CN113534755B - Material storing and taking method and device based on rail shuttle trolley and intelligent equipment - Google Patents

Material storing and taking method and device based on rail shuttle trolley and intelligent equipment Download PDF

Info

Publication number
CN113534755B
CN113534755B CN202110688528.2A CN202110688528A CN113534755B CN 113534755 B CN113534755 B CN 113534755B CN 202110688528 A CN202110688528 A CN 202110688528A CN 113534755 B CN113534755 B CN 113534755B
Authority
CN
China
Prior art keywords
task
rail
target access
access
shuttle trolley
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110688528.2A
Other languages
Chinese (zh)
Other versions
CN113534755A (en
Inventor
董志鹏
田树超
黄海荣
卜佳文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yuanrong Intelligent Manufacturing Co ltd
Original Assignee
Shenzhen Yuanrong Intelligent Manufacturing Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yuanrong Intelligent Manufacturing Co ltd filed Critical Shenzhen Yuanrong Intelligent Manufacturing Co ltd
Priority to CN202110688528.2A priority Critical patent/CN113534755B/en
Publication of CN113534755A publication Critical patent/CN113534755A/en
Application granted granted Critical
Publication of CN113534755B publication Critical patent/CN113534755B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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]
    • G05B19/41865—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 job scheduling, process planning, material flow
    • 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
    • G05B2219/32252—Scheduling production, machining, job shop
    • 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
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The application is suitable for the technical field of material storing and taking, and provides a material storing and taking method and device based on a rail shuttle trolley and intelligent equipment, wherein the material storing and taking method comprises the following steps: monitoring existence of a target access task in a process of executing the material access task by the rail shuttle trolley, wherein the target access task is a material access task which is not executed and does not exist in a task list currently, and if the existence of the target access task is monitored, determining whether the target access task is additionally arranged in the task list or not based on task content of the executed task and task content of the target access task; and if the target access task is determined to be added, updating the target access task in the task list so that the rail shuttle trolley executes the corresponding material access task based on the updated task list. The utility model provides an efficiency that the material was deposited and withdrawn is improved to the more circumstances of deposit and withdrawal task to the RGV dolly of can fully utilizing.

Description

Material storing and taking method and device based on rail shuttle trolley and intelligent equipment
Technical Field
The application relates to the technical field of material storage and taking, in particular to a material storage and taking method and device based on a rail shuttle trolley and intelligent equipment.
Background
In manufacturing enterprises of today, whether the production process is efficient or not is not limited by production equipment and production processes, but also depends on the transportation planning and scheduling of production logistics. In the production process, a storage warehouse of the materials and an operation site for processing the materials are usually separated by a certain distance, and the general working mode is that workers go to the warehouse to take goods and stock according to the requirements, or a simple material scheduling system is adopted to realize the scheduling of the materials by combining with manpower, but the efficiency is lower. With the development of automated warehouses, RGV carts (Rail guided vehicles) have been widely used. The RGV dolly need not personnel's operation, and the RGV dolly can carry out the transport of material according to plan is automatic, utilizes the RGV dolly to carry out not only the functioning speed fast of material transport, and can show reduction warehouse manager's work load, improves warehouse access efficiency.
At present, in the prior art, a control center issues a storage and taking task to an idle RGV trolley, and after receiving the storage and taking task of a material, the RGV trolley runs according to a preset path to execute the storage and taking task. However, the RGV cars are limited, and if the access tasks are more, the efficiency of accessing the materials according to the existing method is lower. How to make full use of the RGV under the condition of more access tasks and improve the efficiency of material access is the problem that needs to be solved at present.
Disclosure of Invention
The embodiment of the application provides a material storing and taking method and device based on a rail shuttle trolley and intelligent equipment, wherein an RGV trolley can be fully utilized, and the efficiency of material storing and taking is improved under the condition of more storing and taking tasks.
In a first aspect, an embodiment of the present application provides a material storing and taking method based on a rail-guided shuttle trolley, including:
monitoring the existence of a target access task in the process of executing the material access task by the rail-guided shuttle trolley, wherein the target access task is a material access task which is not executed and does not exist in a task list currently, and the task list is used for indicating the material access task to be executed by the rail-guided shuttle trolley and the execution sequence of each material access task;
if the existence of the target access task is monitored, determining whether the target access task is additionally arranged in the task list or not based on the task content of the executing task and the task content of the target access task, wherein the executing task refers to the material access task currently executed by the rail shuttle trolley;
and if the target access task is determined to be added, updating the target access task in the task list so that the rail shuttle trolley executes the corresponding material access task based on the updated task list.
In a possible implementation manner of the first aspect, the task content includes a material type, and the step of determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task includes:
judging whether the materials to be stored and accessed of the target access task conflict with the materials to be stored and accessed of the executing task or not based on the material type of the executing task and the material type of the target access task;
if the materials to be accessed of the target access task and the materials to be accessed of the executing task are not in conflict, determining that the target access task is additionally arranged in the task list;
and if the material to be accessed of the target access task conflicts with the material to be accessed of the executing task, determining not to add the target access task in the task list.
In a possible implementation manner of the first aspect, the task content includes a task type, and the step of determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task includes:
if the task types of the executing task and the target access task are both material taking tasks, acquiring the current loadable material quantity of the rail shuttle trolley, the material quantity to be taken of the executing task and the target material quantity to be taken of the target access task;
and determining whether the target access task is additionally arranged in the task list or not according to the current loadable material quantity, the material quantity to be taken and the target material quantity to be taken.
In a possible implementation manner of the first aspect, the task content includes an access location, and the step of updating the target access task in the task list includes:
acquiring the current position and the current running direction of the rail shuttle trolley;
calculating a first distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the executing task, wherein the first distance is the distance between the rail shuttle trolley and the access position of the executing task;
calculating a second distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the target access task, wherein the second distance is the distance between the rail shuttle trolley and the access position of the target access task;
determining an execution order of the target access task and the executing task based on the first distance and the second distance;
and updating the target access task in the task list according to the determined execution sequence.
In a possible implementation manner of the first aspect, the method for accessing materials is performed by a rail-guided shuttle car, and after the step of determining whether to add the target access task in the task list, the method further includes:
if the target access task is determined not to be additionally arranged in the task list, the rail-guided shuttle trolley acquires an image in a preset area range, and determines whether other rail-guided shuttle trolleys exist in the preset area range according to the image;
if the target access task exists, the rail-guided shuttle trolley is connected with the other rail-guided shuttle trolley for communication, and the target access task is sent to the other rail-guided shuttle trolley.
In one possible implementation manner of the first aspect, the material access method is performed by a rail-guided shuttle car, and the material access method further includes:
when the rail shuttle trolley breaks down, the rail shuttle trolley broadcasts a task transfer instruction, and the task transfer instruction is used for indicating other rail shuttle trolleys in a preset area range to transfer a material storage task with the rail shuttle trolley;
if the rail shuttle trolley receives a receiving confirmation instruction from any rail shuttle trolley in the preset area range, the rail shuttle trolley sends the material access tasks in the task list to any rail shuttle trolley, and the receiving confirmation instruction is used for indicating that any rail shuttle trolley confirms to receive the access tasks of the rail shuttle trolley.
In a possible implementation manner of the first aspect, after the step of broadcasting the task transfer instruction by the rail shuttle car, the method further includes:
if the rail shuttle trolley does not detect a receiving confirmation instruction sent by any rail shuttle trolley in the preset area range within the preset time length, the rail shuttle trolley feeds back a task suspension notice to a control center, and the task suspension notice is used for indicating the control center to reassign the material access task in the task list.
In a second aspect, the present application provides a material access device based on a rail-guided shuttle car, including:
the rail-mounted shuttle trolley comprises a task monitoring unit, a task list and a data processing unit, wherein the task monitoring unit is used for monitoring the existence of a target access task in the process of executing the material access task by the rail-mounted shuttle trolley, the target access task is the material access task which is not executed and does not exist in the task list currently, and the task list is used for indicating the material access task to be executed by the rail-mounted shuttle trolley and the execution sequence of each material access task;
a task adding determination unit, configured to determine whether to add the target access task in the task list based on a task content of an executing task and a task content of the target access task if the target access task is monitored to exist, where the executing task refers to a material access task currently being executed by the rail-guided shuttle car;
and the task access unit is used for updating the target access task into the task list if the target access task is determined to be additionally arranged so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list.
In a third aspect, an embodiment of the present application provides an intelligent device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the rail-guided shuttle car-based material access method according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program when executed by a processor implements the rail-guided shuttle car-based material access method according to the first aspect.
In a fifth aspect, the present application provides a computer program product, which when running on a smart device, causes the smart device to execute the rail-guided shuttle car-based material access method according to the first aspect.
In the embodiment of the application, the existence of the target access task is monitored in the process of executing the material access task by the rail shuttle trolley, if the existence of the target access task is monitored, whether the target access task is added or not is determined based on the task content of the execution task and the task content of the target access task, and if the target access task is determined to be added, the target access task is updated in the task list, so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list, and the rail shuttle trolley does not receive a new access task when being idle, so that the rail shuttle trolley can be fully utilized to perform material access, and the material access efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an implementation of a material storing and taking method based on a rail-guided shuttle trolley according to an embodiment of the present application;
fig. 2 is a flowchart illustrating an implementation of step S102 of a material storing and taking method based on a rail-guided shuttle car according to an embodiment of the present disclosure;
fig. 3 is a flowchart illustrating another specific implementation of step S102 of the rail-guided shuttle-based material storing and taking method provided in the embodiment of the present application;
FIG. 4 is a flowchart of an embodiment of the present application for updating a target access task to the task list;
FIG. 5 is a flow chart of another implementation of a rail-guided shuttle car-based material storage and retrieval method according to an embodiment of the present application;
fig. 6 is a flowchart of implementing a material storing and fetching task transfer when a rail shuttle car fails according to an embodiment of the present application;
FIG. 7 is a block diagram of a material storage and retrieval device based on a rail-guided shuttle car according to an embodiment of the present application;
fig. 8 is a schematic diagram of an intelligent device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The material access method based on the rail shuttle trolley provided by the embodiment of the application can be applied to servers and vehicle-mounted terminals, and can be executed by the server of a control center or the rail shuttle trolley.
Fig. 1 shows an implementation process of a rail-guided shuttle trolley-based material access method provided by an embodiment of the present application, where the method process includes steps S101 to S103. The specific realization principle of each step is as follows:
s101: monitoring the existence of a target access task in the process of executing the material access task by the rail shuttle trolley;
the target access task is a material access task which is not executed and does not exist in a task list currently, and the task list is used for indicating the material access task to be executed by the rail shuttle trolley and the execution sequence of each material access task.
The embodiment of the application is based on the rail shuttle trolley for conveying materials and storing and taking the materials, and the rail shuttle trolley runs on a rail paved in a warehouse in advance. The rail shuttle trolley is provided with a plurality of stations, such as double stations and four stations, each station can be provided with a tray, and materials are conveyed through the trays. The material storing and taking tasks comprise a material storing task and/or a material taking task, for example, the material is conveyed and stored to a designated empty bin in a warehouse. As another example, material is taken at a designated bin of a warehouse and delivered to a designated location.
In the embodiment of the application, the rail-guided shuttle trolley executes the material storing and taking tasks based on the execution sequence of the material storing and taking tasks in the task list. In order to improve the efficiency of the rail shuttle trolley for storing and taking materials, the rail shuttle trolley monitors the existence of a target storing and taking task in real time in the process of executing the material storing and taking task.
In an application scenario, the execution terminal of the material access method is a rail-guided shuttle car, and the target access task is a material access task broadcasted by other rail-guided shuttle cars except the rail-guided shuttle car. In the process that the rail-guided shuttle trolley executes the material storing and taking task, the rail-guided shuttle trolley simultaneously monitors the existence of the target storing and taking task, namely monitors whether other rail-guided shuttle trolleys in the preset area range send a new material storing and taking task or not.
In an application scenario, an execution terminal of the material access method is a control center, and the target access task is a new material access task sent by a user terminal. In the process that the rail-guided shuttle trolley executes the material storing and taking task, the control center monitors the existence of the target storing and taking task, namely monitors whether a user terminal sends a new material storing and taking task.
In an application scenario, an execution terminal of the material access method is a control center, and the target access task is an unexecuted material access task sent by a rail-guided shuttle car other than the rail-guided shuttle car. In the process that the rail-guided shuttle trolley executes the material storing and taking task, the control center monitors the existence of the target storing and taking task, namely monitors whether other rail-guided shuttle trolleys send the unexecuted material storing and taking task.
S102: if the target access task is monitored to exist, determining whether the target access task is added in the task list or not based on the task content of the executing task and the task content of the target access task;
wherein the task in execution refers to a material access task currently executed by the rail shuttle trolley.
In the embodiment of the application, more than one rail shuttle trolley is arranged in the same warehouse at the same time, and each rail shuttle trolley accesses materials based on the material access tasks to be executed in the task list and the execution sequence of each material access task. If the existence of the target access task is monitored in the process of executing a certain material access task, the monitored target access task is not directly added to the task list, but is judged based on the task content of the currently executed material access task and the task content of the target access task, whether the target access task needs to be added to the task list of the user is determined according to the judgment result, and the abnormal access caused by the addition of the target access task is avoided.
As a possible implementation manner of the present application, the task content includes a material type, and as shown in fig. 2, the determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task specifically includes:
a1: and judging whether the materials to be stored and accessed of the target access task conflict with the materials to be stored and accessed of the executing task or not based on the material type of the executing task and the material type of the target access task.
The material conflict means that materials of different material types can react together to influence the transportation of the materials by the rail shuttle car and even cause loss.
In a possible implementation manner, a material type conflict table is preset, the preset material type conflict table includes a material type combination having a conflict relationship, whether the material type of the executing task and the material type combination of the material type of the target access task exist or not is searched in the preset material type conflict table, and whether the material to be accessed of the target access task conflicts with the material to be accessed of the executing task or not is judged according to a search result. When the material to be accessed of the target access task is determined not to conflict with the material to be accessed of the executing task (namely, the determination result of the step A1 is yes), step A2 is executed, and when the material to be accessed of the target access task is determined to conflict with the material to be accessed of the executing task (namely, the determination result of the step A1 is no), step A3 is executed.
A2: and determining to add the target access task in the task list.
A3: determining not to add the target access task in the task list.
In the embodiment of the application, whether the target access task is additionally arranged in the task list of the rail shuttle trolley is determined according to the judgment result of whether the materials to be accessed of the target access task and the materials to be accessed of the executing task conflict or not, so that the influence on the normal material access of the rail shuttle trolley caused by material conflict and even the economic loss are avoided.
In a possible implementation manner, if the existence of the target access task is monitored, whether the material type of the target access task is the material type supported and transported by the rail-guided shuttle trolley is judged. If yes, executing the step a 2; if the determination result is negative, the step a3 is executed. In the embodiment, whether the target access task is additionally arranged in the task list or not is determined by judging whether the material type of the target access task is the material type supported and transported by the rail shuttle trolley or not, so that material conflict can be effectively avoided.
As a possible implementation manner of the present application, the determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task as shown in fig. 3 includes:
b1: and if the task types of the executing task and the target access task are both material taking tasks, acquiring the current loadable material quantity of the rail shuttle trolley, the material quantity to be taken of the executing task and the target material quantity to be taken of the target access task.
B2: and determining whether the target access task is additionally arranged in the task list or not according to the current loadable material quantity, the material quantity to be taken and the target material quantity to be taken.
Specifically, the number of materials that can be loaded by the rail-guided shuttle trolley is limited, the sum of the current number of the materials to be fetched and the number of the target materials to be fetched is compared with the current number of the materials that can be loaded by the rail-guided shuttle trolley, whether the sum of the numbers exceeds the current number of the materials that can be loaded by the rail-guided shuttle trolley is judged, if so, the rail-guided shuttle trolley is indicated to be capable of loading the materials of the target access task, and step B3 is executed; if the result of the judgment is no, the rail-guided shuttle car is indicated to be incapable of loading the materials of the target access task, and the step B4 is executed.
B3: and determining to add the target access task in the task list.
B4: determining not to add the target access task in the task list.
In one possible embodiment, the tray capacity of the tracked shuttle is limited, and since the volumes of the different material types of material may be different, the amount of material carried by the tracked shuttle may also be different. Based on this, when the task types of the executing task and the target access task are both material taking tasks, the current loadable material volume of the rail-guided shuttle trolley, the quantity and the type of the materials to be taken of the executing task, and the quantity and the type of the target materials to be taken of the target access task are obtained, the volume of the materials to be taken of the executing task is determined according to the quantity and the type of the materials to be taken of the executing task, and the volume of the target materials to be taken of the target access task is determined according to the quantity and the type of the target materials to be taken of the target access task. Then, based on the volume of the object to be taken, the volume of the target object to be taken and the volume of the current loadable material, judging whether the rail-guided shuttle trolley can load the target object to be taken, if so, determining that the target access task is added in the task list (namely, the step B3 is executed); if not, determining not to add the target access task in the task list (i.e., performing step B4).
In the embodiment of the application, under the condition that the task types are material taking tasks, whether the target access tasks are additionally arranged in the task list is determined by considering the quantity or the volume of the loadable materials of the rail shuttle trolley, and the phenomenon that the transportation is abnormal due to the fact that the quantity or the volume of the loadable materials of the rail shuttle trolley exceeds after the target access tasks are additionally arranged is avoided, and the access efficiency is reduced on the contrary.
S103: and if the target access task is determined to be added, updating the target access task in the task list so that the rail shuttle trolley executes the corresponding material access task based on the updated task list.
In the embodiment of the application, the rail-guided shuttle trolley executes the material storing and taking tasks in the task list according to the execution sequence of the material storing and taking tasks in the task list. When the target access task is determined to be added, the target access task needs to be updated in the task list, so that the rail-guided shuttle trolley executes a corresponding material access task based on the updated task list.
As a possible embodiment of the present application, the task content includes an access location, and as shown in fig. 4, the step of updating the target access task in the task list includes:
c1: and acquiring the current position and the current running direction of the rail shuttle trolley.
In the embodiment of the application, the rail shuttle trolley is positioned in real time in the process of executing the material storing and taking task. When the material storing and taking method provided by the embodiment of the application is executed by the control center, the control center receives the current position and the current driving direction reported by the rail shuttle trolley in real time.
C2: and calculating a first distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the executing task, wherein the first distance is the distance between the rail shuttle trolley and the access position of the executing task.
In the embodiment of the application, the track information pre-laid in the warehouse is acquired, and based on the pre-laid track information, the current position and the current driving direction of the rail shuttle trolley and the access position of the executing task are combined, the driving path is planned for the executing task, and the first distance is calculated based on the current position and the current driving direction of the rail shuttle trolley, the access position of the executing task and the driving path of the executing task.
C3: and calculating a second distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the target access task, wherein the second distance is the distance between the rail shuttle trolley and the access position of the target access task.
Referring to step C2, a driving path is planned for the target access task based on the pre-laid track information, the current position and the current driving direction of the rail-guided shuttle car, and the access position of the target access task, and the second distance is calculated based on the current position and the current driving direction of the rail-guided shuttle car, the access position of the target access task, and the driving path of the target access task.
C4: determining an execution order of the target access task and the executing task based on the first distance and the second distance.
In one scenario, if the first distance is smaller than the second distance, it is determined that the execution order of the executing tasks is prior to the execution order of the target access task. If the first distance is greater than the second distance, the execution order of the target access task is determined to be prior to the execution order of the executing tasks.
In the embodiment of the application, the execution sequence of the target access task is determined by comparing the access position of the executed task with the access position of the target access task, and when more than one material access task exists in the rail shuttle trolley, the execution sequence of the material access task is reasonably planned so as to improve the efficiency of material access.
In a possible implementation manner, the priority of the executing task and the priority of the target access task are obtained, and the execution order of the target access task and the executing task is determined based on the priority of the executing task and the first distance, and the priority of the target access task and the second distance.
In one scenario, the priority of executing the task is higher than the priority of the target access task. If the first distance is equal to the second distance, it is determined that the execution order of the executing tasks is prior to the execution order of the target access task. And if the first distance is larger than the second distance and the distance difference between the first distance and the second distance is within a preset distance difference threshold value range, determining that the execution sequence of the executing tasks is prior to the execution sequence of the target access tasks. And if the first distance is larger than the second distance and the distance difference between the first distance and the second distance is not within a preset distance difference threshold value range, determining that the execution sequence of the target access task is prior to the execution sequence of the executing tasks.
In the embodiment of the application, the access positions of the executed tasks and the access positions of the target access tasks are compared, the execution sequence of the target access tasks is determined by combining the priority of each access task, and when more than one material access task exists in the rail shuttle trolley, the execution sequence of the material access tasks is reasonably planned so as to improve the efficiency of material access.
C5: and updating the target access task in the task list according to the determined execution sequence.
As a possible implementation manner of the present application, fig. 5 shows a flowchart of an implementation of a material access method based on a rail-guided shuttle car provided in an embodiment of the present application, where the rail-guided shuttle car is used as an execution subject, and the flow of the material access method includes steps S501 to S505. The specific realization principle of each step is as follows:
s501: and monitoring the existence of the target access task in the process of executing the material access task by the rail shuttle trolley.
S502: and if the target access task exists, determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task.
S503: and if the target access task is determined to be added, updating the target access task in the task list so that the rail shuttle trolley executes the corresponding material access task based on the updated task list.
In the embodiment of the present application, the specific steps from step S501 to step S503 refer to step S101 to step S103 in the above embodiment, which is not described herein again.
S504: and if the target access task is determined not to be additionally arranged in the task list, the rail-guided shuttle trolley acquires an image in a preset area range, and determines whether other rail-guided shuttle trolleys exist in the preset area range according to the image.
In the embodiment of the application, the rail shuttle trolley is provided with a camera module. After the rail shuttle trolley monitors a target access task sent by the control center, if the rail shuttle trolley determines that the target access task is not additionally arranged in the task list, an image in a preset area range is obtained through the camera module, image recognition is carried out on the image, and whether other rail shuttle trolleys exist in the preset area range is determined. The image recognition algorithm refers to the prior art and is not described herein.
S505: if the target access task exists, the rail-guided shuttle trolley is connected with the other rail-guided shuttle trolley for communication, and the target access task is sent to the other rail-guided shuttle trolley.
And the other rail shuttle vehicles receive the target access task and feed back a confirmation receiving instruction to the rail shuttle vehicles.
In the embodiment of the application, the rail shuttle trolley is provided with a wireless communication module. When the rail shuttle trolley determines that other rail shuttle trolleys exist in the preset area range, the wireless communication module is connected and communicated with the other rail shuttle trolleys, and the target access task is sent to the other rail shuttle trolleys, so that the transfer of the target access task is realized, and the effective execution of the access task is ensured.
As a possible embodiment of the present application, as shown in fig. 6, the material access method is performed by a rail-guided shuttle car, and the material access method further includes:
d1: when the rail shuttle trolley breaks down, the rail shuttle trolley broadcasts a task transfer instruction, and the task transfer instruction is used for indicating other rail shuttle trolleys in a preset area range to transfer a material storage task with the rail shuttle trolley.
The preset area range comprises an effective communication range and/or a designated position area of the rail shuttle trolley for local communication.
D2: if the rail shuttle trolley receives a receiving confirmation instruction from any rail shuttle trolley in the preset area range, the rail shuttle trolley sends the material access tasks in the task list to any rail shuttle trolley, and the receiving confirmation instruction is used for indicating that any rail shuttle trolley confirms to receive the access tasks of the rail shuttle trolley.
In the embodiment of the application, when the rail shuttling trolley breaks down and cannot continuously execute the material storing and taking task, in order to avoid delaying the progress of material storing and taking, the rail shuttling trolley transfers the storing and taking task. The rail shuttle trolley needs help to other rail shuttle trolleys in the preset area range, and the other rail shuttle trolleys in the preset area range are instructed to transfer the material storing and taking tasks with the rail shuttle trolley by broadcasting the task transfer instruction in the preset area range. After the rail shuttle trolley receives the confirmation receiving instruction of any rail shuttle trolley, the rail shuttle trolley sends the material access task in the task list to the rail shuttle trolley, so that the transfer of the material access task is realized, the material access task is continuously executed, and the access progress is not influenced.
In one possible embodiment, when the rail shuttle car fails, the rail shuttle car directionally broadcasts the task transfer instruction. Specifically, when the rail-guided shuttle trolley breaks down, the rail-guided shuttle trolley is in connection communication with other rail-guided shuttle trolleys in a preset area range, the loadable material types of the other rail-guided shuttle trolleys are obtained, and the task transfer instruction is directionally broadcasted to the other rail-guided shuttle trolleys which are the same as the loadable material types of the rail-guided shuttle trolley, so that the effectiveness of material access task transfer is improved.
In a possible embodiment, after the step of broadcasting the task transfer instruction by the rail-guided shuttle car, the method further includes:
d3: if the rail shuttle trolley does not detect a receiving confirmation instruction sent by any rail shuttle trolley in the preset area range within the preset time length, the rail shuttle trolley feeds back a task suspension notice to a control center, and the task suspension notice is used for indicating the control center to reassign the material access task in the task list.
In the embodiment of the application, the rail shuttle trolley interacts with the control center through the wireless communication module. And if the rail shuttle trolley does not detect a confirmation receiving instruction sent by any rail shuttle trolley in the preset area range within the preset time length, the rail shuttle trolley informs a control center, and the control center reassigns the material storing and taking task in the task list to other rail shuttle trolleys.
In the embodiment of the application, the existence of a target access task is monitored in the process of executing the material access task by the rail shuttle trolley, if the existence of the target access task is monitored, whether the target access task is added or not is determined based on the task content of the execution task and the task content of the target access task, and if the target access task is determined to be added, the target access task is updated in the task list, so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list, and the rail shuttle trolley does not receive a new access task when the rail shuttle trolley is idle, so that the rail shuttle trolley can be fully utilized to perform material access, and the material access efficiency is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Corresponding to the material access method based on the rail-guided shuttle car described in the above embodiments, fig. 7 shows a structural block diagram of the material access device based on the rail-guided shuttle car provided in the embodiments of the present application, and for convenience of description, only the parts related to the embodiments of the present application are shown. The material storing and taking device based on the rail shuttle trolley can be applied to a control center server and can also be directly applied to the rail shuttle trolley.
Referring to fig. 7, the rail-guided shuttle car-based material storing and taking device comprises: task monitoring unit 71, task add determination unit 72, task access unit 73, wherein:
the task monitoring unit 71 is configured to monitor existence of a target access task in a process that the rail-guided shuttle trolley executes a material access task, where the target access task is a material access task that is not executed and is not currently present in a task list, and the task list is used to indicate the material access task to be executed by the rail-guided shuttle trolley and an execution sequence of each material access task;
a task adding determination unit 72, configured to determine whether to add the target access task in the task list based on a task content of an executing task and a task content of the target access task if the target access task is monitored to exist, where the executing task refers to a material access task currently being executed by the rail-guided shuttle car;
and the task access unit 73 is configured to update the target access task in the task list if it is determined that the target access task is additionally arranged, so that the rail-guided shuttle trolley executes a corresponding material access task based on the updated task list.
As a possible embodiment of the present application, the task content includes a material type, and the task-added determination unit 72 includes:
the material conflict judging module is used for judging whether the material to be stored and accessed of the target access task conflicts with the material to be stored and accessed of the executing task based on the material type of the executing task and the material type of the target access task;
the first task adding and determining module is used for determining that the target access task is added in the task list if the materials to be accessed of the target access task and the materials to be accessed of the executing task are not in conflict; and if the material to be accessed of the target access task conflicts with the material to be accessed of the executing task, determining not to add the target access task in the task list.
In one possible embodiment of the present invention, the task content includes a task type, and the task-added determination unit 72 includes:
the material information acquisition module is used for acquiring the current loadable material quantity of the rail shuttle trolley, the quantity of materials to be taken out of the executing task and the quantity of materials to be taken out of the target access task if the task types of the executing task and the target access task are both material taking tasks;
and the second task adding determination module is used for determining whether the target access task is added in the task list according to the current loadable material quantity, the to-be-fetched material quantity and the target to-be-fetched material quantity.
As one possible embodiment of the present application, the task content includes an access position, and the task access unit 73 includes:
the position and direction acquisition module is used for acquiring the current position and the current running direction of the rail shuttle trolley;
the first distance calculation module is used for calculating a first distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the executing task, wherein the first distance is the distance between the rail shuttle trolley and the access position of the executing task;
the second distance calculation module is used for calculating a second distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the target access task, wherein the second distance is the distance between the rail shuttle trolley and the access position of the target access task;
an execution sequence determining module, configured to determine an execution sequence of the target access task and the executing task based on the first distance and the second distance;
and the list updating module is used for updating the target access task in the task list according to the determined execution sequence.
As a possible implementation manner of the present application, the material storing and taking device further includes:
the image acquisition unit is used for acquiring an image in a preset area range by the rail-guided shuttle car if the target access task is determined not to be additionally arranged in the task list, and determining whether other rail-guided shuttle cars exist in the preset area range according to the image;
and if the target access task exists, the rail-guided shuttle trolley is connected with other rail-guided shuttle trolleys for communication, and the target access task is sent to the other rail-guided shuttle trolleys.
As a possible embodiment of the present application, the material storing and taking device includes:
the system comprises an instruction broadcasting unit, a task transferring unit and a task transferring unit, wherein the instruction broadcasting unit is used for broadcasting a task transferring instruction by the rail shuttle trolley when the rail shuttle trolley breaks down, and the task transferring instruction is used for indicating other rail shuttle trolleys in a preset area range to transfer a material storing and taking task with the rail shuttle trolley;
and the task transfer unit is used for sending the material access task in the task list to any one rail shuttle trolley by the rail shuttle trolley if the rail shuttle trolley receives a receiving confirmation instruction from any rail shuttle trolley in the preset area range, wherein the receiving confirmation instruction is used for indicating that the rail shuttle trolley confirms to receive the access task of the rail shuttle trolley.
As a possible embodiment of the present application, the material storing and taking device includes:
and the task assignment unit is used for feeding back a task suspension notice to a control center by the rail shuttle car if the rail shuttle car does not detect a receiving confirmation instruction sent by any rail shuttle car in the preset area range within a preset time length, wherein the task suspension notice is used for indicating the control center to reassign the material access task in the task list.
In the embodiment of the application, the existence of a target access task is monitored in the process of executing the material access task by the rail shuttle trolley, if the existence of the target access task is monitored, whether the target access task is added or not is determined based on the task content of the execution task and the task content of the target access task, and if the target access task is determined to be added, the target access task is updated in the task list, so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list, and the rail shuttle trolley does not receive a new access task when the rail shuttle trolley is idle, so that the rail shuttle trolley can be fully utilized to perform material access, and the material access efficiency is improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of any one of the rail-guided shuttle trolley-based material access methods shown in fig. 1 to 6.
The embodiment of the present application further provides an intelligent device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement any one of the steps of the rail-guided shuttle car-based material access method shown in fig. 1 to 6.
The embodiment of the present application further provides a computer program product, which when running on a server, causes the server to execute the steps of implementing any one of the rail-guided shuttle car-based material access methods shown in fig. 1 to 6.
Fig. 8 is a schematic diagram of an intelligent device provided in an embodiment of the present application. As shown in fig. 8, the smart device 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82 stored in said memory 81 and executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in each of the above-described embodiments of the rail-guided shuttle car-based material access method, such as the steps S101 to S103 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the units 71 to 73 shown in fig. 7.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to accomplish the present application. The one or more modules/units may be a series of computer-readable instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the smart device 8.
The intelligent device 8 may be a rail shuttle car. The smart device 8 may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a smart device 8 and does not constitute a limitation of the smart device 8 and may include more or less components than those shown, or combine certain components, or different components, for example, the smart device 8 may also include input-output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the intelligent device 8, such as a hard disk or a memory of the intelligent device 8. The memory 81 may also be an external storage device of the Smart device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the Smart device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the smart device 8. The memory 81 is used for storing the computer programs and other programs and data required by the smart device. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (13)

1. A material storing and taking method based on a rail shuttle trolley is characterized by comprising the following steps:
monitoring the existence of a target access task in the process of executing the material access task by the rail-guided shuttle trolley, wherein the target access task is a material access task which is not executed and does not exist in a task list currently, and the task list is used for indicating the material access task to be executed by the rail-guided shuttle trolley and the execution sequence of each material access task;
if the existence of the target access task is monitored, determining whether the target access task is additionally arranged in the task list or not based on the task content of the executing task and the task content of the target access task, wherein the executing task refers to the material access task currently executed by the rail shuttle trolley;
if the target access task is determined to be added, updating the target access task in the task list so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list;
if the target access task is determined not to be additionally arranged in the task list, the rail-guided shuttle trolley acquires an image in a preset area range, and determines whether other rail-guided shuttle trolleys exist in the preset area range according to the image;
if the target access task exists, the rail-guided shuttle trolley is connected with the other rail-guided shuttle trolley for communication, and the target access task is sent to the other rail-guided shuttle trolley.
2. The material access method according to claim 1, wherein the task content includes a material type, and the step of determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task includes:
judging whether the materials to be stored and accessed of the target access task conflict with the materials to be stored and accessed of the executing task or not based on the material type of the executing task and the material type of the target access task;
if the materials to be accessed of the target access task and the materials to be accessed of the executing task are not in conflict, determining that the target access task is additionally arranged in the task list;
and if the material to be accessed of the target access task conflicts with the material to be accessed of the executing task, determining not to add the target access task in the task list.
3. The material access method according to claim 1, wherein the task content includes a task type, and the step of determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task includes:
if the task types of the executing task and the target access task are both material taking tasks, acquiring the current loadable material quantity of the rail shuttle trolley, the material quantity to be taken of the executing task and the target material quantity to be taken of the target access task;
and determining whether the target access task is additionally arranged in the task list or not according to the current loadable material quantity, the material quantity to be taken and the target material quantity to be taken.
4. The material access method according to claim 1, wherein the task content includes an access location, and the step of updating the target access task in the task list includes:
acquiring the current position and the current running direction of the rail shuttle trolley;
calculating a first distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the executing task, wherein the first distance is the distance between the rail shuttle trolley and the access position of the executing task;
calculating a second distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the target access task, wherein the second distance is the distance between the rail shuttle trolley and the access position of the target access task;
determining an execution order of the target access task and the executing task based on the first distance and the second distance;
and updating the target access task in the task list according to the determined execution sequence.
5. A material storing and taking method based on a rail shuttle trolley is characterized by comprising the following steps:
monitoring the existence of a target access task in the process of executing the material access task by the rail-guided shuttle trolley, wherein the target access task is a material access task which is not executed and does not exist in a task list currently, and the task list is used for indicating the material access task to be executed by the rail-guided shuttle trolley and the execution sequence of each material access task;
if the existence of the target access task is monitored, determining whether the target access task is additionally arranged in the task list or not based on the task content of the executing task and the task content of the target access task, wherein the executing task refers to the material access task currently executed by the rail shuttle trolley;
if the target access task is determined to be added, updating the target access task in the task list so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list;
when the rail shuttle trolley breaks down, the rail shuttle trolley broadcasts a task transfer instruction, and the task transfer instruction is used for indicating other rail shuttle trolleys in a preset area range to transfer a material storage task with the rail shuttle trolley;
if the rail shuttle trolley receives a receiving confirmation instruction from any rail shuttle trolley in the preset area range, the rail shuttle trolley sends the material access tasks in the task list to any rail shuttle trolley, and the receiving confirmation instruction is used for indicating that any rail shuttle trolley confirms to receive the access tasks of the rail shuttle trolley.
6. The material access method according to claim 5, wherein the task content includes a material type, and the step of determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task includes:
judging whether the materials to be stored and accessed of the target access task conflict with the materials to be stored and accessed of the executing task or not based on the material type of the executing task and the material type of the target access task;
if the materials to be accessed of the target access task and the materials to be accessed of the executing task are not in conflict, determining that the target access task is additionally arranged in the task list;
and if the material to be accessed of the target access task conflicts with the material to be accessed of the executing task, determining not to add the target access task in the task list.
7. The material access method according to claim 5, wherein the task content includes a task type, and the step of determining whether to add the target access task in the task list based on the task content of the executing task and the task content of the target access task includes:
if the task types of the executing task and the target access task are both material taking tasks, acquiring the current loadable material quantity of the rail shuttle trolley, the material quantity to be taken of the executing task and the target material quantity to be taken of the target access task;
and determining whether the target access task is additionally arranged in the task list or not according to the current loadable material quantity, the material quantity to be taken and the target material quantity to be taken.
8. The material access method of claim 5, wherein the task content comprises an access location, and the step of updating the target access task in the task list comprises:
acquiring the current position and the current running direction of the rail shuttle trolley;
calculating a first distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the executing task, wherein the first distance is the distance between the rail shuttle trolley and the access position of the executing task;
calculating a second distance according to the current position and the current driving direction of the rail shuttle trolley and the access position of the target access task, wherein the second distance is the distance between the rail shuttle trolley and the access position of the target access task;
determining an execution order of the target access task and the executing task based on the first distance and the second distance;
and updating the target access task in the task list according to the determined execution sequence.
9. The material access method according to claim 5, further comprising, after the step of broadcasting a task transfer instruction by the rail-guided shuttle car:
if the rail shuttle trolley does not detect a receiving confirmation instruction sent by any rail shuttle trolley in the preset area range within the preset time length, the rail shuttle trolley feeds back a task suspension notice to a control center, and the task suspension notice is used for indicating the control center to reassign the material access task in the task list.
10. A material access arrangement based on there is rail dolly that shuttles back and forth which characterized in that includes:
the rail-mounted shuttle trolley comprises a task monitoring unit, a task list and a data processing unit, wherein the task monitoring unit is used for monitoring the existence of a target access task in the process of executing the material access task by the rail-mounted shuttle trolley, the target access task is the material access task which is not executed and does not exist in the task list currently, and the task list is used for indicating the material access task to be executed by the rail-mounted shuttle trolley and the execution sequence of each material access task;
a task adding determination unit, configured to determine whether to add the target access task in the task list based on a task content of an executing task and a task content of the target access task if the target access task is monitored to exist, where the executing task refers to a material access task currently being executed by the rail-guided shuttle car;
the task access unit is used for updating the target access task into the task list if the target access task is determined to be added, so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list;
the image acquisition unit is used for acquiring an image in a preset area range by the rail-guided shuttle car if the target access task is determined not to be additionally arranged in the task list, and determining whether other rail-guided shuttle cars exist in the preset area range according to the image;
and if the target access task exists, the rail-guided shuttle trolley is connected with other rail-guided shuttle trolleys for communication, and the target access task is sent to the other rail-guided shuttle trolleys.
11. A material access arrangement based on there is rail dolly that shuttles back and forth which characterized in that includes:
the rail-mounted shuttle trolley comprises a task monitoring unit, a task list and a data processing unit, wherein the task monitoring unit is used for monitoring the existence of a target access task in the process of executing the material access task by the rail-mounted shuttle trolley, the target access task is the material access task which is not executed and does not exist in the task list currently, and the task list is used for indicating the material access task to be executed by the rail-mounted shuttle trolley and the execution sequence of each material access task;
a task adding determination unit, configured to determine whether to add the target access task in the task list based on a task content of an executing task and a task content of the target access task if the target access task is monitored to exist, where the executing task refers to a material access task currently being executed by the rail-guided shuttle car;
the task access unit is used for updating the target access task into the task list if the target access task is determined to be added, so that the rail shuttle trolley can execute the corresponding material access task based on the updated task list;
the system comprises an instruction broadcasting unit, a task transferring unit and a task transferring unit, wherein the instruction broadcasting unit is used for broadcasting a task transferring instruction by the rail shuttle trolley when the rail shuttle trolley breaks down, and the task transferring instruction is used for indicating other rail shuttle trolleys in a preset area range to transfer a material storing and taking task with the rail shuttle trolley;
and the task transfer unit is used for sending the material access task in the task list to any one rail shuttle trolley by the rail shuttle trolley if the rail shuttle trolley receives a receiving confirmation instruction from any rail shuttle trolley in the preset area range, wherein the receiving confirmation instruction is used for indicating that the rail shuttle trolley confirms to receive the access task of the rail shuttle trolley.
12. A smart device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the rail-guided shuttle car-based material access method according to any one of claims 1 to 9.
13. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the rail-guided shuttle car-based material access method according to any one of claims 1 to 9.
CN202110688528.2A 2021-06-21 2021-06-21 Material storing and taking method and device based on rail shuttle trolley and intelligent equipment Active CN113534755B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110688528.2A CN113534755B (en) 2021-06-21 2021-06-21 Material storing and taking method and device based on rail shuttle trolley and intelligent equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110688528.2A CN113534755B (en) 2021-06-21 2021-06-21 Material storing and taking method and device based on rail shuttle trolley and intelligent equipment

Publications (2)

Publication Number Publication Date
CN113534755A CN113534755A (en) 2021-10-22
CN113534755B true CN113534755B (en) 2022-04-19

Family

ID=78125385

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110688528.2A Active CN113534755B (en) 2021-06-21 2021-06-21 Material storing and taking method and device based on rail shuttle trolley and intelligent equipment

Country Status (1)

Country Link
CN (1) CN113534755B (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106485434A (en) * 2015-08-25 2017-03-08 上海玑智自动化科技有限公司 The dispatching method of automatic conveying device and system
WO2018064639A1 (en) * 2016-09-30 2018-04-05 Staples, Inc. Hybrid modular storage fetching system
CN106503949A (en) * 2016-10-31 2017-03-15 北京起重运输机械设计研究院 A kind of vehicle scheduling processing method and system
CN110471287A (en) * 2019-08-27 2019-11-19 合肥工业大学 A kind of real-time scheduling method and system of more rail Shuttling trolleys

Also Published As

Publication number Publication date
CN113534755A (en) 2021-10-22

Similar Documents

Publication Publication Date Title
CN107235276B (en) Cargo method for carrying and device
CN105654268A (en) Visual management system for loading and unloading positions of logistic goods yard and method
CN103193054A (en) Warehouse management method and warehouse management system
CN111724015B (en) Method, device, equipment and storage medium for switching transport tasks
JP7226702B2 (en) Scheduling method and scheduling device for automatic guided transport vehicle
CN111709608B (en) Method and device for determining picking task, computer equipment and storage medium
CN110232551B (en) Goods classification method and device, storage medium and electronic device
CN114881564A (en) Multi-deep goods location allocation method and device, computer equipment and storage medium
CN111738551A (en) Task allocation method, device, equipment and storage medium
CN113534755B (en) Material storing and taking method and device based on rail shuttle trolley and intelligent equipment
CN111652407B (en) Task processing method, device, medium, electronic equipment and system in warehouse
CN113762820A (en) Goods-to-person picking control method, system, electronic device and storage medium
CN111738651A (en) Processing method, device and equipment for scheduling task
CN111768133A (en) Method and device for warehousing articles
CN108879970A (en) To the method and relevant device of mobile robot wireless charging
CN115375243A (en) Order distribution method and device, electronic equipment and computer readable medium
CN110826752A (en) Collection list distribution method and device
CN113962619A (en) Freight shift determination method and device for waybill, electronic equipment and storage medium
CN113780942A (en) Article transportation control method, device, equipment and storage medium
CN207489084U (en) Goods sorting system
CN113034081A (en) AGV trolley-based product transportation method and system and storage medium
CN112407708A (en) Warehouse goods handling method and system, storage medium and electronic equipment
CN113762826A (en) Article scheduling method and device
CN112441364A (en) Automatic warehouse container warehousing or warehousing returning method and device
CN113762877B (en) Distribution method, device, equipment and medium for warehouse delivery station port

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant