Task scheduling method and system for box-type four-way vehicle

Abstract

The present application provides a task scheduling method and system for a box-type four-way vehicle; wherein the task scheduling method for a box-type four-way vehicle includes: initializing the position and status information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system; setting the priority of the order task according to the registration status of the order task and the order sorting status, and assigning the order task to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task; controlling the assigned box-type four-way vehicle to execute the order task according to the position and status information; screening the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and controlling the box-type four-way vehicle to execute the order task according to the current optimal path. The technical solution of the present application can solve the problems in the prior art that the operation volume of the box-type four-way vehicle is uneven, the material box is easily blocked and the transportation capacity is wasted, and the scheduling method is not flexible enough, which affects the on-site operation.

Description

Technical Field

[0001] The present application relates to the field of multi-passage warehouse technology, and in particular to a task scheduling method and system for a box-type four-way vehicle. Background Art

[0002] The multi-pass warehouse system, that is, the multi-layer shuttle warehouse system, is used to solve the storage and in-and-out picking problems of different types of materials in the automated storage system. The multi-pass warehouse system is combined with stereoscopic shelves, elevators, box conveyor systems, WMS and WCS systems to achieve dense storage and intelligent management of stereoscopic warehouses.

[0003] In the scenario where multiple box-type four-way vehicles are placed on the same floor in a multi-pass warehouse system, the dispatching method of the box-type four-way vehicles is mostly partition dispatching. That is, N logical areas are divided according to the number of box-type four-way vehicles in the multi-pass warehouse. A single box-type four-way vehicle runs in a logical area. Only one box-type four-way vehicle can perform the handling task in the same logical area, and there cannot be a second box-type four-way vehicle in this area. When the current box-type four-way vehicle is in task scheduling, after the upper system sends the handling task, the box-type four-way vehicle starts to perform the task until all cached tasks are completed.

[0004] However, under the above scheduling method, there may be an uneven workload of box-type four-way vehicles: some box-type four-way vehicles have no task assignment, wasting the transportation capacity of the box-type four-way vehicles; some box-type four-way vehicles have too many tasks to complete, increasing the average handling time of the material boxes and causing idle time for on-site operators. In addition, sometimes it is not desirable to complete all tasks, and tasks need to be dynamically executed according to the on-site operation conditions. In addition, the current scheduling method of box-type four-way vehicles is not flexible enough. Since the on-site operation conditions are not uniform and controllable, for the handling of box-type four-way vehicles, if the handling tasks are always executed, the material boxes will be blocked in other equipment such as box elevators or box conveyor lines, thereby affecting the on-site operation conditions.

[0005] Application Contents

[0006] The present application provides a task scheduling solution for a box-type four-way vehicle, which can solve the problems in the prior art of uneven workload of box-type four-way vehicles, easy blockage of material boxes and waste of transportation capacity, and inflexible scheduling methods that affect on-site operations.

[0007] To solve the above problems, according to the first aspect of the present application, the present application provides a task scheduling method for a box-type four-way vehicle, comprising:

[0008] Initialize the position and status information of the box-type four-way vehicle in the multi-pass warehouse system according to the number of layers and cargo location information of the multi-pass warehouse system;

[0009] The priority of the order task is set according to the registration status and order sorting status of the order task, and the order task is allocated to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task;

[0010] According to the location and status information, control the assigned box-type four-way vehicle to execute the order task;

[0011] The current optimal path of the box-type four-way vehicle is selected according to the greedy algorithm, and the box-type four-way vehicle is controlled to execute the order task according to the current optimal path.

[0012] Preferably, in the task scheduling method for the box-type four-way vehicle, the step of initializing the position and status information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system includes:

[0013] Obtain the number of layers and cargo location information of the multi-pass warehouse system;

[0014] According to the number of layers of the multi-pass system, set the position and status information of the box-type four-way vehicle;

[0015] According to the cargo location information of the multi-warehouse system, adjust the position and status information of the box-type four-way vehicle.

[0016] Preferably, in the task scheduling method for the box-type four-way vehicle, the steps of setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle at the same level as the order task according to the priority of the order task include:

[0017] Determine whether the cache of the current material box of the box-type four-way vehicle corresponding to the order task of the workstation and conveyor line is full;

[0018] If the buffers of the workstation and the conveyor line are not full, the priority of the order task is set according to the registration status and order sorting status of the order task corresponding to the current material box; the higher the order sorting of the order task, the higher the priority of the order task;

[0019] According to the priority of the order tasks, the order tasks are assigned to the box-type four-way vehicles on the same layer as the order tasks.

[0020] Preferably, in the task scheduling method for the box-type four-way vehicle, the steps of setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle at the same level as the order task according to the priority of the order task include:

[0021] Determine whether the order task corresponding to the current material box has been registered;

[0022] If the order task has been registered, the current material box corresponding to the registered order task is set to high priority;

[0023] If the order task is not registered, the current material box corresponding to the unregistered order task is set to low priority;

[0024] Sort the current material boxes according to the order sequence number of the workstation to which the order task corresponding to the current material box belongs;

[0025] Superimpose the priority and sorting order of the current bin to obtain the final task priority of the current bin;

[0026] According to the task priority, order tasks are assigned to the box-type four-way vehicles on the same level of order tasks one by one.

[0027] Preferably, in the task scheduling method for the box-type four-way vehicle, the step of controlling the assigned box-type four-way vehicle to execute the order task according to the position and status information includes:

[0028] Determine whether there are available box-type four-way vehicles on each layer to which the order task belongs;

[0029] If there are available box-type four-way vehicles on each layer to which the order task belongs, the assigned box-type four-way vehicles are controlled to execute the order task according to the location and status information of the four-way vehicles;

[0030] If there is no available box-type four-way vehicle at any of the layers to which the order task belongs, the box-type four-way vehicle without order task will be used, and the box-type four-way vehicle will be called in sequence to execute the order task in the order of the absolute value of the difference between the layer where the box-type four-way vehicle is located and the layer to which the order task belongs.

[0031] Preferably, in the task scheduling method for the box-type four-way vehicle, the step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes:

[0032] Determine the destination coordinate type of the current box-type four-way vehicle;

[0033] If the destination coordinate type of the current box-type four-way vehicle is a shelf, calculate whether the current coordinate of the current box-type four-way vehicle and the destination coordinate are in the same lane;

[0034] If the current coordinates of the current box-type four-way vehicle and the destination coordinates are in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track;

[0035] If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle will give way to the other box-type four-way vehicles;

[0036] If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle goes straight to the destination coordinate;

[0037] or,

[0038] If the current coordinates of the current box-type four-way vehicle and the destination coordinates are not in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track;

[0039] If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle will give way to the other box-type four-way vehicles;

[0040] If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is assigned to go straight to the transverse track coordinate corresponding to the current coordinate.

[0041] Preferably, in the task scheduling method for the box-type four-way vehicle, the step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes:

[0042] If the destination coordinate type of the current box-type four-way vehicle is a transverse track, the transverse track will be locked and other vehicles will not be allowed to pass;

[0043] Determine whether the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane;

[0044] If the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane, the box-type four-way vehicle is controlled to go straight to the destination coordinates;

[0045] If the current coordinates of the box-type four-way vehicle and the destination coordinates are not in the same lane, the box-type four-way vehicle is controlled to move horizontally to the coordinates of the horizontal track of the lane corresponding to the destination coordinates.

[0046] Preferably, in the task scheduling method for the box-type four-way vehicle, the step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes:

[0047] Determine whether the destination coordinate type of the current box-type four-way vehicle is a material box unloading point;

[0048] If the destination coordinate type of the box-type four-way vehicle is the material box unloading point, determine whether there are other box-type four-way vehicles in the destination lane to execute the order task;

[0049] If there are other box-type four-way vehicles executing the order task, the current box-type four-way vehicle is controlled to avoid it;

[0050] If there is no other box-type four-way vehicle to execute the order task, determine whether the current coordinates of the current box-type four-way vehicle and the destination coordinates are in the same lane;

[0051] If the current coordinates and the destination coordinates are in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track;

[0052] If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle is controlled to avoid;

[0053] If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is controlled to go straight to the destination coordinate;

[0054] or,

[0055] If the current coordinates and the destination coordinates are not in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track;

[0056] If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle is controlled to avoid;

[0057] If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is assigned to go straight to the transverse track coordinate corresponding to the current coordinate.

[0058] According to the second aspect of the present application, the present application also provides a task scheduling system for a box-type four-way vehicle, comprising:

[0059] The four-way vehicle initialization module is used to initialize the position and status information of the box-type four-way vehicle in the multi-pass warehouse system according to the number of layers and cargo location information of the multi-pass warehouse system;

[0060] The four-way vehicle task allocation module is used to set the priority of the order task according to the registration status of the order task and the order sorting status, and allocate the order task to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task;

[0061] The four-way vehicle order execution module is used to control the assigned box-type four-way vehicle to execute the order task according to the position and status information;

[0062] The four-way vehicle path planning module is used to select the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and control the box-type four-way vehicle to execute the order task according to the current optimal path.

[0063] According to the third aspect of the present application, the present application also provides a task scheduling system for a box-type four-way vehicle, comprising:

[0064] A memory, a processor, and a task scheduling program for a box-type four-way vehicle stored in the memory and running on the processor. When the task scheduling program for the box-type four-way vehicle is executed by the processor, the steps of the task scheduling method for the box-type four-way vehicle provided by any of the above technical solutions are implemented.

[0065] In summary, the task scheduling scheme for the box-type four-way vehicle provided by the above-mentioned technical scheme of the present application initializes the position and status information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system. Because the position and status are initialized according to the number of layers and cargo location information, the traditional partitioning strategy can be changed to layered measurement, so that the four-way vehicle can operate across zones on the same floor. In this way, the scheduling method of the box-type four-way vehicle can be optimized based on the initialized position and status information, and the handling efficiency of the box-type four-way vehicle can be improved; and the priority of the order task is set according to the registration status and order sorting status of the order task, and the order task is allocated to the box-type four-way vehicle on the same floor as the order task according to the priority of the order task, so that the workload of the box-type four-way vehicle can be balanced, so that the overall handling efficiency of the box-type four-way vehicle is balanced, and the handling capacity of the box-type four-way vehicle is fully utilized. Specifically, the assigned box-type four-way vehicle is controlled to execute the order task according to the above-mentioned position and status information, and then the current optimal path of the box-type four-way vehicle is screened according to the greedy algorithm, and the box-type four-way vehicle is controlled to execute the order task according to the current optimal path, thereby optimizing the task triggering conditions of the box-type four-way vehicle, so that it can dynamically execute the task according to the on-site operation situation. In summary, the technical solution provided by the present application can solve the problems in the prior art that the traditional box-type four-way vehicle has uneven workload, easy material box blockage and waste of transportation capacity, and the scheduling method is not flexible enough, which affects the on-site operation. The above-mentioned scheduling method can quickly assign tasks, accurately assign tasks on the same level to the box-type four-way vehicle on that level, quickly execute transportation, and reduce collisions caused by crossing lines during the operation of the four-way vehicle. In addition, it can dynamically assign tasks according to the on-site operation situation, so that the on-site operation can be carried out in an orderly manner according to the rhythm. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0067] Figure 1 It is a schematic diagram of an application scenario of a box-type four-way vehicle provided in an embodiment of the present application;

[0068] Figure 2 It is a flow chart of a task scheduling method for a box-type four-way vehicle provided in an embodiment of the present application;

[0069] Figure 3 yes Figure 2 A schematic flow chart of a method for initializing position and status information of a box-type four-way vehicle provided in the illustrated embodiment;

[0070] Figure 4 yes Figure 2 The illustrated embodiment is a flow chart of a first method for allocating order tasks for a box-type four-way vehicle;

[0071] Figure 5 yes Figure 2 A schematic flow chart of a second method for allocating order tasks for a box-type four-way vehicle provided in the illustrated embodiment;

[0072] Figure 6 yes Figure 2 A schematic flow chart of a method for controlling an order task of a box-type four-way vehicle provided in the illustrated embodiment;

[0073] Figure 7 yes Figure 2 The illustrated embodiment is a flow chart of a method for executing an order task of a first box-type four-way vehicle;

[0074] Figure 8 yes Figure 2 The illustrated embodiment provides a flow chart of a second method for executing an order task for a box-type four-way vehicle;

[0075] Fig. 9 yes Figure 2 The illustrated embodiment provides a flow chart of a third method for executing an order task for a box-type four-way vehicle;

[0076] Fig.10 It is a structural schematic diagram of a task scheduling system for a box-type four-way vehicle provided in an embodiment of the present application;

[0077] Fig.11 It is a structural schematic diagram of a task scheduling system for a second box-type four-way vehicle provided in an embodiment of the present application.

[0078] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0079] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0080] The technical solutions of the prior art have the following technical problems:

[0081] In the existing dispatching methods of box-type four-way vehicles, there may be an uneven workload of the box-type four-way vehicles: some box-type four-way vehicles have no task allocation, wasting the transportation capacity of the box-type four-way vehicles; some box-type four-way vehicles have too many tasks to complete, increasing the average handling time of the material boxes and causing idle time for on-site operators. In addition, sometimes it is not desirable to complete all tasks, and tasks need to be dynamically executed according to the on-site operation conditions. In addition, the current dispatching method of box-type four-way vehicles is not flexible enough. Since the on-site operation conditions are not uniform and controllable, for the transportation of box-type four-way vehicles, if the transportation tasks are always executed, the material boxes will be blocked in other equipment such as box elevators or box conveyor lines, thereby affecting the on-site operation conditions.

[0082] In order to solve the problems in the prior art, the following embodiment of the present application provides a task scheduling scheme for box-type four-way vehicles, aiming to solve the problems of uneven workload of the above-mentioned box-type four-way vehicles, easy material box blockage and waste of transportation capacity, inflexible scheduling methods, and affecting on-site operations. The scheme can quickly assign tasks, accurately assign tasks on the same level to the box-type four-way vehicles on that level, quickly perform transportation, and reduce collisions caused by crossing lines during the operation of the four-way vehicles. In addition, it can dynamically assign tasks according to the on-site operation conditions, so that on-site operations can be carried out in an orderly manner according to the rhythm.

[0083] To achieve the above purpose, see Figure 1 , Figure 1 A schematic diagram of an application scenario of a box-type four-way vehicle provided in an embodiment of the present application. Figure 1 In the application scenario of the box-type four-way vehicle provided by the illustrated embodiment, the box-type four-way vehicle is configured in layers, the cargo locations are distributed at the rear edge of the multi-through warehouse system, the transverse cargo locations are distributed in the transverse area of ​​the multi-through warehouse system, and the pick-up / unloading cargo locations are located on the side of the transverse area away from the cargo locations. In this way, the box-type four-way vehicle moves back and forth in the aisle, or moves along the transverse area to the transverse cargo locations to pick up and unload the material boxes.

[0084] See Figure 2 , Figure 2 The following is a flow chart of a task scheduling method for a box-type four-way vehicle provided in an embodiment of the present application. Figure 2 As shown, the task scheduling method of the box-type four-way vehicle includes:

[0085] S110: Initialize the position and status information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system. In the embodiment of the present application, the box-type four-way vehicle in the multi-warehouse system is configured by layer, and the position information and status information of the box-type four-way vehicle are configured in the dispatching system, so that after the transverse cargo location information of the box-type four-way vehicle is configured, the box-type four-way vehicle can be dispatched to perform dispatching operations such as picking up and unloading.

[0086] Specifically, as a preferred embodiment, Figure 3 As shown, step S110: initializing the position and status information of the box-type four-way vehicle in the multi-pass warehouse system according to the number of layers and cargo location information of the multi-pass warehouse system, comprises:

[0087] S111: Obtain the number of layers and cargo location information of the multi-warehouse system.

[0088] S112: According to the number of layers of the multi-warehouse system, the position and status information of the box-type four-way vehicle is set. In the embodiment of the present application, the box-type four-way vehicle is distributed by layer in the multi-warehouse system, which optimizes the partition measurement of the original box-type four-way vehicle, and changes the partition strategy to layered measurement, so that the box-type four-way vehicle can operate across the same layer, and the position and status information of the box-type four-way vehicle is set according to the number of layers of the multi-warehouse system, including which layer different box-type four-way vehicles are distributed on, the operating status of the box-type four-way vehicle, whether it is idle, etc., so as to initialize the position and operating status of the box-type four-way vehicle.

[0089] S113: According to the cargo location information of the multi-pass warehouse system, the position and status information of the box-type four-way vehicle is adjusted. The cargo location information here includes the number and distribution of cargo locations.

[0090] The technical solution provided in the embodiment of the present application sets the position and status information of the box-type four-way vehicle according to the number of layers of the multi-warehouse system, so that the position status of the box-type four-way vehicle can be initialized, thereby improving the scheduling efficiency of the box-type four-way vehicle, and adjusting the position and status information of the box-type four-way vehicle according to the cargo location information. In this way, the position and status of the box-type four-way vehicle can be adjusted according to information such as the distribution of cargo locations and the number of cargo locations, thereby improving the handling efficiency of the box-type four-way vehicle and reducing the problems of inflexible scheduling of the box-type four-way vehicle and uneven workload.

[0091] Figure 2 The task scheduling method for the box-type four-way vehicle provided in the illustrated embodiment, after initializing the position and state information of the box-type four-way vehicle, further includes:

[0092] S120: The priority of the order task is set according to the registration status and order sorting status of the order task, and the order task is assigned to the box-type four-way vehicle at the same level as the order task according to the priority of the order task. The embodiment of the present application sets the priority of the order task according to the registration status and order sorting status, and then assigns the order task to the box-type four-way vehicle according to the priority, so that the processing efficiency of the order can be improved, and the flexibility of the dispatching of the box-type four-way vehicle can be improved. Among them, the registration status of the order task includes registered and unregistered, and the registered order task is processed first.

[0093] Specifically, as a preferred embodiment, Figure 4As shown, the above step S120: setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task, includes:

[0094] S121: Determine whether the cache of the workstation and conveyor line to which the current material box of the box-type four-way vehicle's order task belongs is full. For example: Determine whether the cache of the workstation to which the current material box's order task belongs is full, and whether the box-type conveyor line to which it belongs is full. If both the cache and the box-type conveyor line are not full, set the priority P2 of the order task to 1, otherwise the priority of the order task is 0.

[0095] S122: If the cache capacity of the workstation and the conveyor line is not full, the priority of the order task is set according to the registration status and order sorting status of the order task corresponding to the current material box; wherein, the higher the order sorting of the order task, the higher the priority of the order task. Specifically, if the cache capacity of the workstation and the conveyor line is not full, the priority P2 of the top task is set to 1, and the task is assigned to the box-type four-way vehicle under the premise that P2 is 1. Specifically, it is necessary to determine whether the order task corresponding to the current material box has been registered. If it has been registered, the priority P1 of the material box is 100, and the priority of the material box to be registered is 200. The higher the priority order, the earlier the order is executed. Similarly, the order sorting status is the order serial number of the workstation to which the order task corresponding to the current material box belongs. If the order serial number is sorted again, the priority of the order task can be set again.

[0096] S123: According to the priority of the order task, the order task is assigned to the box-type four-way vehicle on the same layer as the order task. By selectively sorting the outbound tasks in the current task pool, setting the priority according to the sorting order, and assigning the box-type four-way vehicles on the same layer of the order task one by one according to the task priority, the operation efficiency of the box-type four-way vehicle is improved and the workload of the box-type four-way vehicle is balanced.

[0097] In addition, as a preferred embodiment, Figure 5 As shown, the above step S120: setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task, includes:

[0098] S124: Determine whether the order task corresponding to the current material box has been registered. Specifically, determine whether the order corresponding to the current material box has been registered, the priority P1 of the registered material box is 100, and the priority of the material box to be registered is 200. Because the registered material box has a higher priority, the registered material box can be processed first.

[0099] S125: If the order task has been registered, the current material box corresponding to the registered order task is set to a high priority. For example, the priority P1 of the registered material box is set to 100, and the priority of the material box to be registered is set to 200. In this way, the registered material box has a higher priority, which is a high priority; the current material box corresponding to the order task to be registered is set to a low priority.

[0100] S126: If the order task is not registered, the current material box corresponding to the unregistered order task is set to low priority. Through the division of high and low priorities, the current material box corresponding to the registered order task is set to high priority, and the current material box corresponding to the unregistered order task is set to low priority; then the high-priority order task will be executed first, and the order task will be assigned to the box-type four-way vehicles in the same city according to the high priority P1, thereby improving the configuration efficiency of the box-type four-way vehicles and the processing efficiency of the order task.

[0101] S127: Sort the current material box according to the order sequence number of the workstation to which the order task corresponding to the current material box belongs. The order sequence number of the workstation to which the order task corresponding to the material box belongs reflects the order of order allocation. The higher the order sequence number, the priority of the order task to be allocated. In this way, the current material box is sorted according to the order sequence number, so that the order task can be processed first.

[0102] S128: Superimpose the priority and sorting order of the current material box to obtain the final task priority of the current material box. Specifically, the order sequence number of the workstation to which the order corresponding to the current material box belongs is set to be sorted again as 1, 2, ... N, then the material box priority P1 of the current material box is (100+N or 200+N).

[0103] In addition, it is also necessary to determine whether the cache of the workstation to which the order task corresponding to the current material box belongs is full, and whether the box-type conveyor line to which the order task belongs is full; if both the cache and the box-type conveyor line are not full, the priority P2 of the current material box is set to 1, otherwise the priority P2 of the current material box is set to 0. After setting the priority of the current material box, the embodiment of the present application also needs to sort the current task in a timed loop and continuously calculate the task priority to ensure that the task priority is adjusted in time when the task priority changes.

[0104] S129: Allocate order tasks to the box-type four-way vehicles on the same level of the order tasks one by one according to the task priority. Under the premise that the priority P2 of the current material box is 1, assign tasks to the box-type four-way vehicles, and assign the box-type four-way vehicles on the same level of the task one by one according to the task priority P1. If the level to which the task belongs does not have a box-type four-way vehicle, then assign the box-type four-way vehicle.

[0105] The technical solution provided by the embodiment of the present application determines whether the order task corresponding to the current material box has been registered. When the order task has been registered, the current material box corresponding to the registered order task is set to a high priority, and the current material box corresponding to the unregistered order task is set to a low priority. The current material box is sorted according to the order serial number of the workstation to which the order task corresponding to the current material box belongs, and then the priority and sorting order of the current material box are superimposed to obtain the final task priority of the current material box. In this way, the order task can be allocated to the box-type four-way vehicle on the same layer of the order task according to the task priority. In this way, the order task can be allocated to the box-type four-way vehicle in the same city as the registered order task according to the sorting order of the registered order task, thereby improving the task execution efficiency of each box-type four-way vehicle and balancing the task allocation.

[0106] Figure 2 The technical solution provided by the illustrated embodiment, after allocating the order task to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task, further includes:

[0107] S130: According to the position and status information, the assigned box-type four-way vehicle is controlled to execute the order task. When the cache of the workstation to which the above order belongs is not full and the registered orders have been sorted, the box-type four-way vehicle is assigned tasks. Because the task priorities have been divided, the box-type four-way vehicles at the same level as the order task can be assigned order tasks one by one. Specifically, according to the above initial position and status information, the assigned box-type four-way vehicle is controlled to execute the order task. In addition, if the level to which the order task belongs does not have a box-type four-way vehicle configured, the box-type four-way vehicle is assigned.

[0108] Specifically, as a preferred embodiment, Figure 6 As shown, in the task scheduling method of the above-mentioned box-type four-way vehicle, step S130: the step of controlling the assigned box-type four-way vehicle to execute the order task according to the position and status information includes:

[0109] S131: Determine whether there are available box-type four-way vehicles on each layer to which the order task belongs. Because the box-type four-way vehicles are allocated according to the level of the multi-warehouse system, the initialization position and status information of the box-type four-way vehicles are for executing the order task on the same layer, so it is necessary to determine whether there are available box-type four-way vehicles on each layer to which the order task belongs.

[0110] S132: If there are available box-type four-way vehicles in each layer to which the order task belongs, the assigned box-type four-way vehicles are controlled to execute the order task according to the location and status information of the four-way vehicles. After the box-type four-way vehicle information is configured in the project initialization, the box-type four-way vehicle task is assigned and executed according to the established configuration. In this way, the assigned box-type four-way vehicle can be controlled to execute the order task, which can improve the execution efficiency of the order task and balance the workload of the order task.

[0111] S133: If there is no available box-type four-way vehicle in any of the layers to which the order task belongs, then the box-type four-way vehicles without order tasks are used, and the box-type four-way vehicles are called in sequence to execute the order task in the order of the absolute value of the difference between the layer where the box-type four-way vehicle is located and the layer to which the order task belongs. Specifically: When there is no available box-type four-way vehicle in the layer to which the executable task belongs, the box-type four-way vehicles that are currently not assigned tasks and are on standby without faults are screened. If there are available box-type four-way vehicles, the vehicles are mobilized according to the following priority: the absolute value of the difference between the layer corresponding to the idle box-type four-way vehicle and the layer of the task destination. The smaller the value, the higher the priority.

[0112] The technical solution provided in the embodiment of the present application coordinates the available box-type four-way trucks at each layer to which the order task belongs. When there is no available box-type four-way truck, a box-type four-way truck without an order task is called to execute the order task. In this way, the workload of the order tasks of each box-type four-way truck can be balanced, thereby improving the execution efficiency of all order tasks.

[0113] Figure 2 The technical solution provided by the illustrated embodiment, after controlling the assigned box-type four-way vehicle to execute the order task, further includes:

[0114] S140: Filter the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and control the box-type four-way vehicle to execute the order task according to the current optimal path. In the process of the box-type four-way vehicle executing the order task, the current optimal path is filtered in real time according to the greedy algorithm, so that the box-type four-way vehicle can be dispatched to execute the order task according to the actual situation of the current route, thereby improving the operation efficiency of the box-type four-way vehicle.

[0115] Specifically, as a preferred embodiment, Figure 7 As shown, in the task scheduling method of the above-mentioned box-type four-way vehicle, step S140: the step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes:

[0116] S141: Determine the destination coordinate type of the current box-type four-way vehicle. The destination coordinate type of the current box-type four-way vehicle may be a material box unloading point, a shelf, a horizontal track, or a parking space on an elevator, etc. Specifically, it is necessary to determine which destination coordinate type it is.

[0117] S142: If the destination coordinate type of the current box-type four-way vehicle is a shelf, calculate whether the current coordinate of the current box-type four-way vehicle is in the same lane as the destination coordinate. Before that, it is necessary to calculate whether there are other box-type four-way vehicles performing tasks in the destination lane of the task. If there are other box-type four-way vehicles performing tasks, avoid the other box-type four-way vehicles. If there are no other box-type four-way vehicles, calculate whether the current coordinate is in the same lane as the destination coordinate.

[0118] S143: If the current coordinates of the current box-type four-way vehicle and the destination coordinates are in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track.

[0119] S144: If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle gives way to the other box-type four-way vehicles.

[0120] S145: If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle goes straight to the destination coordinate.

[0121] Specifically, if the destination coordinate type of the current box-type four-way vehicle is a shelf, then in the same lane, calculate whether there are other box-type four-way vehicles passing through the middle transverse track. If there are other box-type four-way vehicles passing, the current box-type four-way vehicle will avoid them. If there are no other box-type four-way vehicles passing, the current box-type four-way vehicle will be assigned to go straight to the task destination coordinate. In the above manner, the technical solution provided by the embodiment of the present application can effectively avoid other box-type four-way vehicles and go straight to the destination coordinate through the transverse track, thereby improving the dispatching efficiency of box-type four-way vehicles.

[0122] or,

[0123] S146: If the current coordinates of the current box-type four-way vehicle and the destination coordinates are not in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track.

[0124] S147: If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle gives way to the other box-type four-way vehicles.

[0125] S148: If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is assigned to go straight to the transverse track coordinate corresponding to the current coordinate.

[0126] Specifically, if the current coordinates of the current box-type four-way vehicle and the destination coordinates are not in the same lane, it is calculated whether there are other box-type four-way vehicles passing through the middle transverse track. If there are other box-type four-way vehicles passing, the current box-type four-way vehicle will give way; if there are no other box-type four-way vehicles passing, the current box-type four-way vehicle will be assigned to go straight to the transverse track coordinates corresponding to the current coordinates.

[0127] The technical solution provided by the embodiment of the present application determines whether there are other box-type four-way vehicles passing through the middle transverse track when the current coordinates of the current box-type four-way vehicle and the destination coordinates are not in the same lane. If there are other box-type four-way vehicles passing through the middle transverse track, the other box-type four-way vehicles are avoided. If no other box-type four-way vehicles pass through, the current box-type four-way vehicle is controlled to go straight to the transverse track coordinate corresponding to the current coordinate. In the above manner, the operating efficiency of the current box-type four-way vehicle can be improved, and collisions with other box-type four-way vehicles can be avoided.

[0128] In addition, as a preferred embodiment, Figure 8 As shown, the above step S140: selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and controlling the box-type four-way vehicle to execute the order task according to the current optimal path, includes:

[0129] S149: If the destination coordinate type of the current box-type four-way vehicle is a transverse track, the transverse track is locked to prevent other vehicles from passing through, which can effectively avoid other box-type four-way vehicles and improve the operating efficiency of the box-type four-way vehicles.

[0130] S1410: Determine whether the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane.

[0131] S1411: If the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane, the box-type four-way vehicle is controlled to go straight to the destination coordinates.

[0132] S1412: If the current coordinates of the box-type four-way vehicle and the destination coordinates are not in the same lane, the box-type four-way vehicle is controlled to move horizontally to the coordinates of the horizontal track of the lane corresponding to the destination coordinates.

[0133] If the current box-type four-way vehicle's destination coordinate type is a transverse track, the current transverse track is locked and other box-type four-way vehicles are not allowed to pass through the transverse track. Calculate whether the task destination coordinate and the current coordinate are in the same lane: Ⅰ. If they are in the same lane, the box-type four-way vehicle goes straight to the task destination coordinate; Ⅱ. If they are not in the same lane, the box-type four-way vehicle goes transversely to the transverse track coordinate of the lane corresponding to the task destination coordinate.

[0134] Combination Figure 1 As shown in the application scenario diagram, the technical solution provided by the embodiment of the present application is that if the destination coordinate type of the current box-type four-way vehicle is a transverse track, the current transverse track is locked, and then it is determined whether the current coordinates of the current box-type four-way vehicle and the destination coordinates are in the same lane. If they are in the same lane, the box-type four-way vehicle is controlled to go straight to the target coordinates. If they are not in the same lane, the box-type four-way vehicle is controlled to go transversely to the coordinates of the transverse track of the lane corresponding to the destination coordinates. In the above manner, the operating efficiency of the current box-type four-way vehicle can be improved, and collisions with other box-type four-way vehicles can be avoided.

[0135] In addition, if the current coordinate type of the box-type four-way vehicle is the parking space on the elevator, calculate whether the current coordinate and the task destination coordinate are on the same floor. If they are on the same floor, calculate according to the above steps S149-S1412;

[0136] Ⅱ. If they are not on the same floor, check whether the elevator is in the idle standby state. If it is in the idle standby state, assign the elevator to lift the box-type four-way vehicle and lock the parking space on the elevator of the task destination floor and its horizontal track (depending on whether it is included in the project situation) to prevent other box-type four-way vehicles from moving to this position. When the box-type four-way vehicle is lifted to the parking space on the elevator of the task destination floor, continue to perform the next step of calculation according to the above steps S149-S1412.

[0137] In addition, as a preferred embodiment, Fig. 9 As shown, in the task scheduling method of the above-mentioned box-type four-way vehicle, step S140: the step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes:

[0138] S1413: Determine whether the destination coordinate type of the current box-type four-way vehicle is a material box unloading point.

[0139] S1414: If the destination coordinate type of the box-type four-way vehicle is a material box unloading point, determine whether there are other box-type four-way vehicles in the destination lane to execute the order task.

[0140] S1415: If there are other box-type four-way vehicles executing the order task, the current box-type four-way vehicle is controlled to avoid.

[0141] S1416: If there is no other box-type four-way vehicle to execute the order task, determine whether the current coordinates of the current box-type four-way vehicle and the destination coordinates are in the same lane.

[0142] S1417: If the current coordinates and the destination coordinates are in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track.

[0143] S1418: If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle is controlled to avoid.

[0144] S1419: If there is no other box-type four-way vehicle passing through the middle transverse track, control the current box-type four-way vehicle to go straight to the destination coordinate;

[0145] or,

[0146] S1420: If the current coordinates and the destination coordinates are not in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track;

[0147] S1421: If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle is controlled to give way;

[0148] S1422: If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is assigned to go straight to the transverse track coordinate corresponding to the current coordinate.

[0149] In addition, if the current coordinate type of the box-type four-way vehicle is a material box unloading point, calculate whether there are other box-type four-way vehicles performing tasks in the task destination lane. If so, avoid them. If not, calculate whether the current coordinates and the task destination coordinates are in the same lane;

[0150] If the current coordinates and the task destination coordinates are in the same lane, calculate whether there are other box-type four-way vehicles passing through the middle horizontal track. If there are other box-type four-way vehicles passing, the current box-type four-way vehicle will give way. If there are no other box-type four-way vehicles passing, the current box-type four-way vehicle will be assigned to go straight to the task destination coordinates.

[0151] If the current coordinates and the task destination coordinates are not in the same lane, calculate whether there are other box-type four-way vehicles passing through the middle transverse track. If other box-type four-way vehicles pass by, the current box-type four-way vehicle will avoid them; if no other box-type four-way vehicles pass by, the current box-type four-way vehicle will be assigned to go straight to the transverse track coordinate corresponding to the current coordinates.

[0152] In addition, if the current coordinates of the box-type four-way vehicle are the coordinates for picking up the goods from the material box, the box-type four-way vehicle is driven to pick up the goods. If the current coordinates of the box-type four-way vehicle are the coordinates for unloading the goods from the material box, the box-type four-way vehicle is driven to unload the goods.

[0153] After the box-type four-way vehicle completes the current moving task, the above-mentioned determination of the destination coordinate type of the current box-type four-way vehicle is executed again in a loop until the box-type four-way vehicle completes the current transporting task.

[0154] In summary, the task scheduling method for the box-type four-way vehicle provided by the above technical scheme of the present application initializes the position and status information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system. Because the position and status are initialized according to the number of layers and cargo location information, the traditional partitioning strategy can be changed to layered measurement, so that the four-way vehicle can operate across zones on the same floor. In this way, the scheduling method of the box-type four-way vehicle can be optimized based on the initialized position and status information, and the handling efficiency of the box-type four-way vehicle can be improved; and the priority of the order task is set according to the registration status and order sorting status of the order task, and the order task is allocated to the box-type four-way vehicle on the same floor as the order task according to the priority of the order task, so that the workload of the box-type four-way vehicle can be balanced, so that the overall handling efficiency of the box-type four-way vehicle is balanced, and the handling capacity of the box-type four-way vehicle is fully utilized. Specifically, the assigned box-type four-way vehicle is controlled to execute the order task according to the above-mentioned position and status information, and then the current optimal path of the box-type four-way vehicle is screened according to the greedy algorithm, and the box-type four-way vehicle is controlled to execute the order task according to the current optimal path, thereby optimizing the task triggering conditions of the box-type four-way vehicle, so that it can dynamically execute the task according to the on-site operation situation. In summary, the technical solution provided by the present application can solve the problems in the prior art that the traditional box-type four-way vehicle has uneven workload, easy material box blockage and waste of transportation capacity, and the scheduling method is not flexible enough, which affects the on-site operation. The above-mentioned scheduling method can quickly assign tasks, accurately assign tasks on the same level to the box-type four-way vehicle on that level, quickly execute transportation, and reduce collisions caused by crossing lines during the operation of the four-way vehicle. In addition, it can dynamically assign tasks according to the on-site operation situation, so that the on-site operation can be carried out in an orderly manner according to the rhythm.

[0155] In addition, based on the same concept of the above-mentioned method embodiment, the embodiment of the present application also provides a task scheduling system for a box-type four-way vehicle, which is used to implement the above-mentioned method of the present application. Since the principles and methods of solving the problems in the system embodiment are similar, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0156] In addition, as a preferred embodiment, see Fig.10 , Fig.10 This is a schematic diagram of the structure of a task scheduling system for a box-type four-way vehicle provided in an embodiment of the present application. Fig.10 As shown, the task scheduling system includes:

[0157] The four-way vehicle initialization module 110 is used to initialize the position and state information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system.

[0158] The four-way vehicle task allocation module 120 is used to set the priority of the order task according to the registration status of the order task and the order sorting status, and allocate the order task to the box-type four-way vehicle on the same layer as the order task according to the priority of the order task.

[0159] The four-way vehicle order execution module 130 is used to control the assigned box-type four-way vehicle to execute the order task according to the position and status information.

[0160] The four-way vehicle path planning module 140 is used to select the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and control the box-type four-way vehicle to execute the order task according to the current optimal path.

[0161] See also Fig.11 , Fig.11 This is a schematic diagram of the structure of a task scheduling system for a box-type four-way vehicle provided in an embodiment of the present application. Fig.11 As shown, the task scheduling system of the box-type four-way vehicle includes:

[0162] Processor 1001, communication bus 1002, communication module 1003, memory 1004 and a task scheduling program for a box-type four-way vehicle stored in the memory 1004 and running on the processor 1001. When the task scheduling program for the box-type four-way vehicle is executed by the processor, the steps of the task scheduling method for the box-type four-way vehicle provided in any of the above embodiments are implemented.

[0163] In summary, the technical solution provided by the embodiment of the present application has the following operational characteristics: first, the dispatching method of the box-type four-way vehicle is optimized to improve the handling efficiency of the box-type four-way vehicle. Secondly, the workload of the box-type four-way vehicle is balanced to balance the overall handling efficiency of the box-type four-way vehicle and make full use of the handling capacity of the box-type four-way vehicle. Thirdly, the partition strategy is optimized and changed to a layered strategy so that the shuttle vehicle can operate across zones on the same floor. Finally, the task triggering conditions of the box-type four-way vehicle are optimized so that it can dynamically execute tasks according to the on-site operation conditions.

[0164] In addition, the technical solution provided by the embodiment of the present application has the following advantages:

[0165] 1. Rapid task allocation: accurately assign tasks on the same layer to the box-type four-way vehicles on that layer, so that they can quickly carry out the transportation;

[0166] 2. Safety: when the routes of box-type four-way vehicles on the same floor intersect during operation, avoidance scheduling will prevent collision;

[0167] 3. When there is no box-type four-way vehicle on a certain shelf and a task is assigned to this shelf, a box-type four-way vehicle on the shelf with multiple shuttle vehicles can be dispatched for support.

[0168] 3. Dynamically allocate tasks according to the on-site operation situation, so that the on-site operation situation can be carried out according to the rhythm;

[0169] 4. The scheduling software configuration is simplified, reducing the amount of additional learning for maintenance personnel.

[0170] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM and optical storage, etc.) containing computer-usable program code.

[0171] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0172] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0173] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0174] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second and third etc. does not indicate any order. These words may be interpreted as names.

[0175] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0176] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A task scheduling method for a box-type four-way vehicle, characterized in that: include: Initialize the position and status information of the box-type four-way vehicle in the multi-warehouse system according to the number of layers and cargo location information of the multi-warehouse system; The priority of the order task is set according to the registration status of the order task and the order sorting status, and the order task is allocated to the box-type four-way vehicle at the same layer as the order task according to the priority of the order task; According to the position and status information, control the assigned box-type four-way vehicle to execute the order task; The current optimal path of the box-type four-way vehicle is selected according to a greedy algorithm, and the box-type four-way vehicle is controlled to execute the order task according to the current optimal path; The step of setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle at the same layer as the order task according to the priority of the order task includes: Determine whether the order task corresponding to the current material box has been registered; If the order task has been registered, the current material box corresponding to the registered order task is set to a high priority; If the order task is not registered, the current material box corresponding to the unregistered order task is set to a low priority; Sort the current material boxes according to the order sequence number of the workstation to which the order task corresponding to the current material box belongs; Superimposing the priority and sorting order of the current material box to obtain the final task priority of the current material box; According to the task priority, the order tasks are allocated to the box-type four-way vehicles on the same level as the order tasks one by one; The step of controlling the assigned box-type four-way vehicle to execute the order task according to the position and status information includes: Determine whether there are available box-type four-way vehicles on each layer to which the order task belongs; If there are available box-type four-way vehicles on each floor to which the order task belongs, then according to the position and status information of the four-way vehicle, the allocated box-type four-way vehicle is controlled to execute the order task; If there is no available box-type four-way vehicle at any of the layers to which the order task belongs, the box-type four-way vehicle without order task will be used, and the box-type four-way vehicle will be called in sequence to execute the order task in the order of the absolute value of the difference between the layer where the box-type four-way vehicle is located and the layer to which the order task belongs.

2. The task scheduling method of a box-type four-way vehicle according to claim 1 is characterized in that: The step of initializing the position and status information of the box-type four-way vehicle in the multi-pass warehouse system according to the number of layers and cargo location information of the multi-pass warehouse system comprises: Obtaining the number of layers and cargo location information of the multi-warehouse system; According to the number of layers of the multi-passage system, the position and status information of the box-type four-way vehicle are set; According to the cargo location information of the multi-warehouse system, the position and status information of the box-type four-way vehicle are adjusted.

3. The task scheduling method of a box-type four-way vehicle according to claim 1 is characterized in that: The step of setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle at the same layer as the order task according to the priority of the order task includes: Determine whether the buffer capacity of the workstation and conveyor line to which the current material box of the box-type four-way vehicle corresponds to the order task is full; If the buffers of the workstation and the conveyor line are not full, the priority of the order task is set according to the registration status and order ranking status of the order task corresponding to the current material box; wherein, the higher the order ranking of the order task, the higher the priority of the order task; According to the priority of the order task, the order task is allocated to the box-type four-way vehicle on the same layer as the order task.

4. The task scheduling method for a box-type four-way vehicle according to claim 1 is characterized in that: The step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes: Determine the current destination coordinate type of the box-type four-way vehicle; If the destination coordinate type of the current box-type four-way vehicle is a shelf, then calculating whether the current coordinate of the current box-type four-way vehicle and the destination coordinate are in the same lane; If the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track; If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle will give way to the other box-type four-way vehicles; If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle goes straight to the destination coordinates; or, If the current coordinates of the box-type four-way vehicle and the destination coordinates are not in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track; If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle will give way to the other box-type four-way vehicles; If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is assigned to go straight to the transverse track coordinate corresponding to the current coordinate.

5. The task scheduling method for a box-type four-way vehicle according to claim 1 or 4, characterized in that: The step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes: If the current destination coordinate type of the box-type four-way vehicle is a transverse track, the transverse track is locked to prevent other vehicles from passing; Determine whether the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane; If the current coordinates of the box-type four-way vehicle and the destination coordinates are in the same lane, the box-type four-way vehicle is controlled to go straight to the destination coordinates; If the current coordinates of the box-type four-way vehicle and the destination coordinates are not in the same lane, the box-type four-way vehicle is controlled to move horizontally to the coordinates of the horizontal track of the lane corresponding to the destination coordinates.

6. The task scheduling method of a box-type four-way vehicle according to claim 5 is characterized in that: The step of selecting the current optimal path of the box-type four-way vehicle according to the greedy algorithm and controlling the box-type four-way vehicle to execute the order task according to the current optimal path includes: Determine whether the current destination coordinate type of the box-type four-way vehicle is a material box unloading point; If the destination coordinate type of the box-type four-way vehicle is a material box unloading point, it is determined whether there are other box-type four-way vehicles in the destination lane to execute the order task; If there are other box-type four-way vehicles executing the order task, the current box-type four-way vehicle is controlled to avoid it; If there is no other box-type four-way vehicle to execute the order task, determine whether the current coordinates of the current box-type four-way vehicle and the destination coordinates are in the same lane; If the current coordinates and the destination coordinates are in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track; If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle is controlled to avoid; If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is controlled to execute to the destination coordinates; or, If the current coordinates and the destination coordinates are not in the same lane, determine whether there are other box-type four-way vehicles passing through the middle transverse track; If there are other box-type four-way vehicles passing through the middle transverse track, the current box-type four-way vehicle is controlled to avoid; If there is no other box-type four-way vehicle passing through the middle transverse track, the current box-type four-way vehicle is assigned to go straight to the transverse track coordinate corresponding to the current coordinate.

7. A task scheduling system for a box-type four-way vehicle, characterized in that: include: A four-way vehicle initialization module is used to initialize the position and status information of the box-type four-way vehicle in the multi-pass warehouse system according to the number of layers and cargo location information of the multi-pass warehouse system; A four-way vehicle task allocation module is used to set the priority of the order task according to the registration status of the order task and the order sorting status, and allocate the order task to the box-type four-way vehicle at the same level as the order task according to the priority of the order task; The step of setting the priority of the order task according to the registration status of the order task and the order sorting status, and allocating the order task to the box-type four-way vehicle at the same layer as the order task according to the priority of the order task includes: Determine whether the order task corresponding to the current material box has been registered; If the order task has been registered, the current material box corresponding to the registered order task is set to a high priority; If the order task is not registered, the current material box corresponding to the unregistered order task is set to a low priority; Sort the current material boxes according to the order sequence number of the workstation to which the order task corresponding to the current material box belongs; Superimposing the priority and sorting order of the current material box to obtain the final task priority of the current material box; According to the task priority, the order tasks are allocated to the box-type four-way vehicles on the same level as the order tasks one by one; A four-way vehicle order execution module, used to control the assigned box-type four-way vehicle to execute the order task according to the position and status information; The step of controlling the assigned box-type four-way vehicle to execute the order task according to the position and status information includes: Determine whether there are available box-type four-way vehicles on each layer to which the order task belongs; If there are available box-type four-way vehicles on each floor to which the order task belongs, then according to the position and status information of the four-way vehicle, the allocated box-type four-way vehicle is controlled to execute the order task; If there is no available box-type four-way vehicle at any of the layers to which the order task belongs, then the box-type four-way vehicles without order tasks are used, and the box-type four-way vehicles are called in sequence to execute the order task in the order of the absolute value of the difference between the layer where the box-type four-way vehicle is located and the layer to which the order task belongs; The four-way vehicle path planning module is used to select the current optimal path of the box-type four-way vehicle according to the greedy algorithm, and control the box-type four-way vehicle to execute the order task according to the current optimal path.

8. A task scheduling system for a box-type four-way vehicle, characterized in that: include: A memory, a processor, and a task scheduling program for a box-type four-way vehicle stored in the memory and running on the processor. When the task scheduling program for the box-type four-way vehicle is executed by the processor, the steps of the task scheduling method for the box-type four-way vehicle as described in any one of claims 1 to 6 are implemented.

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