CN108008704B - Shuttle vehicle scheduling method and system - Google Patents
Shuttle vehicle scheduling method and system Download PDFInfo
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- CN108008704B CN108008704B CN201711157213.5A CN201711157213A CN108008704B CN 108008704 B CN108008704 B CN 108008704B CN 201711157213 A CN201711157213 A CN 201711157213A CN 108008704 B CN108008704 B CN 108008704B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32086—Integrate process planning and job shop scheduling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a shuttle vehicle scheduling method and a shuttle vehicle scheduling system, wherein the method comprises the following steps: acquiring a first task from a task queue; the first task includes: fetching and unloading disc addresses; selecting a first shuttle according to the first task; if the first shuttle vehicle is in the standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to a disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle; after receiving a successful disk taking message sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all located outside the second interference area, issuing a disk unloading instruction to the first shuttle vehicle to indicate the disk unloading address of the first shuttle vehicle; the second interference area is obtained according to the disk taking address and the disk unloading address, and the method can improve the accuracy and the fluency of shuttle vehicle scheduling, so that the shuttle vehicle management is more scientific.
Description
Technical Field
The invention relates to the technical field of automatic stereoscopic warehouse management, in particular to a shuttle car scheduling method and system.
background
with the expansion of production and logistics scale, logistics centers and production-type automation warehouses are widely used, and the planning requirements for warehouse-in and warehouse-out systems are varied. Shuttle cars are widely used due to their flexibility, convenience, economy, etc. According to the difference of the motion tracks, the shuttle can be divided into a straight shuttle and a circular shuttle. The reciprocating type straight shuttle vehicle has the main functions that: according to the requirements of the process flow, the materials are conveyed to the target point from the starting point, and the load transferring task of the goods is completed.
the shuttle car has the characteristic of dynamic transfer, can transfer materials among different stations, is equivalent to continuous conveying, has simple and convenient layout, high efficiency, easy expansion and flexibility, and is widely applied to logistics centers and warehouse-in and warehouse-out conveying systems of automatic warehouses. Among these, continuous feed and linear shuttle vehicles are the most common and occupy a considerable market share with their specific cost/performance ratio. How to provide a dispatching method of a reciprocating shuttle vehicle suitable for an automatic stereoscopic warehouse becomes a problem to be solved urgently.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a shuttle vehicle scheduling method and system.
In a first aspect, an embodiment of the present invention provides a shuttle vehicle scheduling method, where the method includes:
acquiring a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses;
Selecting a first shuttle vehicle for executing the first task according to the first task;
if the first shuttle vehicle is in the standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to the disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle;
After receiving a successful disk taking message sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all located outside a second interference area, issuing a disk unloading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
In a second aspect, an embodiment of the present invention provides a shuttle car dispatching system, where the system includes:
The acquisition module is used for acquiring a first task from the task queue; wherein the first task comprises: fetching and unloading disc addresses;
The selection module is used for selecting a first shuttle vehicle for executing the first task according to the first task;
The first sending module is used for issuing a disc feeding instruction to the first shuttle car to indicate the first shuttle car to go to the disc taking address if the first shuttle car is in the standby state and the shuttle cars except the first shuttle car are all outside the first interference area; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle;
the second sending module is used for sending a tray unloading instruction to the first shuttle car to indicate the first shuttle car to go to the tray unloading address if the second sending module judges that the shuttle cars except the first shuttle car are located outside the second interference area after receiving the tray taking success message sent by the first shuttle car; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
In a third aspect, an embodiment of the present invention provides an electronic device, where the device includes a memory and a processor, where the processor and the memory complete communication with each other through a bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the shuttle dispatching method.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the shuttle dispatching method described above.
According to the shuttle vehicle scheduling method and system provided by the embodiment of the invention, the first task is obtained from the task queue, wherein the first task comprises the following steps: a disk taking address and a disk unloading address, selecting a first shuttle vehicle executing the first task according to the first task, if the first shuttle vehicle is in a standby state and the shuttle vehicles except the first shuttle vehicle are all outside a first interference area, issuing an upper disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk taking address, wherein the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle, and after receiving a disk taking success message sent by the first shuttle vehicle, if the first shuttle vehicle is determined to be outside a second interference area, issuing a lower disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address, wherein the second interference area is obtained according to the disk taking address and the disk unloading address, the method and the system can improve the accuracy and the fluency when the shuttle car is dispatched, so that the management of the shuttle car is more scientific.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
fig. 1 is a flowchart of a shuttle car scheduling method according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a shuttle dispatching system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
Fig. 4 is a schematic view of a shuttle car operation model of the automated stereoscopic warehouse conveyor system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a shuttle car scheduling method according to an embodiment of the present invention. As shown in fig. 1, the method includes:
Step 10, acquiring a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses;
step 11, selecting a first shuttle vehicle for executing the first task according to the first task;
Step 12, if the first shuttle vehicle is in a standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to the disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle;
Step 13, after receiving the information of successful disk taking sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all outside the second interference area, sending a disk unloading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to move to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
Specifically, the server may collect tasks to be executed, and sequence the tasks according to the receiving time to obtain a task queue. Wherein the earlier the task is received, the earlier the ordering in the task queue. Each task may include: a disc-fetching address and a disc-unloading address.
And after acquiring the first task from the task queue, the server selects a first shuttle vehicle for executing the first task according to the disk taking address or the disk unloading address of the first task. Specifically, the server may divide the area to which each shuttle belongs according to the disk unloading address. The server may select the first shuttle to execute the first task if the destacking address of the first task falls within an area to which the first shuttle belongs.
Then, the server may obtain a state and a position of the first shuttle, and if the first shuttle is in a standby state, generate a first interference area of the first shuttle according to the position of the first shuttle and the disk taking address of the first task, where the first interference area is an area through which a driving route from the position of the first shuttle to the disk taking position of the first task passes. In order to ensure that the first shuttle vehicle can smoothly reach the disk taking address of the first task, the server may further obtain positions of other shuttle vehicles except the first shuttle vehicle, and if the other shuttle vehicles are all outside the first interference region, the server may issue a disk taking instruction to the first shuttle vehicle, where the disk taking instruction may instruct the first shuttle vehicle to take a disk from the disk taking address of the first task.
After the first shuttle vehicle reaches the disk pickup address of the first task, a successful disk pickup message can be sent to the server. After receiving the information that the disk taking is successful, the server may generate a second interference region of the first shuttle vehicle according to the disk taking address of the first task and the disk unloading address of the first task, where the second interference region is a region through which a driving route from the disk taking address of the first task to the disk unloading address of the first task passes. In order to ensure that the first shuttle vehicle can smoothly reach the disk unloading address of the first task, the server may acquire the positions of the other shuttle vehicles, and if the other shuttle vehicles are all outside the second interference region, the server may issue a disk unloading command to the first shuttle vehicle, and the disk unloading command may indicate the disk unloading address of the first shuttle vehicle for the first task.
After the first shuttle vehicle reaches the disk unloading address of the first task, a message that disk unloading is successful can be sent to the server, and the state of the first shuttle vehicle is updated to be in a standby state.
And after receiving the successful tray unloading message, the server re-issues a new first task to the first shuttle vehicle according to the method until no executable task exists in the task queue, and the first shuttle vehicle stops waiting at the last operation position.
if only one shuttle vehicle exists, the server can directly issue an upper disk command to the shuttle vehicle after acquiring the first task, and the shuttle vehicle goes to the disk taking address of the first task to take the disk after receiving the upper disk command. After the first shuttle vehicle reaches the disk taking address of the first task, a successful disk taking message can be sent to the server, after the server receives the successful disk taking message, a disk unloading command is sent to the shuttle vehicle, after the shuttle vehicle receives the disk unloading command, the shuttle vehicle goes to the disk unloading address of the first task, after the shuttle vehicle reaches the disk unloading address, a successful disk unloading message is sent to the server, after the server receives the successful disk unloading message, a new first task can be obtained from the task queue until no executable task exists in the task queue, and the shuttle vehicle stops waiting at the last operation position.
the following describes the technical solution of the embodiment of the present invention in detail with a specific embodiment. Fig. 4 is a schematic view of a shuttle operation model of an automated stereoscopic warehouse conveyor system according to an embodiment of the present invention, and fig. 4 shows a dual-vehicle co-rail shuttle system, which includes: a plurality of fixed chain conveyors including L11-L42 and K11-K22, shuttle A and shuttle B. Wherein, L11, L21, L31 and L41 are warehouse entry conveyors corresponding to 1-4 lanes, L12, L22, L32 and L42 are warehouse exit conveyors corresponding to 1-4 lanes, K11 and K21 are warehouse entry section equipment at two ends of the other side of the shuttle track, and K12 and K22 are warehouse exit section equipment. When the materials are put in a warehouse, the shuttle car can receive an instruction issued by the server and convey the materials from K11 or K21 to L11, L21, L31 or L41; and delivering the products from L12, L22, L32 or L42 to K12 or K22 during delivery.
If a tray is put in storage at K11 and needs to reach L41, the generation task is (K11, L41), the representative tray taking address is K11, and the tray unloading address is L41; if a tray is delivered from the warehouse at L12 and needs to reach K22, the generation task is (L12, K22), the representative disc taking address is L12, and the disc unloading address is K22.
The server can divide the area of each shuttle vehicle according to the unloading disk address. For example, the tasks with the unloading tray addresses L11, L21, and K12 may be divided into the areas to which the cars a belong, and the tasks with the unloading tray addresses L31, L41, and K22 may be divided into the areas to which the cars B belong.
if the first task acquired by the server from the task queue is (K11, L11), it can be determined that the first task is located in the area to which the vehicle a belongs according to the disk unloading address L11 of the first task, and then the vehicle a is the first shuttle and the vehicle B is the rest of shuttle except the first shuttle.
then, the server may acquire the state and the position of the vehicle a, acquire the position M of the vehicle a if the vehicle a is in the standby state, and generate the first interference region according to K11 and the position M. In order to ensure that the truck a can smoothly reach K11, the server may further obtain the position N1 of the truck B, and if the position N1 is outside the first interference region, the server may send a tray loading command to the truck a, and the tray loading command may instruct the truck a to move forward to K11 for tray taking.
After the car a arrives at K11, a successful pick-up message may be sent to the server. After receiving the pickup success message, the server may generate a second interference area of the car a according to K11 and L11. To ensure that the car a can successfully reach L11, the server may obtain the position N2 of the car B, and if N2 is outside the second interference zone, the server may issue a down command to the car a, which may instruct the car a to go L11.
After the vehicle a arrives at L11, a successful unloading message may be sent to the server, and the status of the vehicle a is updated to the standby status, and after the server receives the successful unloading message, a new first task is sent to the vehicle a according to the above method until no executable task exists in the task queue, and the vehicle a waits at the last working position.
According to the shuttle vehicle scheduling method provided by the embodiment of the invention, a first task is obtained from a task queue, wherein the first task comprises the following steps: a disk taking address and a disk unloading address, selecting a first shuttle vehicle executing the first task according to the first task, if the first shuttle vehicle is in a standby state and the shuttle vehicles except the first shuttle vehicle are all outside a first interference area, issuing an upper disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk taking address, wherein the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle, and after receiving a disk taking success message sent by the first shuttle vehicle, if the first shuttle vehicle is determined to be outside a second interference area, issuing a lower disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address, wherein the second interference area is obtained according to the disk taking address and the disk unloading address, the method can improve the accuracy and the fluency when the shuttle car is dispatched, so that the management of the shuttle car is more scientific.
Optionally, on the basis of the foregoing embodiment, the method further includes:
and if the judgment result shows that a second shuttle vehicle outside the first shuttle vehicle is in the first interference area and the second shuttle vehicle is in a standby state, issuing a first avoidance instruction to the second shuttle vehicle to indicate the second shuttle vehicle to leave the first interference area.
Specifically, in the embodiment, before issuing the hanging wall instruction to the first shuttle, when the server acquires the positions of the shuttle vehicles other than the first shuttle, if it is determined that one or more second shuttle vehicles other than the first shuttle are located in the first interference area, in order to ensure that the first shuttle can smoothly go to the picking wall address of the first task to pick the wall, the server may acquire the state of the second shuttle, and if the second shuttle is in the standby state, the server may issue a first avoidance instruction to the second shuttle, where the first avoidance instruction may indicate that the second shuttle leaves the first interference area.
and after receiving the first avoidance instruction, the second shuttle vehicle starts to leave the first interference area, the server can acquire the position of the second shuttle vehicle in real time, and if the server judges that the second shuttle vehicle is located outside the first interference area at a certain moment, the server issues an upper disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to carry out disk taking on a disk taking address of the first task.
If the second shuttle vehicle is in the operating state, the server does not issue the first avoidance instruction to the second shuttle vehicle, and the server can acquire the state and the position of the second shuttle vehicle in real time. And if the second shuttle vehicle is judged to be in the standby state and in the first interference area at a certain moment, issuing the first avoidance instruction to the second shuttle vehicle. And if the second shuttle vehicle is judged to be out of the first interference area at a certain moment, issuing a hanging wall instruction to the first shuttle vehicle.
according to the shuttle vehicle scheduling method provided by the embodiment of the invention, if the fact that the second shuttle vehicle outside the first shuttle vehicle is in the first interference area and the second shuttle vehicle is in the standby state is obtained through judgment, a first avoidance instruction is issued to the second shuttle vehicle to indicate the second shuttle vehicle to leave the first interference area, so that the method is more scientific.
Optionally, on the basis of the foregoing embodiment, the method further includes:
And if the judgment result shows that a third shuttle vehicle outside the first shuttle vehicle is positioned in the second interference area and the third shuttle vehicle is in a standby state, issuing a second avoidance instruction to the third shuttle vehicle to indicate the third shuttle vehicle to leave the second interference area.
specifically, in the embodiment, before issuing a dial-down instruction to a first shuttle, when the server acquires the positions of shuttle vehicles other than the first shuttle, if it is determined that one or more third shuttle vehicles other than the first shuttle are located in the second interference area, in order to ensure that the first shuttle can smoothly go to a dial-down address of the first task, the server may acquire the state of the third shuttle, and if the third shuttle is in a standby state, the server may issue a second avoidance instruction to the third shuttle, where the second avoidance instruction may indicate that the third shuttle leaves the second interference area.
and after receiving the second avoidance instruction, the third shuttle vehicle starts to leave the second interference area, the server can acquire the position of the third shuttle vehicle in real time, and if the third shuttle vehicle is judged to be out of the second interference area at a certain moment, a tray-off instruction is issued to the first shuttle vehicle to indicate the first shuttle vehicle to go to a tray-off address of the first task.
And if the third shuttle vehicle is in the operating state, the server does not issue the first avoidance instruction to the third shuttle vehicle, the server can acquire the state and the position of the third shuttle vehicle in real time, and if the third shuttle vehicle is judged to be in the standby state and is in the second interference area at a certain moment, the server issues the second avoidance instruction to the third shuttle vehicle. And if the third shuttle vehicle is judged to be out of the second interference area at a certain moment, issuing the lower disk instruction to the first shuttle vehicle.
According to the shuttle vehicle scheduling method provided by the embodiment of the invention, if the fact that the third shuttle vehicle outside the first shuttle vehicle is in the second interference area and the third shuttle vehicle is in the standby state is obtained through judgment, a second avoidance instruction is issued to the third shuttle vehicle to indicate the third shuttle vehicle to leave the second interference area, so that the method is more scientific.
Optionally, on the basis of the foregoing embodiment, the method further includes:
S1, if the tray at the tray unloading address of the current task is in an idle state, taking the current task as the first task; wherein the current task is the most front-ranked task in the task queue;
S2, if the tray at the unloading address of the current task is in an occupied state, advancing the sequencing of other tasks except the current task by one bit, and returning the current task to the tail of the task queue;
S3, repeating the steps S1-S2 until the first task is found.
Specifically, the task queue described in the above embodiment may include one or more tasks, and the tasks may be sorted according to the order of the generation time, and the task with the earlier generation time is sorted in the task queue before.
The server may first obtain a top-ranked task in the task queue, and the top-ranked task may be recorded as a current task. Then, according to the disk unloading address of the current task, obtaining the state of the tray at the disk unloading address, if the tray is in an idle state, taking the current task as the first task in the above embodiment, if the tray is in an occupied state, it indicates that the current task cannot be smoothly executed, the server may advance the corresponding ranks of the tasks in the task queue except the current task by one bit, then, returning the current task to the tail of the task queue, updating the ranks of the tasks in the task queue, forming an updated task queue, and recording the task with the top rank in the corresponding updated task queue as the updated current task.
and then, acquiring the tray state at the tray unloading address of the updated current task, if the current task is in an idle state, taking the updated current task as the first task, otherwise, continuously repeating the updating process until the first task is found.
The technical solutions provided by the embodiments of the present invention are described in detail below with a specific embodiment. As shown in fig. 4, for example, the task queue includes three tasks, which are respectively: (K11, L41), (L12, K22) and (L42, K12). Wherein the generation time of the (K11, L41) is earliest, the generation time of the (L12, K22) is second in the task queue, the generation time of the (L42, K12) is latest, and the generation time of the (L11, L41) is third in the task queue.
The server may first obtain (K11, L41) from the task queue, then obtain a state of a tray at L41, if the tray at L41 is in an idle state, (K11, L41) is used as a first task in the above embodiment, and if the tray at L41 is in an occupied state, it indicates that (K11, L41) cannot be smoothly executed, the server may lift (L12, K22) to a first ranking position, lift (L42, K12) to a second ranking position, and then return (K11, L41) to a third ranking position, so that the task ranking in the task queue is updated, and an updated task queue is formed. (L12, K22) becomes the top-ranked task in the updated task queue.
then, the server may obtain the status of the tray at K22, if the tray at K22 is in an idle state, (L12, K22) is taken as the first task, and if the tray at K22 is in an occupied state, the above updating process is continuously repeated until the first task is found.
According to the shuttle vehicle scheduling method provided by the embodiment of the invention, if the tray at the disk unloading address of the current task is in an idle state through judgment, the current task is taken as the first task, wherein the current task is the task with the most front sequencing in the task queue, if the tray at the disk unloading address of the current task is in an occupied state through judgment, the sequencing of other tasks except the current task is advanced by one bit, the current task is returned to the tail of the task queue, and then the updating process is repeated, so that the method is more scientific.
Optionally, on the basis of the foregoing embodiment, the method further includes:
And after the upper disk instruction is issued to the first shuttle car, deleting the first task in the task queue, and advancing the sequence of other tasks in the task queue by one bit.
Specifically, in the server in the foregoing embodiment, after the disk loading instruction is issued to the first shuttle, which indicates that the first task can be executed by the first shuttle, the first task is deleted from the task queue, and the sequence of the tasks in the task queue except the first task is advanced by one bit.
For example, one of the task queues includes three tasks, which are respectively: (K11, L41), (L12, K22) and (L42, K12), (K11, L41) being the first in the ordering of the task queue, (L12, K22) being the second in the ordering of the task queue, and (L42, K12) being the third in the ordering of the task queue.
If the server takes the (K11, L41) as the first task and issues a disk-loading command to the first shuttle car to indicate that the first shuttle car goes to K11 to pick up the disk, the server may delete the (K11, L41) from the task queue, update the ranking of the (L12, K22) to be the top, and update the ranking of the (L42, K12) to be the second.
After the first shuttle sends the information that the disk unloading is successful at L41 to the server, the server may obtain (L12, K22) from the task queue as a new first task according to the method described in the above embodiment, and send a disk loading command to the first shuttle until there is no more executable task in the task queue, and the first shuttle stays at the last working position and waits.
According to the shuttle vehicle scheduling method provided by the embodiment of the invention, after the upper disk command is issued to the first shuttle vehicle, the first task in the task queue is deleted, and the sequencing of the other tasks in the task queue is advanced by one bit, so that the method is more scientific.
optionally, on the basis of the foregoing embodiment, the method further includes:
And displaying the position, the working state and the operation content of each shuttle vehicle, and the quantity and the content of the tasks in the task queue.
Specifically, the server may display the position, the working state, the content of the task being executed, and the number and the content of the tasks remaining in the task queue of each shuttle vehicle in real time on a Human-Machine Interface (HMI) or a field HMI (Human Machine Interface), so as to prevent two vehicles from colliding due to the fact that an avoidance instruction cannot be executed, synchronize the operation of the shuttle vehicles and the animation indication, add Human control options such as emergency operation and advanced control according to actual needs, change the scheduling property, and increase the availability and flexibility of the system.
According to the shuttle vehicle scheduling method provided by the embodiment of the invention, the usability and flexibility of the method are improved by displaying the position, the working state and the operation content of each shuttle vehicle and the quantity and the content of the tasks in the task queue, so that the method is more scientific.
Fig. 2 is a schematic structural diagram of a shuttle dispatching system according to an embodiment of the present invention, and as shown in fig. 2, the system includes: an obtaining module 20, a selecting module 21, a first sending module 22 and a second sending module 23, wherein:
The obtaining module 20 is configured to obtain a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses; the selection module 21 is configured to select, according to the first task, a first shuttle vehicle that executes the first task; the first sending module 22 is configured to issue a disc loading instruction to the first shuttle car to indicate that the first shuttle car goes to the disc taking address if it is determined that the first shuttle car is in the standby state and the shuttle cars other than the first shuttle car are all outside the first interference area; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle; the second sending module 23 is configured to, after receiving the information that the disk taking is successful, sent by the first shuttle, if it is determined that the shuttle vehicles other than the first shuttle are located outside the second interference region, issue a disk unloading instruction to the first shuttle to indicate that the first shuttle goes to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
Specifically, the shuttle car dispatching system provided by the embodiment of the present invention may include: the device comprises an acquisition module 20, a selection module 21, a first sending module 22 and a second sending module 23.
The obtaining module 20 may obtain a first task from a task queue, where the first task includes: a disc-fetching address and a disc-unloading address. After the obtaining module 20 obtains the first task, the selecting module 21 may select the first shuttle vehicle executing the first task according to a disk taking address or a disk unloading address of the first task. For example, the selection module 21 may divide the area belonging to each shuttle according to the unloading tray address. The selection module 21 may select the first shuttle to execute the first task if the destacking address of the first task falls within an area to which the first shuttle belongs.
Then, the first sending module 22 may obtain the state and the position of the first shuttle, and if the first shuttle is in the standby state, generate a first interference area of the first shuttle according to the position of the first shuttle and the disk taking address of the first task. In order to ensure that the first shuttle vehicle can smoothly reach the disk taking address of the first task, the first sending module 22 may further obtain positions of other shuttle vehicles except the first shuttle vehicle, and if the other shuttle vehicles are all outside the first interference region, the first sending module 22 may send a disk taking instruction to the first shuttle vehicle, where the disk taking instruction may instruct the first shuttle vehicle to take a disk to the disk taking address of the first task.
after the first shuttle vehicle reaches the disk pickup address of the first task, a successful disk pickup message may be sent to the second sending module 23. After receiving the successful disk fetching message, the second sending module 23 may generate a second interference region of the first shuttle vehicle according to the disk fetching address of the first task and the disk unloading address of the first task. In order to ensure that the first shuttle vehicle can smoothly reach the disk unloading address of the first task, the second sending module 23 may obtain the positions of the remaining shuttle vehicles, and if the remaining shuttle vehicles are all outside the second interference region, the second sending module 23 may issue a disk unloading instruction to the first shuttle vehicle, where the disk unloading instruction may indicate that the first shuttle vehicle is going to the disk unloading address of the first task.
After the first shuttle vehicle reaches the disk unloading address of the first task, a successful disk unloading message may be sent to the obtaining module 20, and the state of the first shuttle vehicle is updated to the standby state.
After receiving the information that the tray unloading is successful, the obtaining module 20 obtains a new first task for the first shuttle again according to the method described above until there is no executable task in the task queue, and the first shuttle stops waiting at the last operation position.
The functions of the shuttle dispatching system provided by the embodiment of the invention specifically refer to the method embodiment, and are not described herein again.
The shuttle vehicle scheduling system provided by the embodiment of the invention acquires a first task from a task queue, wherein the first task comprises the following steps: a disk taking address and a disk unloading address, selecting a first shuttle vehicle executing the first task according to the first task, if the first shuttle vehicle is in a standby state and the shuttle vehicles except the first shuttle vehicle are all outside a first interference area, issuing an upper disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk taking address, wherein the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle, and after receiving a disk taking success message sent by the first shuttle vehicle, if the first shuttle vehicle is determined to be outside a second interference area, issuing a lower disk instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address, wherein the second interference area is obtained according to the disk taking address and the disk unloading address, the system can improve the accuracy and the fluency when the shuttle cars are dispatched, so that the management of the shuttle cars is more scientific.
optionally, on the basis of the foregoing embodiment, the system includes: the device comprises an acquisition module, a selection module, a first sending module, a second sending module and a third sending module, wherein:
and the third sending module is used for issuing a first avoidance instruction to the second shuttle vehicle if the second shuttle vehicle outside the first shuttle vehicle is judged to be in the first interference area and the second shuttle vehicle is in a standby state, wherein the first avoidance instruction is used for indicating the second shuttle vehicle to leave the first interference area.
Specifically, the shuttle car dispatching system provided by the embodiment of the invention comprises: the apparatus includes an obtaining module, a selecting module, a first sending module, a second sending module, and a third sending module, where the obtaining module, the selecting module, the first sending module, and the second sending module have been described in detail in the above embodiments, and are not described here again.
specifically, before issuing an upper disk feeding instruction to a first shuttle, when positions of shuttle vehicles other than the first shuttle are acquired, if it is determined that one or more second shuttle vehicles other than the first shuttle are located in the first interference area, in order to ensure that the first shuttle can smoothly go to a disk taking address of the first task to take a disk, the third sending module may acquire a state of the second shuttle, and if the second shuttle is in a standby state, the third sending module may issue a first avoidance instruction to the second shuttle, where the first avoidance instruction may indicate that the second shuttle leaves the first interference area.
and after receiving the first avoidance instruction, the second shuttle vehicle starts to leave the first interference area, the first sending module can obtain the position of the second shuttle vehicle in real time, and if the second shuttle vehicle is judged to be out of the first interference area at a certain moment, an upper disk feeding instruction is sent to the first shuttle vehicle to indicate the first shuttle vehicle to carry out disk feeding on the disk feeding address of the first task.
If the second shuttle vehicle is in the operating state, the third sending module does not issue the first avoidance instruction to the second shuttle vehicle, the third sending module can acquire the state and the position of the second shuttle vehicle in real time, and if the second shuttle vehicle is judged to be in the standby state and in the first interference area at a certain moment, the third sending module can issue the first avoidance instruction to the second shuttle vehicle. If it is determined at a certain time that the second shuttle car is outside the first interference region, the first sending module may issue a hanging wall instruction to the first shuttle car.
According to the shuttle vehicle dispatching system provided by the embodiment of the invention, if the fact that the second shuttle vehicle outside the first shuttle vehicle is in the first interference area and the second shuttle vehicle is in the standby state is obtained through judgment, a first avoidance instruction is issued to the second shuttle vehicle to indicate the second shuttle vehicle to leave the first interference area, so that the system is more scientific.
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 3, the electronic device includes: a processor (processor)31, a memory (memory)32, and a bus 33, wherein:
the processor 31 and the memory 32 complete communication with each other through the bus 33; the processor 31 is configured to call program instructions in the memory 32 to perform the methods provided by the above-mentioned method embodiments, for example, including: acquiring a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses; selecting a first shuttle vehicle for executing the first task according to the first task; if the first shuttle vehicle is in the standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to the disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle; after receiving a successful disk taking message sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all located outside a second interference area, issuing a disk unloading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
an embodiment of the present invention discloses a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer can execute the methods provided by the above method embodiments, for example, the method includes: acquiring a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses; selecting a first shuttle vehicle for executing the first task according to the first task; if the first shuttle vehicle is in the standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to the disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle; after receiving a successful disk taking message sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all located outside a second interference area, issuing a disk unloading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
embodiments of the present invention provide a non-transitory computer-readable storage medium, which stores computer instructions, where the computer instructions cause the computer to perform the methods provided by the above method embodiments, for example, the methods include: acquiring a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses; selecting a first shuttle vehicle for executing the first task according to the first task; if the first shuttle vehicle is in the standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to the disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle; after receiving a successful disk taking message sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all located outside a second interference area, issuing a disk unloading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above-described embodiments of the electronic device and the like are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may also be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A shuttle dispatching method is characterized by comprising the following steps:
Acquiring a first task from a task queue; wherein the first task comprises: fetching and unloading disc addresses;
Selecting a first shuttle vehicle for executing the first task according to the first task;
If the first shuttle vehicle is in the standby state and the shuttle vehicles except the first shuttle vehicle are all outside the first interference area, issuing a disc loading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to the disc taking address; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle;
after receiving a successful disk taking message sent by the first shuttle vehicle, if judging that the shuttle vehicles except the first shuttle vehicle are all located outside a second interference area, issuing a disk unloading instruction to the first shuttle vehicle to indicate the first shuttle vehicle to go to the disk unloading address; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address;
The method further comprises the following steps: if the judgment result shows that a second shuttle vehicle outside the first shuttle vehicle is located in the first interference area and the second shuttle vehicle is in a standby state, issuing a first avoidance instruction to the second shuttle vehicle to indicate the second shuttle vehicle to leave the first interference area; if the judgment result shows that a third shuttle vehicle outside the first shuttle vehicle is located in the second interference area and the third shuttle vehicle is in a standby state, issuing a second avoidance instruction to the third shuttle vehicle to indicate the third shuttle vehicle to leave the second interference area;
The method further comprises the following steps: s1, if the tray at the tray unloading address of the current task is in an idle state, taking the current task as the first task; wherein the current task is the most front-ranked task in the task queue; s2, if the tray at the unloading address of the current task is in an occupied state, advancing the sequencing of other tasks except the current task by one bit, and returning the current task to the tail of the task queue; s3, repeating the steps S1-S2 until the first task is found.
2. the method of claim 1, further comprising:
And after the upper disk instruction is issued to the first shuttle car, deleting the first task in the task queue, and advancing the sequence of other tasks in the task queue by one bit.
3. The method of any of claims 1-2, further comprising:
and displaying the position, the working state and the operation content of each shuttle vehicle, and the quantity and the content of the tasks in the task queue.
4. A shuttle car dispatching system, comprising:
The acquisition module is used for acquiring a first task from the task queue; wherein the first task comprises: fetching and unloading disc addresses; s1, if the tray at the unloading address of the current task is in an idle state, the current task is used as the first task; wherein the current task is the most front-ranked task in the task queue; s2, if the tray at the unloading address of the current task is in an occupied state, advancing the sequencing of other tasks except the current task by one bit, and returning the current task to the tail of the task queue; s3, repeating the steps S1-S2 until the first task is found;
The selection module is used for selecting a first shuttle vehicle for executing the first task according to the first task;
The first sending module is used for issuing a disc feeding instruction to the first shuttle car to indicate the first shuttle car to go to the disc taking address if the first shuttle car is in the standby state and the shuttle cars except the first shuttle car are all outside the first interference area; the first interference area is obtained according to the disk taking address and the position of the first shuttle vehicle;
the second sending module is used for sending a tray unloading instruction to the first shuttle car to indicate the first shuttle car to go to the tray unloading address if the second sending module judges that the shuttle cars except the first shuttle car are located outside the second interference area after receiving the tray taking success message sent by the first shuttle car; wherein the second interference region is obtained according to the disk fetching address and the disk unloading address;
The system further comprises: a third sending module, configured to issue a first avoidance instruction to a second shuttle vehicle outside the first shuttle vehicle if the second shuttle vehicle is determined to be located in the first interference area and the second shuttle vehicle is in a standby state, where the first avoidance instruction is used to instruct the second shuttle vehicle to leave the first interference area; and if the judgment result shows that a third shuttle vehicle outside the first shuttle vehicle is positioned in the second interference area and the third shuttle vehicle is in a standby state, issuing a second avoidance instruction to the third shuttle vehicle to indicate the third shuttle vehicle to leave the second interference area.
5. An electronic device, comprising a memory and a processor, wherein the processor and the memory communicate with each other via a bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 3.
6. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 3.
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| CN109557883B (en) * | 2018-11-30 | 2019-07-26 | 山东师范大学 | A kind of multi-process intelligence RGV paths planning method, apparatus and system |
| CN111462472B (en) * | 2019-01-22 | 2021-11-12 | 北京京东乾石科技有限公司 | Unmanned vehicle scheduling method, equipment and system |
| CN110874673B (en) * | 2019-11-15 | 2022-09-27 | 北京旷视机器人技术有限公司 | Container scheduling method and device for dense storage and electronic equipment |
| CN113247508B (en) * | 2021-05-14 | 2023-04-18 | 深圳市海柔创新科技有限公司 | Robot avoiding method, control terminal and automatic cargo sorting system |
| CN114489918A (en) * | 2022-04-15 | 2022-05-13 | 北京京东乾石科技有限公司 | Data display method, system and device |
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