CN115345447A - Task management method, electronic device and storage medium - Google Patents
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Abstract
The embodiment of the application provides a task management method, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a storage position corresponding to each target task in a plurality of tasks of the target roadway from a storage position set of the target roadway, wherein the target task is a warehousing task or a shifting task; and controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks. Situations that hinder the execution of the task are avoided. For any one of the plurality of tasks in the target tunnel, the target task can be executed once the target task is issued, the target task does not need to be executed after other target tasks in the plurality of tasks enter the target tunnel, the target task does not need to be executed after the outbound task in the plurality of tasks leaves the target tunnel, and the operation efficiency is high.
Description
Technical Field
The application relates to the field of logistics, in particular to a task management method, electronic equipment and a storage medium.
Background
The task of managing the lanes in a warehouse, such as a dense storage warehouse, is a critical link in the management of the warehouse. During the task of managing the corresponding lane, it is necessary to avoid a situation that the execution of the task is often hindered, for example, if a container of an warehousing task or a transfer task of the lane enters the lane before a container of an ex-warehouse task of the lane leaves the lane, the container of the ex-warehouse task will be blocked by the container of the warehousing task or the transfer task, and the container of the ex-warehouse task cannot leave the lane. For example, for two warehousing tasks entering the roadway from the same roadway opening of the roadway, if the time for a container of a first warehousing task to enter the target roadway is earlier than the time for a container of a second warehousing task to enter the roadway, and the storage position corresponding to the first warehousing task is located at the blocking position of the storage position corresponding to the second warehousing task, after the container of the second warehousing task enters the roadway, the container of the second warehousing task is blocked by the container of the first warehousing task, the container of the second warehousing task cannot be placed on the storage position corresponding to the second warehousing task, and the second warehousing task cannot be completed.
Disclosure of Invention
To overcome the problems in the related art, the present application provides a task management method, an electronic device, and a storage medium.
An embodiment of the present application provides a task management method, including:
determining a storage position corresponding to each target task in a plurality of tasks of a target roadway from a storage position set of the target roadway, wherein the target task is a warehousing task or a shifting task;
and controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks.
An embodiment of the present application provides an electronic device, including: a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the task management method.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program/instruction is stored, which when executed by a processor, implements the above-described task management method.
Embodiments of the present application provide a computer program product, which includes a computer program/instruction, and the computer program/instruction, when executed by a processor, implements the task management method described above.
According to the task management method provided by the embodiment of the application, a storage position corresponding to each target task in a plurality of tasks of a target roadway is determined from a storage position set of the target roadway; and controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks, so as to avoid the situation of obstructing the execution of the task. For any one of the plurality of tasks in the target tunnel, the target task can be immediately executed once the target task is issued, the target task does not need to be executed after other target tasks in the plurality of tasks enter the target tunnel, the target task does not need to be executed after the ex-warehouse task in the plurality of tasks leaves the target tunnel, and the operation efficiency is high.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flowchart illustrating a task management method according to an embodiment of the present application;
fig. 2 shows a block diagram of a task management device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. Can sense and collect all data in logistics through big data technology, upload the data to an information platform data layer, carry out operations such as filtering, mining, analyzing and the like on the data, finally, accurate data support is provided for business processes (such as links of transportation, warehousing, access, sorting, packaging, sorting, ex-warehouse, inventory, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) The AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of labor; 2) The labor efficiency is improved through software systems such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.
Fig. 1 shows a flowchart of a task management method provided in an embodiment of the present application, where the method includes:
The task management method provided by the embodiment of the application can be applied to warehouses such as dense storage warehouses, and containers can be trays, shelves and the like.
The target roadway does not refer to a certain roadway in particular, and any roadway in the warehouse to which the task management method provided by the embodiment of the application is applied can be used as the target roadway.
In the present application, for any one task of the target roadway, the task may be one of the following: warehousing tasks, ex-warehouse tasks and moving tasks.
In the application, for any target task of the target roadway, the target task is a warehousing task of the target roadway or a database transfer task of the target roadway.
In the present application, for each target task of a target roadway, a container of the target task enters the target roadway through a roadway opening of the target roadway corresponding to the target task.
For each outbound task of the target roadway, the container of the outbound task exits the target roadway through a roadway opening of the target roadway corresponding to the outbound task.
If the target roadway has a lane crossing, each task of the target roadway corresponds to a lane crossing of the target roadway, and correspondingly, the lane crossing corresponds to each task.
If the target roadway has two lane openings, each task of the target roadway corresponds to one of the two lane openings of the target roadway.
If the target roadway has two road junctions, for any target task of the target roadway, when the road junction corresponding to the target task is determined, the road junction corresponding to the target task can be randomly selected from the two road junctions, or the road junction with a small number of target tasks in the two road junctions can be used as the road junction corresponding to the target task, and the number of target tasks of the road junction is the number of target tasks corresponding to the road junction.
For any one of the outbound tasks of the target roadway, when the corresponding roadway opening of the outbound task is determined, the roadway opening corresponding to the outbound task can be randomly selected from two roadway openings, and the roadway with less outbound tasks in the two roadway openings can be used as the roadway corresponding to the outbound task, and the number of the outbound tasks in the roadway openings is the number of the outbound tasks corresponding to the roadway opening.
In the present application, for any task in a target lane, a transfer robot that loads a container for the task during execution of the task may be referred to as a transfer robot for the task. The transfer robot may be a four-way shuttle, an automated guided vehicle, or the like.
One warehousing task of the target roadway comprises the following steps: the carrying robot of the warehousing task enters a target roadway through a target roadway corresponding to a roadway opening of the warehousing task; and the carrying robot of the warehousing task places the container of the warehousing task on the storage position corresponding to the warehousing task.
One ex-warehouse task of the target roadway comprises the following steps: the carrying robot of the ex-warehouse task loads the container of the ex-warehouse task onto the carrying robot of the ex-warehouse task from the storage position corresponding to the ex-warehouse task; the transfer robot of the outbound task leaves the target roadway through a roadway opening of the target roadway corresponding to the outbound task.
One library transfer task of the target roadway comprises the following steps: the transfer robot of the garage transfer task carries a container of the garage transfer task from one other roadway and enters the target roadway through a roadway opening of the target roadway corresponding to the garage transfer task; and the carrying robot of the transfer task places the container of the transfer task on the storage position corresponding to the transfer task.
In this application, for any task in the target lane, after the task is completed, the task management system may delete the task, and after the task is completed, the task is no longer used as the task in the target lane.
In the present application, steps 101-102 are performed multiple times during the management of tasks for a target lane. After the first execution of steps 101-102, it may be determined whether all tasks of the target roadway include one of the following task combinations at intervals of a preset duration: a new target task of the target lane and at least one ex-warehouse task of the target lane with respect to the target task in the last executed step 101, a plurality of new target tasks of the target lane with respect to the target task in the last executed step 101, and at least one ex-warehouse task of the target lane. If it is determined that all tasks of the target lane include a task combination, steps 101-102 may be performed.
The plurality of tasks in step 101 performed for the first time may include one of: the method comprises the steps of one target task of a target roadway, at least one ex-warehouse task of the target roadway, a plurality of target tasks of the target roadway and a plurality of ex-warehouse tasks of the target roadway.
N is greater than 1, the plurality of tasks in step 101 executed the nth time may refer to one of: a new one of the target tasks of the target roadway and at least one ex-warehouse task of the target roadway in the step 101 executed N-1, a new plurality of target tasks of the target roadway relative to the target task in the step 101 executed N-1, and at least one ex-warehouse task of the target roadway in the step 101 executed N-1.
In the present application, after step 101 is performed, a bin set of a target lane may be determined. Then, step 102 is performed. When determining the set of reserves of the target roadway, all available reserves in the target roadway may be determined, with all available reserves as the set of reserves for the target roadway.
In this application, a bin that is not a corresponding bin for a corresponding target task may be referred to as an available bin. The bin that is the corresponding bin for the corresponding target task may be referred to as a non-available bin. There may be corresponding receptacles on the non-available storage locations, and there may also be no corresponding receptacles on the non-available storage locations because the corresponding receptacles have not yet been placed on the non-available storage locations.
In this application, for any outbound task in the target roadway, since the container of the outbound task inevitably leaves the storage position occupied by the container of the outbound task, when the storage position set of the target roadway is determined, the storage position occupied by the container of the outbound task is regarded as no longer being the storage position corresponding to the outbound task, and the storage position occupied by the container of the outbound task can be regarded as an available storage position.
In the present application, for any one of the lane crossings in the target lane, the serial number i of a bin at the lane crossing indicates that the bin is the ith bin with respect to the lane crossing.
For any one of the lane crossings in the target lane, the smaller the serial number of the storage bit on the lane crossing, the closer the storage bit is to the lane crossing, and the serial number of the storage bit closest to the lane crossing on the lane crossing is 1. For any one of the lane openings in the target lane, the greater the serial number of the reservoir on the lane opening, the farther the reservoir is from the lane opening.
In this application, if the target roadway has one lane crossing, each target task corresponds to the lane crossing. If the plurality of tasks includes a plurality of target tasks corresponding to the road junction, for each target task corresponding to the road junction, the plurality of target tasks corresponding to the road junction may be sorted from early to late according to the delivery time of the target task, so as to obtain an order corresponding to the target tasks. In the present application, for any task, once the task is generated, the task is immediately issued, and therefore, the time for generating the task can be regarded as the issue time of the task. And sequentially determining the reserve corresponding to each of a plurality of target tasks corresponding to the road junction according to the sequence relative to the target tasks. For any one of a plurality of target tasks corresponding to the road junction, when determining a corresponding reserve position of the target task corresponding to the road junction, all selectable available reserve positions can be determined from the reserve position set of the target roadway, the distance between the selectable available reserve positions and the road junction is smaller than the distance between any one non-available reserve position in the target roadway and the road junction, the reserve position corresponding to the target task corresponding to the road junction is determined from all selectable available reserve positions, and the selectable available reserve position farthest from the road junction can be determined as the reserve position corresponding to the target task corresponding to the road junction.
In the present application, if the target roadway has a lane entrance, the plurality of tasks includes only one target task corresponding to the lane entrance, when determining the container position of the target task corresponding to the lane entrance, all optional available positions are determined from the set of positions of the target roadway, the distance between the optional available position and the lane entrance is smaller than the distance between the serial number of any one of the unavailable positions in the target roadway and the lane entrance, the position corresponding to the target task corresponding to the lane entrance is determined from all optional available positions, and the optional available position farthest from the lane entrance can be determined as the position corresponding to the target task corresponding to the lane entrance.
If the target roadway has a lane crossing, the plurality of tasks include a plurality of target tasks corresponding to the lane crossing, and the reserve corresponding to each target task corresponding to the lane crossing meets the following condition: the more forward the position of the target task corresponding to the road junction in the order relative to the target task, the greater the distance of the reservoir corresponding to the target task corresponding to the road junction from the road junction, and the earlier the container of the target task corresponding to the road junction enters the target roadway.
In the application, if the target roadway has two road junctions, the order of the two road junctions can be randomly determined, or at least two road junctions can be sequenced according to the number of target tasks, so as to obtain the order of the two road junctions. For each road junction, the number of target tasks for the road junction is the number of target tasks corresponding to the road junction in the plurality of tasks. The determination is performed for each road junction in turn, in order relative to the road junction.
For any one of two road junctions of the target lane, when the determining operation is performed on the road junction in order with respect to the road junction, the determining operation on the road junction includes: if the plurality of tasks includes a plurality of target tasks corresponding to the road junction, for each target task corresponding to the road junction, the plurality of target tasks corresponding to the road junction may be sorted from early to late according to the delivery time of the target task, so as to obtain an order corresponding to the target tasks. And sequentially determining the reserve corresponding to each of a plurality of target tasks corresponding to the road junction according to the sequence relative to the target tasks. For any one of a plurality of target tasks corresponding to the road junction, when a reserve corresponding to the target task corresponding to the road junction is determined, determining all selectable available reserves from a reserve set of the target roadway, wherein the serial number of the selectable available reserve is smaller than that of any one non-available reserve in the target roadway; and determining the reserve position corresponding to the target task from all the selectable reserve positions, wherein the selectable reserve position farthest away from the road junction can be determined as the reserve position corresponding to the target task.
For any one of two road junctions of the target roadway, if the plurality of tasks include a plurality of target tasks corresponding to the road junction, the serial number of the storage bit corresponding to each target task corresponding to the road junction meets the following condition: the more forward the position of the target task corresponding to the road junction in the order relative to the target task, the greater the distance between the storage location corresponding to the target task corresponding to the road junction and the road junction, and the earlier the time for the target task corresponding to the road junction to enter the target roadway through the road junction.
In this application, if the target roadway has two road junctions, the operation of determining one of the two road junctions of the target roadway includes: if the plurality of tasks only comprise a target task corresponding to the road junction, determining all selectable available positions from the position storage set of the target roadway, wherein the distance between the selectable available positions and the road junction is smaller than the distance between any one non-available position in the target roadway and the road junction; and determining the reserve position corresponding to the target task from all the selectable reserve positions, and determining the selectable reserve position farthest away from the road junction as the reserve position corresponding to the target task.
And 102, controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks.
In the application, for a plurality of target tasks corresponding to the same lane crossing of a target roadway, the greater the distance between the storage position corresponding to the target task and the same lane crossing is, the earlier the container of the target task enters the target roadway through the same lane crossing.
For a plurality of target tasks corresponding to the same one of the target roadways, the shorter the distance between the reserve corresponding to the target task and the same one of the target roadways is, the later the time for the container of the target task to enter the target roadway through the same one of the target roadways is.
In this application, based on the reserve of each target task of the plurality of target tasks of the target roadway, controlling the execution process of each target task may include: a transfer robot that notifies each of a plurality of tasks of a target lane: when the transfer robot of the target task reaches the corresponding road junction, the transfer robot stops at the road junction corresponding to the target task.
Based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks, controlling the execution process of each target task may include: determining whether a corresponding container of the ex-warehouse task exists in the target roadway in real time; for any one of the lane crossings of the target lane, each time it is determined that there is no container corresponding to an outbound task of the lane crossing in the target lane and at least one transfer robot corresponding to the target task of the lane is parked at the lane crossing, the target transfer robot among the at least one transfer robot corresponding to the target task of the lane is notified to enter the target lane, and among the at least one transfer robot corresponding to the target task of the lane, a storage place corresponding to the target task to which the target transfer robot belongs is at the largest distance from the lane crossing. The target carrying robot enters a target roadway through the roadway opening, and the container loaded by the target carrying robot enters the target roadway.
In the method, a storage position corresponding to each target task in a plurality of tasks of a target roadway is determined from a storage position set of the target roadway; and controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks. And controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks, so as to avoid the situation of obstructing the execution of the task. For any one of the plurality of tasks in the target tunnel, the target task can be executed once the target task is issued, the target task does not need to be executed after other target tasks in the plurality of tasks enter the target tunnel, the target task does not need to be executed after the outbound task in the plurality of tasks leaves the target tunnel, and the operation efficiency is high.
In some embodiments, further comprising at least one of: when a new outbound task is issued, if each road junction of the target roadway has a corresponding inbound task, the new outbound task is distributed to other road junctions; when a new warehousing task is issued, if each road junction of the target roadway has a corresponding ex-warehouse task, the new warehousing task is distributed to other road junctions; when a new garage moving task is issued, if each road junction of the target roadway has a corresponding exit task, the new garage moving task is distributed to other road junctions; when a new warehousing task is issued, if a corresponding ex-warehouse task exists in a target roadway and other containers are placed in the target roadway, the new warehousing task is distributed to other roadways, wherein the other containers are containers except the container of the ex-warehouse task; and when a new warehousing task is issued, if the corresponding ex-warehouse task exists in the target roadway and other containers are not placed in the target roadway, distributing the new warehousing task to the target roadway, wherein the other containers are containers except for the container of the ex-warehouse task.
In this application, when issuing a new outbound task, the entry task corresponding to each road junction of the target roadway may be: when a new outbound task is issued, for each road junction of the target roadway, there is an inbound task corresponding to the road junction. When a new outbound task is issued, if each road junction of the target roadway has a corresponding inbound task, the new outbound task can be allocated to other road junctions, and each road junction of other roadways to which the other road junctions belong does not have a corresponding inbound task.
In this application, when issuing a new warehousing task, the existence of a corresponding ex-warehouse task at each road junction of the target roadway may be: for each lane crossing of the target lane, there is an outbound job corresponding to that lane crossing. When a new warehousing task is issued, if each road junction of the target roadway has a corresponding ex-warehouse task, the new warehousing task can be allocated to other road junctions, and each road junction of other roadways to which the other road junctions belong does not have a corresponding ex-warehouse task.
In the application, when issuing a new garage transfer task, if each road junction of the target roadway has a corresponding exit task, the new garage transfer task can be allocated to other road junctions, and each road junction of other roadways to which the other road junctions belong does not have a corresponding exit task.
In the application, when a new warehousing task is issued, if a corresponding ex-warehouse task exists in a target roadway and other containers are placed in the target roadway, the new warehousing task can be distributed to other roadways, the other containers are containers except for the container of the ex-warehouse task, and the other roadways meet one of the following items: the other lane has no outbound task, the other lane has a corresponding outbound task, but no container is placed in the other lane except for the outbound task of the other lane.
In the application, when a new warehousing task is issued, if a corresponding ex-warehouse task exists in the target roadway and other containers are not placed in the target roadway, the new warehousing task can be allocated to the target roadway, and the other containers are containers except for the containers of the ex-warehouse task.
In the application, if each road junction of the target roadway has a corresponding warehousing task, the new ex-warehouse task is allocated to other road junctions, so that the following conditions can be avoided: during the step 102, if a new outbound task is assigned to the roadway opening of the target roadway, after a container of the outbound task in the plurality of tasks leaves the target roadway through the roadway opening of the target roadway, the transfer robot of the inbound task of the target roadway cannot enter the target roadway through the roadway opening of the target roadway, the transfer robot of the inbound task of the target roadway is controlled to stop at the roadway opening of the target roadway, and the container of the new outbound task leaves the roadway opening of the target roadway, so that the transfer robot of the inbound task of the target roadway needs to wait for a long time to enter the target roadway, and the work efficiency is reduced.
In the application, when a new warehousing task is issued, if each road junction of the target roadway has a corresponding ex-warehouse task, the new warehousing task is allocated to other road junctions, so that the following conditions can be avoided: during the execution of step 102, if a new warehousing task is assigned to the roadway junction of the target roadway, the new warehousing task and the warehousing tasks in the plurality of tasks constitute more warehousing tasks of the target roadway. The carrying robots for more warehousing tasks of the target roadway stop the roadway opening, and containers for waiting for ex-warehousing tasks of the target roadway leave the target roadway through the roadway opening of the target roadway to cause the roadway opening of the target roadway to be blocked.
In the application, when a new garage transfer task is issued, if each road junction of a target roadway has a corresponding exit task, the new garage transfer task is allocated to other road junctions, so that the following conditions can be avoided: during execution of step 102, if a new warehousing task is assigned to other roadway junctions, the new warehousing task and the warehousing tasks in the plurality of tasks constitute more tasks that need to enter the target roadway. More tasks needing to enter the target roadway are stopped at the road junction of the target roadway, and containers waiting for the warehouse-out tasks of the target roadway leave the target roadway through the road junction of the target roadway, so that the road junction of the target roadway is blocked.
In the application, when a new warehousing task is issued, if a corresponding ex-warehouse task exists in the target roadway and other containers are placed in the target roadway, the new warehousing task is allocated to other roadways, so that the following conditions can be avoided: the containers of the outbound job and other containers in the target roadway belong to associated containers, the associated containers may be containers corresponding to the same order, and the associated containers need to leave the target roadway within a time period with a short time length, and the associated containers are loaded onto the same truck as soon as possible. If the new warehousing task is allocated to the target roadway, after the container of the ex-warehousing task of the target roadway leaves the target roadway, the container of the new warehousing task enters the target roadway, and after the container of the new warehousing task enters the target roadway, other containers need to be ex-warehousing. Since the container of the new warehousing task blocks other containers, the container of the new warehousing task must be moved, resulting in a reduction in work efficiency.
In the method and the device, when a new warehousing task is issued, if the corresponding ex-warehouse task exists in the target roadway and other containers are not placed in the target roadway, the target roadway is an empty roadway after the containers of the ex-warehouse task leave the target roadway, the situation that the containers of the new warehousing task block other containers after entering the target roadway cannot occur, and the new warehousing task can be distributed to the target roadway.
In some embodiments, the containers of each target task for each lane crossing of a target roadway belong to the same container set.
In the present application, a container set is composed of an associated plurality of containers, and the container set may be defined by a task management system. For example, a container set comprising containers for each target task for each lane crossing of a target roadway may correspond to one order, the container set comprising containers for each target task for each lane crossing of the target roadway being used to load all goods indicated by the order. For example, the set of containers comprising the containers for each target task at each lane mouth of a target roadway is all the containers that need to be loaded onto one truck.
In this application, the container of each target task of each lane entrance of the target roadway belongs to the same container set, which can avoid the following situations: during warehouse management, a container set needs to be discharged integrally, if a container of each target task at each lane entrance of a target roadway does not belong to the same container set, other containers exist between two corresponding containers in the container set which needs to be discharged integrally, and the other containers need to be moved, so that the operation efficiency is reduced.
In some embodiments, determining, from the set of reserves for the target lane, a reserve corresponding to each of the plurality of tasks for the target lane includes: for each target task, when the container of the target task reaches a target lane crossing corresponding to the target task of the target lane crossing, determining a reserve corresponding to the target task from a reserve set of the target lane crossing, wherein the container on the reserve corresponding to the target task does not block the container to be placed in other available reserves, and the other available reserves are reserves corresponding to other target tasks which arrive at the target lane crossing later than the target task.
In this application, a road junction of the target roadway corresponding to the target task may be referred to as a target road junction corresponding to the target task. Other target tasks are relative to a certain target task. For one target task, the target task that is not the target task and corresponds to the target road junction to which the target task corresponds is the other target task.
In the present application, for each target task of a target roadway, a container of the target task enters the target roadway through a roadway opening of the target roadway corresponding to the target task.
In the present application, if the target roadway has one lane opening, each target task corresponds to one lane opening of the target roadway, and the set of reserved bits of the lane opening may be determined after performing step 101. Then, step 102 is performed. When determining the set of bins for the roadway opening, all available bins in the target roadway may be determined, with all available bins as the set of bins for the roadway opening.
In the present application, if the target roadway has two road junctions, the set of storage locations of each road junction may be determined after step 101 is performed. Then, step 102 is performed.
The number of bins in the target lane is recorded as N, and if the target lane has two lane openings, the bin set of each lane opening may be determined after step 101 is performed. Then, step 102 is performed. And recording the number of the storage bits in the target roadway as N, and recording the rounding result of 2/N as N'.
For a road junction, a bin of number N' at the road junction may be determined as the set of bins for the road junction.
For another road junction, the bin with serial number N' -1 on the other road junction can be determined as the bin set for the other road junction.
In the application, for each target task in a plurality of target tasks, when a container of the target task reaches a target lane junction of a target lane corresponding to the target task, a reserve corresponding to the target task is determined from a reserve set of the target lane junction corresponding to the target task.
For any target task of the target roadway, the container on the storage position corresponding to the target task does not block the containers to be placed in other available storage positions, and the other available storage positions are the storage positions corresponding to other target tasks which reach the target roadway corresponding to the target task later than the target task.
For any one target task of a target roadway, the target task reaching a target roadway opening corresponding to the target task may refer to: the containers of the target task arrive at the target road junction, for which the containers to be placed in other available storage locations may refer to containers of other target tasks arriving at the target road junction later than the target task.
For any target task of the target roadway, the distance between the storage position corresponding to the target task and the target roadway opening corresponding to the target task is greater than the distance between the storage positions corresponding to other target tasks and the target roadway opening.
In the application, for a target task of a plurality of target tasks corresponding to the same road junction, the earlier the target task reaches the same road junction, the greater the distance between the storage location corresponding to the target task and the same road junction, and the earlier the container of the target task enters the target roadway through the same road junction.
For a target task in a plurality of target tasks corresponding to the same road junction, the later the target task reaches the same road junction, the smaller the distance between the storage position corresponding to the target task and the same road junction, and the later the container of the target task enters the target roadway through the same road junction.
In the application, for each of a plurality of target tasks, when a reserve corresponding to the target task is determined from a reserve set of a target roadway opening corresponding to the target task, all selectable available reserves can be determined from the reserve set of the target roadway opening corresponding to the target task, wherein the distance between the selectable available reserve and the target roadway opening is smaller than the distance between any one non-available reserve in the target roadway opening and the target roadway opening; and determining the reserve position corresponding to the target task from all the selectable reserve positions, wherein the selectable reserve position farthest away from the target road junction can be determined as the reserve position corresponding to the target task.
In the application, for any target task in the target roadway, the distance between the storage position corresponding to the target task and the target roadway opening corresponding to the target task is greater than the distance between the storage positions corresponding to other target tasks and the target roadway opening, so that the containers on the storage positions corresponding to the target task cannot block the containers to be placed in other available storage positions, namely the storage positions corresponding to other target tasks. Therefore, for each target task in the plurality of target tasks, the target task can be executed immediately once the target task is issued, and the container of one target task does not need to be executed after the containers of other target tasks enter the target roadway. For any one of the target tasks, when the container of the target task reaches the road junction corresponding to the target task, the container of the target task can enter the target roadway through the target road junction corresponding to the target task without waiting for the containers of other target tasks which reach the target road junction later than the target task to reach the road junction, and the efficiency of executing the target task is high.
In some embodiments, the target roadway has two roadway openings; further comprising: for each target task, the closest one of the two lane openings of the target lane to the starting position of the container of the target task is determined as the target lane opening corresponding to the target task.
The starting position of the container of the target task is the position of the container of the target task when the target task starts to be executed.
For each target task, one of the two road junctions of the target roadway, which is closest to the starting position of the container of the target task, is determined as the target road junction corresponding to the target task, so that the handling robot of the target task can reach the road junction as soon as possible and enter the target roadway as soon as possible, and the target task can be completed as soon as possible.
In some embodiments, the set of bins corresponding to a target road junction of a target task comprises: and a plurality of continuous available storage positions which are nearest to the target roadway opening in the target roadway.
In the present application, for any one of the lane crossings in the target lane, the serial number i of a bin at the lane crossing indicates that the bin is the ith bin with respect to the lane crossing.
For any one of the lane crossings in the target lane, the smaller the serial number of the reservoir on the lane crossing, the closer the reservoir is to the lane crossing, the number on the lane crossing of the reservoir closest to the lane crossing is 1, and the number on the lane crossing of the 1 st reservoir with respect to the lane crossing is 1.
For any one of the lane openings in the target lane, the greater the serial number of the reservoir on the lane opening, the farther the reservoir is from the lane opening.
In this application, if the target roadway has one lane crossing, each of the plurality of target tasks corresponds to the lane crossing, and for each task, the lane crossing is the target lane crossing corresponding to the target task. The set of bins for the road junction may be determined after step 101 is performed. Then, step 102 is performed. When the set of storage positions of the road junction is determined, the unavailable storage position with the lowest serial number on the road junction in the target roadway can be determined, the serial number of the determined unavailable storage position on the road junction is recorded as M, the storage position with the serial number of 1 on the road junction is a plurality of continuous available storage positions which are closest to the road junction in the target roadway and have the serial number of M-1, and the storage position with the serial number of 1 on the road junction can be determined as the set of storage positions of the road junction.
If the target roadway has a first road junction and a second road junction, a set of bins for each road junction may be determined after performing step 101. Then, step 102 is performed. And recording the number of the storage bits in the target roadway as N, and recording the rounding result of 2/N as N'.
For any target task, if the container of the target task enters the target roadway through the first roadway opening, the first roadway opening is the target roadway opening corresponding to the target task. The unusable bin with the smallest sequence number at the first road junction can be determined from all the unusable bins with sequence number N' on the first road junction, the sequence number of the determined unusable bins at the first road junction is denoted as M1, the bin with sequence number 1 at the first road junction, the plurality of consecutive usable bins which are closest to and within the target roadway with sequence number M1-1 at the first road junction, and the bin with sequence number 1 at the first road junction is determined as the bin set of the first road junction from the bin with sequence number M1-1 at the first road junction.
For any target task, if the container of the target task enters the target roadway through the second roadway opening, the second roadway opening is the target roadway opening corresponding to the target task. The non-usable reservoir with the lowest serial number at the second road junction may be determined from all the non-usable reservoirs with serial number N' -1 at the second road junction, the serial number of the determined non-usable reservoir at the second road junction is denoted M2, and the reservoir with serial number M2-1 at the second road junction is determined as the reservoir set of the other road junction.
In the present application, the set of bins corresponding to a target road junction of a target task includes: the continuous multiple available storage positions closest to the target roadway opening in the target roadway can avoid the following conditions: the reserve position set of the target road junction is not a plurality of continuous available reserve positions, other reserve positions exist between two corresponding available reserve positions in the reserve position set of the target road junction, and the other reserve positions are available reserve positions.
In some embodiments, determining a reserve corresponding to the target task from the set of reserves of the target road junction includes: and determining the available reserve position which is farthest away from the target road junction in the reserve position set of the target road junction as the reserve position corresponding to the target task.
In this application, for any one of a plurality of tasks of a target roadway, when a reserve corresponding to the target task is determined from a reserve set of a target road junction corresponding to the target task in the target roadway, an available reserve farthest away from the target road junction in the reserve set of the target road junction may be directly determined as the reserve corresponding to the target task, and determining an available reserve farthest away from the target road junction in the reserve set of the target road junction as the reserve corresponding to the target task may ensure that after a container of the target task is placed at the reserve corresponding to the target task, the container of the target task does not block containers of other target tasks that arrive at the target road junction later than the target task and enter the target roadway through the target road junction. The reserve corresponding to the target task can be quickly determined without determining optional available reserve in the reserve set of the road junction corresponding to the target task and determining non-available reserve in the target roadway.
Referring to fig. 2, a block diagram of a task management device according to an embodiment of the present application is shown. The task management device includes: a storage position determining unit 201 and a control unit 202.
The storage position determining unit 201 is configured to determine a storage position corresponding to each target task in a plurality of tasks of a target roadway from a storage position set of the target roadway, where the target task is a warehousing task or a database moving task;
the control unit 202 is configured to control an execution process of each target task based on a position of the storage corresponding to the target task and a position where a container of a task of the plurality of tasks is currently located.
In some embodiments, the task management device further comprises:
an allocation unit configured to perform at least one of: when a new outbound task is issued, if each road junction of the target roadway has a corresponding inbound task, the new outbound task is distributed to other road junctions; when a new warehousing task is issued, if each road junction of the target roadway has a corresponding ex-warehouse task, the new warehousing task is distributed to other road junctions; when a new garage moving task is issued, if each road junction of the target roadway has a corresponding exit task, the new garage moving task is distributed to other road junctions; when a new warehousing task is issued, if the corresponding ex-warehouse task exists in the target roadway and other containers are placed in the target roadway, distributing the new warehousing task to other roadways, wherein the other containers are containers except the container of the ex-warehouse task; and when a new warehousing task is issued, if the corresponding ex-warehouse task exists in the target roadway and other containers are not placed in the target roadway, distributing the new warehousing task to the target roadway, wherein the other containers are containers except the container of the ex-warehouse task.
In some embodiments, the containers of each target task of each lane crossing of the target roadway belong to the same container set.
In some embodiments, the reserve determining unit 201 is configured to determine, for each target task, a reserve corresponding to the target task from a set of reserves of the target roadway opening when the container of the target task reaches the target roadway opening of the target roadway opening corresponding to the target task, wherein the container on the reserve corresponding to the target task does not block the container to be placed to another available reserve, which is a reserve corresponding to another target task that arrives later than the target task at the target roadway opening.
In some embodiments, the target roadway has two roadway openings; the task management device further includes: a lane-crossing determination unit configured to determine, for each of the target tasks, a lane-crossing of the two lane-crossings that is closest to a start position of the target task as a target lane-crossing corresponding to the target task.
In some embodiments, the set of bins for the target road junction comprises: and a plurality of continuous available storage positions which are closest to the target roadway opening in the target roadway.
In some embodiments, the reserve determining unit 201 is configured to determine an available reserve of the set of reserves of the target road junction, which is farthest away from the target road junction, as the reserve corresponding to the target task.
In an exemplary embodiment, there is also provided a storage medium comprising instructions, such as a memory comprising instructions, executable by a server to perform the above-described task management method. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method for task management, the method comprising:
determining a storage position corresponding to each target task in a plurality of tasks of a target roadway from a storage position set of the target roadway, wherein the target task is a warehousing task or a shifting task;
and controlling the execution process of each target task based on the position of the storage position corresponding to each target task and the current position of the container of the task in the plurality of tasks.
2. The method of claim 1, further comprising at least one of:
when a new outbound task is issued, if each road junction of the target roadway has a corresponding inbound task, the new outbound task is distributed to other road junctions;
when a new warehousing task is issued, if each road junction of the target roadway has a corresponding ex-warehousing task, the new warehousing task is distributed to other road junctions;
when a new garage moving task is issued, if each road junction of the target roadway has a corresponding exit task, the new garage moving task is distributed to other road junctions;
when a new warehousing task is issued, if the corresponding ex-warehouse task exists in the target roadway and other containers are placed in the target roadway, distributing the new warehousing task to other roadways, wherein the other containers are containers except the container of the ex-warehouse task; and
when a new warehousing task is issued, if the corresponding ex-warehouse task exists in the target roadway and other containers are not placed in the target roadway, the new warehousing task is distributed to the target roadway, wherein the other containers are containers except the container of the ex-warehouse task.
3. Method according to claim 1 or 2, characterized in that the containers of each target task of each lane crossing of the target roadway belong to the same container set.
4. The method of any one of claims 1-3, wherein determining a reserve for each of a plurality of tasks of a target lane from a set of reserves for the target lane comprises:
for each target task, when the container of the target task reaches a target lane crossing of the target lane crossing corresponding to the target task, determining a reserve corresponding to the target task from a reserve set of the target lane crossing, wherein the container on the reserve corresponding to the target task does not block a container to be placed to another available reserve, and the another available reserve is a reserve corresponding to another target task which arrives at the target lane crossing later than the target task.
5. The method of claim 4, wherein the target roadway has two roadway openings; the method further comprises the following steps:
for each target task, determining a closest one of the two road junctions to the starting position of the target task as a target road junction corresponding to the target task.
6. The method of claim 5, wherein the set of bins for the target road junction comprises: and a plurality of continuous available storage positions which are closest to the target roadway opening in the target roadway.
7. The method of any one of claims 4-6, wherein determining the reserve corresponding to the target task from the set of reserves at the target road junction comprises:
and determining the available storage position which is farthest away from the target road junction in the storage position set of the target road junction as the storage position corresponding to the target task.
8. An electronic device, comprising: memory, processor and computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any of claims 1-7.
9. A computer-readable storage medium, on which a computer program/instructions is stored, characterized in that the computer program/instructions, when executed by a processor, implement the method of any one of claims 1-7.
10. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method of any of claims 1-7.
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| WO2024114473A1 (en) * | 2022-11-29 | 2024-06-06 | 杭州海康机器人股份有限公司 | Lane warehouse management method and system, and device |
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| WO2024114473A1 (en) * | 2022-11-29 | 2024-06-06 | 杭州海康机器人股份有限公司 | Lane warehouse management method and system, and device |
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