from early to late, we get Tasks after sorting candidate target floors. According to the handling equipment information of the candidate target floor in the candidate floor combination, determine the current number of handling equipment in the candidate target floor, and based on the current number of existing handling equipment, add idle handling equipment to be dispatched from the candidate current floor. Quantity, as the total number of handling equipment on the candidate target floor. According to the candidate target building The total number of handling equipment on the floor is determined from the sorted tasks. One or more tasks that the last handling equipment needs to perform are determined as the tasks to be performed by the single handling equipment in the candidate target floor within the target time period.

By sorting the tasks on the candidate target floor according to their priority and latest completion time, and determining the first task to be executed based on the sorted tasks, tasks can be guaranteed to be on time when scheduling handling equipment across floors. Completion rate and throughput efficiency.

On the basis of the above technical solution, based on the total number of handling equipment and the sorted tasks of the candidate target floor, determining the tasks to be performed by the single handling equipment in the candidate target floor within the target time period includes: assigning the candidate The tasks from the first number to the second number among the sorted tasks of the target floor are determined as tasks to be performed by the single handling equipment in the candidate target floor within the target time period, wherein the first number is determined according to the The difference between the total number of handling equipment on the candidate target floor and 1 and the number of tasks that can be completed by a single handling equipment within the target time period are determined. The second number is determined based on the total number of handling equipment on the candidate target floor and the number of tasks that can be completed by a single handling equipment within the target time period. The number of tasks that a single handling equipment can complete within the target time period is determined.

Among them, the first quantity can be expressed as (n ₁ -1)*h+1, the second quantity can be expressed as n ₁ *h, n ₁ is the total number of handling equipment on the candidate target floor, and h is a single unit within the target time period. The number of tasks that the handling equipment can complete.

Determine the (n ₁ -1)*h+1~n ₁ *h task among the sorted tasks in the candidate target floor as the set Q(t,n ₁ ), and the tasks in the set Q(t,n ₁ ) The task is the first to-be-executed task of the candidate target floor. Then, the revenue value of the target floor corresponding to the candidate target floor is:

Benefit(t)＝∑ _q∈Q(f,n) (BENEFIT+Reward _p (priority)+Reward _t (finish_time))

Among them, BENEFIT unit task revenue value; Reward _p (priority) is the priority revenue value; Reward _t (finish_time) is the completion time revenue value corresponding to the task of the candidate target floor.

If the candidate target floor does not have the (n ₁ -1)*h+1~n ₁ *h task, then the candidate target floor has no tasks to be executed, and the target floor revenue value corresponding to the candidate target floor is 0, indicating that at this time No cross-floor equipment scheduling is required.

On the basis of the above technical solution, based on the task information and handling equipment information of the candidate current floor in the candidate floor combination, the current floor corresponding to the candidate current floor in the candidate floor combination is determined. The revenue value of the previous floor includes: obtaining the priority and latest completion time of each task in the candidate current floor from the task information of the candidate current floor in the candidate floor combination; according to the task information of each task in the candidate current floor Priority, latest completion time and the handling equipment information of the candidate current floor are used to determine the to-be-executed task of a single handling equipment in the candidate current floor within the target time period as the second to-be-executed task; according to the second The latest completion time corresponding to the task to be executed is determined, and the completion time profit value corresponding to the second task to be executed is determined, and according to the priority of the second task to be executed, the corresponding completion time of the second task to be executed is determined. The priority revenue value; the revenue value of the current floor is determined based on the unit task revenue value, the completion time revenue value and the priority revenue value corresponding to the second to-be-executed task.

Obtain the priority and latest completion time of each task in the candidate current floor from the task information of the candidate current floor in the candidate floor combination, and based on the priority, latest completion time of each task in the candidate current floor and the handling equipment of the candidate current floor Information to determine the task to be executed within the target time period for a single handling equipment in the candidate current floor as the second task to be executed. The tasks to be performed by a single handling equipment within the target time period are one or more tasks that need to be performed by the last handling equipment among all tasks on the candidate current floor.

The completion time benefit of a task is a negative exponential function with respect to the latest completion time. Therefore, according to the latest completion time corresponding to the task to be executed on the current floor of the candidate, the second task to be executed on the candidate current floor can be determined according to the following formula The completion time benefit value is:

Among them, Reward _s (finish_time) is the completion time reward value corresponding to the second to-be-executed task of the candidate current floor, λ, α, and period are all constants, and finish_time _s is the maximum completion time value of the second to-be-executed task of the candidate current floor. Late completion time, current_time is the current time.

The priority benefit of the task is related to the priority of the task. Each priority corresponds to a fixed priority benefit value. Therefore, after the priority of the task to be executed on the current floor is determined, it can be obtained directly based on the priority of the task to be executed. The priority benefit value corresponding to the task to be executed.

After determining the completion time benefit value and priority benefit value corresponding to the task to be executed on the current floor of the candidate, the sum of the unit task benefit value, completion time benefit value and priority benefit value is determined as the task benefit value of the task to be executed, There are multiple tasks in the second to-be-executed task corresponding to the candidate current floor. When performing tasks, the task revenue values of multiple tasks are added up to obtain the current floor revenue value corresponding to the candidate current floor.

By considering the task priority and the latest task completion time when determining the current floor revenue value, both the task completion rate and throughput efficiency can be taken into consideration when scheduling handling equipment across floors.

On the basis of the above technical solution, according to the priority of each task in the candidate current floor, the latest completion time and the transport equipment information of the candidate current floor, it is determined that a single transport equipment in the candidate current floor is in the target time period. The tasks to be executed in the candidate current floor include: sorting the tasks in the candidate current floor according to the priority and latest completion time of each task in the candidate current floor; according to the transportation of the candidate current floor in the candidate combination Equipment information, determine the total number of handling equipment on the candidate current floor; determine the tasks to be performed within the target time period for a single handling equipment in the candidate current floor based on the total number of handling equipment on the candidate current floor and the sorted tasks.

Sort the tasks in the candidate current floor according to the priority of each task in the candidate current floor from high to low. For multiple tasks with the same priority, sort them in the order of the latest completion time from early to late, we get Candidate tasks sorted by the current floor. According to the handling equipment information of the candidate current floor in the candidate floor combination, the number of handling equipment currently existing in the candidate current floor is determined as the total number of handling equipment of the candidate current floor. According to the total number of handling equipment of the candidate current floor, one or more tasks that need to be performed by the last handling equipment are determined from the sorted tasks as the second to-be-executed tasks of the candidate current floor.

By sorting the tasks of the candidate current floor according to their priority and latest completion time, and determining the second to-be-executed task based on the sorted tasks, tasks can be guaranteed to be on time when scheduling handling equipment across floors. Completion rate and throughput efficiency.

On the basis of the above technical solution, based on the total number of handling equipment and the sorted tasks of the candidate current floor, determining the tasks to be performed by the single handling equipment in the candidate current floor within the target time period includes: assigning the candidate The tasks from the third number to the fourth number among the sorted tasks of the current floor are determined as tasks to be executed within the target time period for the single handling equipment in the candidate current floor, wherein the third number is determined according to the The fourth number is determined based on the difference between the total number of handling equipment on the candidate current floor and 1 and the number of tasks that can be completed by a single handling equipment within the target time period. The fourth number is determined based on the total number of handling equipment on the candidate current floor and the number of tasks that can be completed by a single handling equipment within the target time period. The number of tasks that a single handling equipment can complete within the target time period is determined.

Among them, the third quantity can be expressed as (n ₂ -1)*h+1, the fourth quantity can be expressed as n ₂ *h, n ₂ is the total number of handling equipment on the current floor of the candidate, and h is a single handling equipment within the target time period. The number of tasks that the handling equipment can complete.

Determine the (n ₂ -1)*h+1~n ₂ *h task among the sorted tasks in the candidate current floor as the set Q(t,n ₂ ), and the tasks in the set Q(t,n ₂ ) The task is the second to-be-executed task of the candidate current floor. Then, the current floor revenue value corresponding to the candidate current floor is:
Benefit(s)＝∑ _q∈Q(f,n) (BENEFIT+Reward _p (priority)
+Reward _s (finish_time))

Among them, BENEFIT unit task revenue value; Reward _p (priority) is the priority revenue value; Reward _s (finish_time) is the completion time revenue value corresponding to the task of the candidate current floor.

If the (n ₂ -1)*h+1~n ₂ *h task does not exist in the candidate current floor, then the candidate current floor has no tasks to be executed, and the current floor revenue value corresponding to the candidate current floor is 0.

It should be noted that for the sake of simple description, the method embodiments are expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because According to the embodiments of the present application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

Figure 3 is a structural block diagram of an equipment scheduling device provided by an embodiment of the present application. As shown in Figure 3, the equipment scheduling device may include:

The candidate combination determination module 301 is used to determine the candidate floor combination corresponding to the cross-floor equipment scheduling in the target warehouse. The candidate floor combination includes a candidate current floor and a candidate target floor, and the candidate current floor is the floor where the handling equipment is currently located. The candidate target floor is the floor to which the handling equipment needs to be dispatched;

The scheduling revenue determination module 302 is configured to determine, for each candidate floor combination, the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling information of the candidate current floor in the candidate floor combination. Equipment information, determine the cross-floor scheduling revenue value of each candidate combination, where the cross-floor scheduling revenue value is the revenue value corresponding to equipment scheduling according to the candidate floor combination;

The target combination determination module 303 is used to determine the cross-floor combination corresponding to each of the candidate floor combinations. The floor scheduling profit value is used to determine the target floor combination used to instruct equipment scheduling from each of the candidate floor combinations.

Optionally, the scheduling revenue determination module includes:

The target floor revenue determination submodule is used to determine, based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, the handling equipment after the candidate current floor in the candidate floor combination is dispatched to the candidate target floor. The revenue value of the target floor corresponding to the candidate target floor in the candidate floor combination. The revenue value of the target floor is the single unit of the candidate target floor after dispatching part of the idle handling equipment of the candidate current floor to the candidate target floor. The corresponding floor revenue value when the handling equipment performs tasks in the candidate target floor;

The current floor revenue determination submodule is used to determine the current floor revenue value corresponding to the candidate current floor in the candidate floor combination based on the task information and handling equipment information of the candidate current floor in the candidate floor combination. The current floor revenue The value is the corresponding floor revenue value when a single handling equipment in the candidate current floor performs the task of the candidate current floor;

A scheduling cost determination submodule, used to determine the scheduling cost corresponding to scheduling handling equipment from the candidate current floor to the candidate target floor in the candidate floor combination;

The scheduling revenue determination submodule is used to determine the cross-floor scheduling revenue value of the candidate floor combination based on the target floor revenue value, the current floor revenue value and the scheduling cost.

Optional, the target floor revenue determination sub-module includes:

The total number of target equipment determining unit is used to obtain the total number of tasks to be executed on the candidate target floor from the task information of the candidate target floor in the candidate floor combination, and based on the handling equipment information of the candidate target floor in the candidate floor combination, Determine the total number of handling equipment on the candidate target floor after scheduling the idle handling equipment on the candidate current floor to the candidate target floor;

The first target floor revenue determination unit is used to determine the handling equipment of the candidate current floor based on the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be performed and the total number of handling equipment of the candidate target floor. The revenue value of the target floor corresponding to the candidate target floor after dispatching to the candidate target floor.

Optionally, the first target floor revenue determination unit is specifically used for:

According to the total number of tasks to be executed and the total number of handling equipment of the candidate target floor, the to-be-completed tasks of the single handling equipment in the candidate target floor are determined after the idle handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. number;

Determine the minimum value of the number of tasks to be completed by a single handling equipment in the candidate target floor and the expected number of tasks completed by the single handling equipment, and determine the revenue value of the target floor based on the minimum value and the unit task revenue .

Optionally, the current floor income determination sub-module includes:

The current equipment total number determination unit is configured to obtain the total number of tasks to be executed on the candidate current floor from the task information of the candidate current floor in the candidate floor combination, and from the handling equipment information of the candidate current floor in the candidate floor combination. , obtain the total number of handling equipment on the current floor of the candidate;

The first current floor revenue determination unit is used to determine the candidate current floor corresponding to the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be performed and the total number of handling equipment of the candidate current floor. The current floor revenue value.

Optionally, the first current floor revenue determination unit is specifically used to:

Determine the number of tasks to be completed for a single handling equipment in the candidate current floor based on the total number of tasks to be performed and the total number of handling equipment on the candidate current floor;

Determine the minimum value of the number of tasks to be completed for a single handling equipment in the candidate current floor and the expected number of tasks to be completed by the single handling equipment, and determine the revenue of the current floor based on the minimum value and the unit task revenue value value.

Optionally, the target floor revenue determination sub-module includes:

A target task related information determination unit, configured to obtain the priority and latest completion time of each task in the candidate target floor from the task information of the candidate target floor in the candidate floor combination;

A target to-be-executed task determination unit, configured to determine the availability of the candidate current floor in the candidate floor combination based on the priority of each task in the candidate target floor, the latest completion time and the handling equipment information of the candidate target floor. After the handling equipment is scheduled to the candidate target floor, the to-be-executed tasks of a single handling equipment in the candidate target floor within the target time period are used as the first to-be-executed tasks;

A target task-related revenue determination unit, configured to determine the completion time revenue value corresponding to the first task to be executed based on the latest completion time corresponding to the first task to be executed, and determine the revenue value according to the completion time of the first task to be executed. The priority of the first to-be-executed task is determined by determining the priority benefit value corresponding to the first task to be executed;

The second target floor revenue determination unit is used to determine the target floor revenue value based on the unit task revenue value, the completion time revenue value and the priority revenue value corresponding to the first to-be-executed task.

Optionally, the target to-be-executed task determination unit includes:

A target task sorting subunit, used to sort each task in the candidate target floor according to the priority and latest completion time of each task in the candidate target floor;

The target equipment total number determination subunit is used to determine the candidate target floor after dispatching the idle transportation equipment of the candidate current floor in the candidate floor combination to the candidate target floor based on the handling equipment information of the candidate target floor in the candidate floor combination. The total number of handling equipment;

The target to-be-executed task determination subunit is used to determine the to-be-executed task of a single handling equipment in the candidate target floor within the target time period based on the total number of handling equipment on the candidate target floor and the sorted tasks.

Optionally, the target to-be-executed task determination subunit is specifically used to:

Determine a first number to a second number of tasks among the sorted tasks on the candidate target floor as tasks to be executed within a target time period for a single handling equipment in the candidate target floor, wherein the first number is The second number is determined based on the difference between the total number of handling equipment on the candidate target floor and 1 and the number of tasks that a single handling equipment can complete within the target time period. The second number is based on the sum of the total number of handling equipment on the candidate target floor. The number of tasks that a single handling equipment can complete within the target time period is determined.

Optionally, the current floor income determination sub-module includes:

The current task-related information determination unit is used to obtain the priority and latest completion time of each task in the candidate current floor from the task information of the candidate current floor in the candidate floor combination;

The currently to-be-executed task determination unit is used to determine the target time of a single handling equipment in the candidate current floor based on the priority of each task in the candidate current floor, the latest completion time and the handling equipment information of the candidate current floor. The tasks to be executed within the cycle are used as the second tasks to be executed;

The current task-related revenue determination unit is used to determine the completion time revenue value corresponding to the second task to be executed based on the latest completion time corresponding to the second task to be executed, and determine the revenue value according to the completion time of the second task to be executed. The priority of the second to-be-executed task is determined by determining the priority benefit value corresponding to the second to-be-executed task;

The second current floor revenue determination unit is configured to determine the current floor revenue value based on the unit task revenue value, the completion time revenue value and the priority revenue value corresponding to the second to-be-executed task.

The currently to-be-executed task determination unit includes:

The current task sorting subunit is used to calculate the priority sum of each task in the candidate current floor. The latest completion time is used to sort the tasks in the candidate current floor;

The current equipment total number determination subunit is used to determine the total number of handling equipment of the candidate current floor based on the handling equipment information of the candidate current floor in the candidate floor combination;

The current to-be-executed task determination subunit is used to determine the to-be-executed tasks of a single handling equipment in the candidate current floor within a target time period based on the total number of handling equipment on the candidate current floor and the sorted tasks.

Optionally, the currently to-be-executed task determination subunit is specifically used to:

Determine a third number to a fourth number of tasks among the sorted tasks of the candidate current floor as tasks to be executed within the target time period for the single handling equipment in the candidate current floor, wherein the third number It is determined based on the difference between the total number of handling equipment on the candidate current floor and 1 and the number of tasks that can be completed by a single handling equipment within the target time period. The fourth number is based on the total number of handling equipment on the candidate current floor. Determined by the number of tasks that a single handling equipment can complete within the target time period.

The specific implementation process of the functions corresponding to each module and unit in the device provided by the embodiment of this application can be referred to the method embodiment shown in Figure 1. The specific implementation process of the functions corresponding to each module and unit of the device will not be described again here.

The equipment scheduling device provided in this embodiment determines at least one candidate floor combination corresponding to cross-floor equipment scheduling in the target warehouse, and for each candidate floor combination, based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, As well as the task information and handling equipment information of the candidate current floor in the candidate floor combination, determine the cross-floor scheduling revenue value of each candidate floor combination, and determine the user from each candidate floor combination according to the cross-floor scheduling revenue value corresponding to each candidate floor combination. Based on the target floor combination that indicates equipment scheduling, cross-floor handling equipment scheduling is realized, which can speed up task throughput efficiency in the warehouse.

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can easily Understand and implement.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the electronic device according to embodiments of the present application. The present application may also be implemented as an apparatus or device program (eg, computer program and computer program product) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

For example, Figure 4 shows an electronic device that can implement the method according to the present application. As shown in FIG. 4 , the electronic device 400 may include one or more processors 410 and one or more memories 420 connected to the processors 410 . Electronic device 400 may also include an input interface 430 and an output interface 440 for communicating with another device or system. Program code executed by processor 410 may be stored in memory 420 . Memory 420 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 420 has a storage space 450 for program code 451 for executing any method steps in the above-described methods. For example, the storage space 450 for program codes may include individual program codes 451 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 5 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 420 in the electronic device of FIG. 4 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code 451', that is, code that can be read by, for example, a processor such as 410, which when executed by an electronic device, causes the electronic device to perform the device scheduling method described above. various steps.

According to an embodiment of the present application, a computer-readable storage medium is also provided. The computer-readable storage medium includes but is not limited to disk memory, CD-ROM, optical memory, etc., and the computer-readable storage medium stores There is a computer program which is executed by a processor The device scheduling method of the aforementioned embodiment is implemented.

According to an embodiment of the present application, a computer program product is also provided, including a computer program or computer instructions. When the computer program or computer instructions are executed by a processor, the device scheduling method described in the above embodiment is implemented.

Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

Those skilled in the art should understand that embodiments of the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present application are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine such that the instructions are executed by the processor of the computer or other programmable data processing terminal device. Means are generated for implementing the functions specified in the process or processes of the flowchart diagrams and/or the block or blocks of the block diagrams.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the The instruction means implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, so that a series of operating steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby causing the computer or other programmable terminal equipment to perform a computer-implemented process. The instructions executed on provide steps for implementing the functions specified in a process or processes of the flow diagrams and/or a block or blocks of the block diagrams.

Although preferred embodiments of the embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once the basic inventive concepts are understood. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

Finally, it should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or any such actual relationship or sequence between operations. Furthermore, the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or end device that includes a list of elements includes not only those elements, but also elements not expressly listed or other elements inherent to such process, method, article or terminal equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or terminal device including the stated element.

The above is a detailed introduction to a device scheduling method, electronic equipment and storage media provided by this application. Specific examples are used in this article to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for assistance. Understand the methods and core ideas of this application; at the same time, for those of ordinary skill in the field, there will be changes in the specific implementation methods and application scope based on the ideas of this application. In summary, the content of this specification does not should be understood as a limitation on this application.

Claims

An equipment scheduling method, characterized by including:

Determine the candidate floor combination corresponding to the cross-floor equipment scheduling in the target warehouse. The candidate floor combination includes a candidate current floor and a candidate target floor. The candidate current floor is the floor where the handling equipment is currently located, and the candidate target floor is the The floor to which the handling equipment needs to be dispatched;

For each candidate floor combination, determine each candidate based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment information of the candidate current floor in the candidate floor combination. The cross-floor scheduling revenue value of the floor combination, the cross-floor scheduling revenue value is the revenue value corresponding to equipment scheduling according to the candidate floor combination;

According to the cross-floor scheduling profit value corresponding to each of the candidate floor combinations, a target floor combination for instructing equipment scheduling is determined from each of the candidate floor combinations.
The method according to claim 1, characterized in that, based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, and the task information and handling equipment information of the candidate current floor in the candidate floor combination, determining The cross-floor scheduling revenue value of each candidate floor combination includes:

According to the task information and handling equipment information of the candidate target floor in the candidate floor combination, it is determined that the handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. Corresponding target floor revenue value, the target floor revenue value is after dispatching part of the idle handling equipment of the candidate current floor to the candidate target floor, and the single handling equipment of the candidate target floor executes the operation of the candidate target floor. The revenue value of the floor corresponding to the task;

According to the task information and handling equipment information of the candidate current floor in the candidate floor combination, the current floor revenue value corresponding to the candidate current floor in the candidate floor combination is determined, and the current floor revenue value is a single one of the candidate current floors. The corresponding floor revenue value when the handling equipment performs the task of the candidate current floor;

Determine the scheduling cost corresponding to scheduling the handling equipment from the candidate current floor to the candidate target floor in the candidate floor combination;

According to the target floor revenue value, the current floor revenue value and the scheduling cost, the cross-floor scheduling revenue value of the candidate floor combination is determined.
The method according to claim 2, characterized in that, according to the task information and handling equipment information of the candidate target floor in the candidate floor combination, determining the candidate for the candidate floor combination. After the handling equipment on the current floor is selected and dispatched to the candidate target floor, the revenue value of the target floor corresponding to the candidate target floor in the candidate floor combination includes:

Obtain the total number of tasks to be executed on the candidate target floor from the task information of the candidate target floor in the candidate floor combination, and determine the candidate current floor based on the handling equipment information of the candidate target floor in the candidate floor combination. The total number of handling equipment on the candidate target floor after the idle handling equipment is dispatched to the candidate target floor;

According to the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be executed and the total number of handling equipment on the candidate target floor, it is determined that the candidate after the idle handling equipment on the current floor of the candidate is scheduled to the candidate target floor. The revenue value of the target floor corresponding to the target floor.
The method according to claim 3, characterized in that, based on the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be performed and the total number of handling equipment of the candidate target floor, it is determined that the candidate current floor After the idle handling equipment is dispatched to the candidate target floor, the revenue value of the target floor corresponding to the candidate target floor includes:

According to the total number of tasks to be executed and the total number of handling equipment of the candidate target floor, the to-be-completed tasks of the single handling equipment in the candidate target floor are determined after the idle handling equipment of the candidate current floor in the candidate floor combination is scheduled to the candidate target floor. number;

Determine the minimum value of the number of tasks to be completed for a single handling equipment in the candidate target floor and the expected number of tasks to be completed by the single handling equipment, and determine the revenue of the target floor based on the minimum value and the unit task revenue value value.
The method according to any one of claims 2 to 4, characterized in that, based on the task information and handling equipment information of the candidate current floor in the candidate floor combination, the current location corresponding to the candidate current floor in the candidate floor combination is determined. Floor revenue value, including:

The total number of tasks to be executed on the candidate current floor is obtained from the task information of the candidate current floor in the candidate floor combination, and the handling equipment information of the candidate current floor in the candidate floor combination is obtained. Total number of handling equipment;

The revenue value of the current floor corresponding to the candidate current floor is determined based on the unit task revenue value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be performed and the total number of handling equipment of the candidate current floor.
The method according to claim 5, characterized in that the candidate current floor is determined based on the unit task profit value, the expected number of tasks completed by a single handling equipment, and the total number of tasks to be performed and the total number of handling equipment of the candidate current floor. The current floor revenue value corresponding to the floor includes:

Determine the number of tasks to be completed for a single handling equipment in the candidate current floor based on the total number of tasks to be performed and the total number of handling equipment on the candidate current floor;

Determine the minimum value of the number of tasks to be completed for a single handling equipment in the candidate current floor and the expected number of tasks to be completed by the single handling equipment, and determine the revenue of the current floor based on the minimum value and the unit task revenue value value.
The method according to claim 2, characterized in that, based on the task information and handling equipment information of the candidate target floor in the candidate floor combination, it is determined to schedule the handling equipment of the candidate current floor in the candidate floor combination to the candidate The revenue value of the target floor corresponding to the candidate target floor in the candidate floor combination after the target floor includes:

Obtain the priority and latest completion time of each task in the candidate target floor from the task information of the candidate target floor in the candidate floor combination;

According to the priority of each task in the candidate target floor, the latest completion time and the handling equipment information of the candidate target floor, it is determined to schedule the idle handling equipment of the candidate current floor in the candidate floor combination to the candidate target floor. The to-be-executed tasks of a single handling equipment in the candidate target floor described later within the target time period are used as the first to-be-executed tasks;

According to the latest completion time corresponding to the first task to be executed, the completion time profit value corresponding to the first task to be executed is determined, and according to the priority of the first task to be executed, the first task to be executed is determined The priority benefit value corresponding to the task to be executed;

The target floor revenue value is determined based on the unit task revenue value, the completion time revenue value and the priority revenue value corresponding to the first task to be executed.
The method according to claim 7, characterized in that, according to the priority of each task in the candidate target floor, the latest completion time and the handling equipment information of the candidate target floor, the candidate for the candidate floor combination is determined. After the idle handling equipment on the current floor is scheduled to the candidate target floor, the tasks to be performed by a single handling equipment in the candidate target floor within the target time period include:

Sort each task in the candidate target floor according to the priority and latest completion time of each task in the candidate target floor;

According to the handling equipment information of the candidate target floor in the candidate floor combination, determine the total number of handling equipment on the candidate target floor after dispatching the idle handling equipment of the candidate current floor in the candidate floor combination to the candidate target floor;

According to the total number of handling equipment on the candidate target floor and the sorted tasks, the tasks to be performed within the target time period for a single handling equipment on the candidate target floor are determined.
The method according to claim 8, characterized in that, based on the total number of handling equipment and the sorted tasks of the candidate target floor, determining the tasks to be performed by the single handling equipment in the candidate target floor within the target time period, including :

Determine a first number to a second number of tasks among the sorted tasks on the candidate target floor as tasks to be executed within a target time period for a single handling equipment in the candidate target floor, wherein the first number is The second number is determined based on the difference between the total number of handling equipment on the candidate target floor and 1 and the number of tasks that a single handling equipment can complete within the target time period. The second number is based on the sum of the total number of handling equipment on the candidate target floor. The number of tasks that a single handling equipment can complete within the target time period is determined.
The method according to any one of claims 2 and 7-9, characterized in that, based on the task information and handling equipment information of the candidate current floor in the candidate floor combination, it is determined that the candidate current floor in the candidate floor combination corresponds to The current floor revenue value, including:

Obtain the priority and latest completion time of each task in the candidate current floor from the task information of the candidate current floor in the candidate floor combination;

According to the priority of each task in the candidate current floor, the latest completion time and the handling equipment information of the candidate current floor, the task to be executed within the target time period of the single handling equipment in the candidate current floor is determined as the third 2. Tasks to be performed;

According to the latest completion time corresponding to the second task to be executed, the completion time profit value corresponding to the second task to be executed is determined, and according to the priority of the second task to be executed, the second task to be executed is determined The priority benefit value corresponding to the task to be executed;

The revenue value of the current floor is determined based on the unit task revenue value, the completion time revenue value and the priority revenue value corresponding to the second to-be-executed task.
The method according to claim 10, characterized in that, based on the priority of each task in the candidate current floor, the latest completion time and the handling equipment information of the candidate current floor, determining a single handling in the candidate current floor The tasks to be performed by the device within the target time period include:

Sort the tasks in the candidate current floor according to the priority and latest completion time of each task in the candidate current floor;

Determine the total number of handling equipment of the candidate current floor according to the handling equipment information of the candidate current floor in the candidate floor combination;

According to the total number of handling equipment on the candidate current floor and the sorted tasks, the tasks to be executed within the target time period for the single handling equipment on the candidate current floor are determined.
The method according to claim 11, characterized in that, based on the total number of handling equipment and the sorted tasks of the candidate current floor, determining the to-be-executed tasks of the single handling equipment in the candidate current floor within the target time period, including :

Determine a third number to a fourth number of tasks among the sorted tasks of the candidate current floor as tasks to be executed within the target time period for the single handling equipment in the candidate current floor, wherein the third number It is determined based on the difference between the total number of handling equipment on the candidate current floor and 1 and the number of tasks that can be completed by a single handling equipment within the target time period. The fourth number is based on the total number of handling equipment on the candidate current floor. Determined by the number of tasks that a single handling equipment can complete within the target time period.
An electronic device, characterized in that it includes: a processor, a memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the computer program implements the claims. The equipment scheduling method described in any one of 1-12.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the device scheduling method according to any one of claims 1-12 is implemented. .
A computer program product, characterized in that it includes a computer program or computer instructions. When the computer program or computer instructions are executed by a processor, the device scheduling method according to any one of claims 1 to 12 is implemented.