Method and device for dispatching transport vehicles for multi-story warehouses

Abstract

An embodiment of the present invention discloses a method and device for dispatching transport vehicles, relating to the field of automated warehousing. The method comprises: obtaining the distribution status of freight tasks and real-time resource information, wherein the real-time resource information includes transport vehicle resource information and elevator resource information; based on the distribution status of freight tasks and the real-time resource information, using an elevator to move the transport vehicle from the starting floor of the multi-story warehouse to the destination floor, thereby realizing inter-floor resource allocation of the transport vehicle. Idle transport vehicles on warehouse floors with fewer freight tasks can be transferred to warehouse floors with more freight tasks, ensuring that warehouse floors with more freight tasks have more transport vehicle resources available, thereby improving the balance of transport vehicle resource allocation.

Description

Technical Field

[0001] The present invention relates to the field of automated warehousing, and in particular to a method and device for dispatching transport vehicles for multi-story warehouses. Background Art

[0002] A multi-story unmanned warehouse is an intelligent warehouse maintained by a small staff. It features multiple floors and is equipped with multiple elevators for vertically transporting racks and automated guided vehicles (AGVs). Each floor of the multi-story warehouse has several AGVs, whose primary task is to transport racks. To ensure that each freight task within the multi-story warehouse is completed within the specified timeframe, AGV resources must be evenly allocated to each floor based on the actual number of deliveries.

[0003] In related technologies, each warehouse floor is assigned a fixed number of AGVs, and these AGVs can only operate on the same warehouse floor. When freight traffic is concentrated, warehouse floors with more freight traffic may run out of AGV resources, while warehouse floors with fewer freight traffic may have idle AGV resources. This leads to an uneven allocation of AGV resources, and high-priority freight traffic may not be processed in a timely manner, which in turn reduces the efficiency of the AGVs. Summary of the Invention

[0004] In order to overcome the problems of unbalanced resource allocation and low work efficiency of automated guided vehicles in related technologies, an embodiment of the present invention provides a method and device for scheduling transport vehicles for multi-layer warehouses. Idle transport vehicles on warehouse floors with small freight tasks can go to warehouse floors with large freight tasks to work, ensuring that warehouse floors with large freight tasks have more transport vehicle resources available, thereby improving the balance of transport vehicle resource allocation.

[0005] According to one aspect of the present invention, a method for dispatching transport vehicles for a multi-story warehouse is provided, comprising:

[0006] Obtaining the distribution status of freight tasks and real-time resource information, wherein the real-time resource information includes: transport vehicle resource information and elevator resource information;

[0007] According to the distribution of the freight tasks and real-time resource information, a hoist is used to move the transport vehicle from the starting floor of the multi-story warehouse to the destination floor to achieve inter-floor resource allocation of the transport vehicle.

[0008] Preferably, the transport vehicle resource information includes: a set of all transport vehicles and a set of idle transport vehicles on each layer;

[0009] The elevator resource information includes: an in-cache bit set and an out-cache bit set of the elevators on each layer.

[0010] Preferably, the method of using a hoist to move the transport vehicle from the starting floor to the destination floor of the multi-story warehouse according to the distribution of the freight tasks and real-time resource information to achieve inter-floor resource allocation of the transport vehicle includes:

[0011] A set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer is determined according to the transport vehicle resource information and the elevator resource information.

[0012] Preferably, the method further comprises: using a hoist to move the transport vehicle from the starting floor to the destination floor of the multi-story warehouse according to the distribution status of the freight tasks and the real-time resource information to achieve inter-floor resource allocation of the transport vehicle;

[0013] Determine whether the layer-changeable relationship set is empty;

[0014] If the set of layer-changeable relationships is empty, then the current inter-layer scheduling is terminated;

[0015] If the layer-swappable relationship set is not empty, the layer-swappable parameter of each layer-swappable relationship in the layer-swappable relationship set is calculated according to the distribution of the freight tasks and the real-time resource information.

[0016] Preferably, the elements of the layer-changeable relationship include: the elevator number, the starting layer, the destination layer and the layer-changing parameter.

[0017] The layer corresponding to the available in-cache position of the elevator corresponding to the elevator number is the starting layer, and the layer corresponding to the available out-cache position of the elevator corresponding to the elevator number is the destination layer.

[0018] Preferably, the method further comprises: using a hoist to move the transport vehicle from the starting floor to the destination floor of the multi-story warehouse according to the distribution status of the freight tasks and the real-time resource information to achieve inter-floor resource allocation of the transport vehicle;

[0019] Determining whether the maximum layer-changing parameter is greater than or equal to a preset layer-changing configuration parameter;

[0020] If the maximum layer switching parameter is less than the preset layer switching configuration parameter, then the current inter-layer scheduling is terminated;

[0021] If the largest layer switching parameter is greater than or equal to the preset layer switching configuration parameter, then at the starting layer in the layer switching relationship corresponding to the largest layer switching parameter, select the idle transport vehicle closest to the cache position of the elevator corresponding to the elevator number in the layer switching relationship to issue an inter-layer scheduling instruction.

[0022] According to the inter-layer scheduling instruction, the hoist is controlled to perform inter-layer scheduling on the idle transport vehicle.

[0023] After the real-time resource information is updated, a set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer is re-determined based on the transport vehicle resource information and the elevator resource information.

[0024] Preferably, determining the set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer based on the transport vehicle resource information and the elevator resource information includes:

[0025] Initializing the layer-changeable relationship set;

[0026] According to the elevator resource information, searching for a first elevator having both available in-cache bits and available out-cache bits in the in-cache bit set and the out-cache bit set of the elevators on each layer, wherein the layer corresponding to the available in-cache bits is the first starting layer, and the layer corresponding to the available out-cache bits is the first destination layer, the layer switchable relationship corresponding to the first elevator is used as the first layer switchable relationship, and the initial value of a first layer switch parameter of the first layer switchable relationship is set to zero;

[0027] Writing the first layer-swappable relationship into the layer-swappable relationship set; and

[0028] Invalid layer-swappable relationships are filtered out according to the transport vehicle resource information.

[0029] Preferably, filtering invalid layer-swappable relationships according to the transport vehicle resource information includes:

[0030] In each of the layer-swappable relationships in the layer-swappable relationship set, the number of all transport vehicles in the starting layer is compared with a preset minimum transport vehicle configuration parameter per layer;

[0031] If the number of all transport vehicles in the starting layer is less than or equal to the preset minimum transport vehicle configuration parameter per layer, filtering the layer-swappable relationship corresponding to the starting layer from the layer-swappable relationship set;

[0032] The layer-changing relationships corresponding to the starting layer without an idle transport vehicle are filtered from the layer-changing relationship set.

[0033] Preferably, the calculating of the layer switching parameters of each layer switching relationship in the layer switching relationship set according to the distribution of the freight tasks and the real-time resource information includes:

[0034] Calculating the layer switching parameters of the starting layer of each layer-swappable relationship according to the distribution of the freight tasks and the set of idle transport vehicles on each layer;

[0035] Calculate the layer switching parameter of the destination layer of each layer-swappable relationship according to the distribution of the freight tasks, the priority parameter of the destination layer outbound tasks, and the set of idle transport vehicles on each layer;

[0036] The layer switching parameters of the corresponding layer-switchable relationship are calculated according to the layer switching parameters of the starting layer and the layer switching parameters of the target layer, and the layer switching parameters are updated into the corresponding layer-switchable relationship.

[0037] Preferably, the distribution of the freight tasks at each layer includes: an inbound task set, an outbound task set, an outbound task set approaching the cut-off time, and an inventory task set.

[0038] The calculation formula for calculating the layer switching parameter of the starting layer of each layer-swappable relationship based on the distribution of the freight tasks and the set of idle transport vehicles on each layer is:

[0039] The layer change parameter of the starting layer = the task parameter of the starting layer - the idle transport vehicle parameter of the starting layer.

[0040] The calculation formula for calculating the layer switching parameter of the destination layer of each layer-swappable relationship based on the distribution of the freight tasks, the priority parameter of the destination layer outbound tasks, and the set of idle transport vehicles on each layer is:

[0041] The layer change parameter of the destination layer = the task parameter of the destination layer + the priority parameter of the outbound task of the destination layer - the idle transport vehicle parameter of the destination layer.

[0042] The layer switching parameter of the corresponding layer-switchable relationship is calculated according to the layer switching parameter of the starting layer and the layer switching parameter of the target layer as follows:

[0043] The layer-changing parameter of the layer-changing relationship = the layer-changing parameter of the destination layer - the layer-changing parameter of the starting layer.

[0044] According to another aspect of the present application, a dispatching device for transport vehicles in a multi-story warehouse is provided, comprising:

[0045] An acquisition unit is configured to acquire the distribution status of freight tasks and real-time resource information, wherein the real-time resource information includes: transport vehicle resource information and elevator resource information;

[0046] The scheduling unit is configured to use an elevator to move the transport vehicle from the starting layer to the destination layer of the multi-layer warehouse according to the distribution status of the freight task and real-time resource information, so as to realize the inter-layer resource allocation of the transport vehicle.

[0047] According to another aspect of the present invention, a transport vehicle scheduling control device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the above-mentioned transport vehicle scheduling method.

[0048] According to yet another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the method for dispatching transport vehicles as described above is implemented.

[0049] According to another aspect of the present invention, a computer program product is provided, including a computer program product, wherein the computer program includes program instructions, and when the program instructions are executed by a mobile terminal, the mobile terminal executes the steps of the above-mentioned transport vehicle scheduling method.

[0050] One embodiment of the present invention has the following advantages or beneficial effects:

[0051] Obtain freight task allocation and real-time resource information. Real-time resource information includes vehicle and elevator resource information. Based on the freight task allocation and real-time resource information, the elevator resource is determined from the elevator resources to transport the vehicle from the starting floor to the destination floor. The elevator is controlled and the vehicle is scheduled between floors. Idle vehicles on warehouse floors with low freight task volumes can be transferred to warehouse floors with high freight task volumes, ensuring that these floors have more vehicle resources available and improving the balance of vehicle resource allocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0053] Figure 1 A schematic flow chart showing a method for dispatching transport vehicles according to an embodiment of the present invention is shown.

[0054] Figure 2 A schematic flow chart showing a method for dispatching transport vehicles according to an embodiment of the present invention is shown.

[0055] Figure 3 A schematic diagram showing a three-dimensional unmanned warehouse according to an embodiment of the present invention.

[0056] Figure 4 A schematic structural diagram of a dispatching device for transport vehicles according to an embodiment of the present invention is shown.

[0057] Figure 5 A schematic structural diagram of a dispatching control device for a transport vehicle according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0058] The present invention is described below based on the following embodiments, but the present invention is not limited to these embodiments. In the detailed description of the present invention below, certain specific details are described in detail. Those skilled in the art can fully understand the present invention without describing these details. To avoid obscuring the essence of the present invention, well-known methods, processes, and procedures are not described in detail. In addition, the drawings are not necessarily drawn to scale.

[0059] Figure 1 This is a flow chart of a method for dispatching transport vehicles according to an embodiment of the present invention. Specifically, it includes the following steps:

[0060] In step S101, the distribution status of freight tasks and real-time resource information are obtained, where the real-time resource information includes: transport vehicle resource information and elevator resource information.

[0061] In this step, the distribution of freight tasks and real-time resource information are obtained. Real-time resource information includes transport vehicle resource information and elevator resource information. Freight tasks are defined as inbound tasks, outbound tasks, outbound tasks nearing cutoff times, and inventory tasks. The distribution of freight tasks includes the set of inbound tasks, outbound tasks, outbound tasks nearing cutoff times, and inventory tasks for each warehouse floor. Transport vehicle resources are divided into active transport vehicles and idle transport vehicles. Transport vehicle resource information for each warehouse floor includes the set of all transport vehicles and the set of idle transport vehicles for each warehouse floor.

[0062] Each elevator floor has two buffer slots: inbound and outbound. The inbound buffer is for elevators entering the elevator, while the outbound buffer is for elevators exiting the elevator. All elevator buffers are divided into inbound and outbound buffers based on their buffer type. Elevator resource information for each floor includes the set of inbound and outbound buffer slots for each elevator floor.

[0063] In step S102, based on the distribution of the freight tasks and real-time resource information, a hoist is used to move the transport vehicle from the starting floor to the destination floor of the multi-story warehouse to achieve inter-floor resource allocation of the transport vehicle.

[0064] In this step, based on the distribution of freight tasks and real-time resource information, the elevator used to move the transport vehicle from the starting floor to the destination floor is determined from the elevator resources, and the elevator is controlled to schedule the transport vehicles between floors. Alternatively, based on the distribution of freight tasks, transport vehicle resource information, and elevator resource information for each floor in a multi-story warehouse, the elevator used to move the transport vehicle from the starting floor to the destination floor is determined from the elevator resources, and transport vehicles on each floor of the warehouse are dynamically scheduled to achieve floor-switching. This allows idle transport vehicles on warehouse floors with less freight tasks to be transferred to warehouse floors with more freight tasks, ensuring that more transport vehicle resources are available on warehouse floors with more freight tasks.

[0065] According to an embodiment of the present invention, the distribution of freight tasks and real-time resource information are obtained. Real-time resource information includes transport vehicle resource information and elevator resource information. Based on the distribution of freight tasks and real-time resource information, the elevator used to move the transport vehicle from the starting floor to the destination floor is determined from the elevator resources, and the elevator is controlled to schedule the transport vehicles between floors. Idle transport vehicles on warehouse floors with low freight task volumes can be transferred to warehouse floors with high freight task volumes, ensuring that warehouse floors with high freight task volumes have more transport vehicle resources available, thereby improving the balance of transport vehicle resource allocation.

[0066] Figure 2 1 is a flow chart of a method for dispatching transport vehicles according to an embodiment of the present invention. This embodiment is a more complete method for dispatching transport vehicles than the previous embodiment.

[0067] Figure 3 FIG. 1 is a schematic diagram of a three-dimensional unmanned warehouse according to an embodiment of the present invention. Figure 3 As shown, a multi-story warehouse is arranged in a three-dimensional unmanned warehouse, and multiple elevators are installed for vertical transportation of shelves and automatic guided vehicles. There are several transport vehicles on each floor of the three-dimensional unmanned warehouse.

[0068] Figure 2 The transport vehicle scheduling method shown is applied to Figure 3 The three-dimensional unmanned warehouse shown in the figure specifically includes the following steps:

[0069] In step S201, the distribution status of freight tasks and real-time resource information are obtained, where the real-time resource information includes: transport vehicle resource information and elevator resource information.

[0070] In this step, the distribution of freight tasks and real-time resource information are obtained. This real-time resource information includes vehicle resource information and elevator resource information. The vehicles here can be automated guided vehicles (AGVs). A timer can be set to periodically query the distribution of freight tasks, vehicle resource information, and elevator resource information in the multi-story warehouse.

[0071] Specifically, all freight tasks in multi-layer warehouses are periodically queried and categorized by task type for each warehouse floor. This results in a distribution of freight tasks for each warehouse floor, including: an inbound task set, an outbound task set, an outbound task set with a near-cutoff time, and an inventory task set. The near-cutoff time determination condition is: if the difference in minutes between the outbound task's cutoff time and the current time is less than or equal to the preset number of minutes near the cutoff time, the outbound task is considered a near-cutoff time outbound task. The preset number of minutes near the cutoff time can be set in advance based on user needs.

[0072] The working status of all transport vehicles in the multi-layer warehouse is queried regularly, and the transport vehicles in each layer of the warehouse are classified according to the working status to obtain the transport vehicle resource information of each layer of the warehouse, including: the set of all transport vehicles and the set of idle transport vehicles in each layer of the warehouse.

[0073] Regularly query all elevator information in the multi-layer warehouse, and classify the cache bits of all elevators in each layer of the warehouse according to the cache bit type to obtain the elevator resource information of each layer of the warehouse, including: the cache bit set and cache bit set of the elevators in each layer of the warehouse.

[0074] In step S202, a set of layer-changeable relationships for transporting a transport vehicle from a starting layer to a destination layer is determined based on the transport vehicle resource information and the elevator resource information.

[0075] In this step, based on the transport vehicle resource information and the elevator resource information, a set of interchangeable layer relationships for transporting the transport vehicle from the starting layer to the destination layer is determined. Each element of the interchangeable layer relationship in the interchangeable layer relationship set includes: an elevator number, a starting layer, a destination layer, and a layer change parameter. The layer corresponding to the available in-cache position of the elevator corresponding to the elevator number is the starting layer, and the layer corresponding to the available out-cache position of the elevator corresponding to the elevator number is the destination layer. The elevators here set in-cache positions and out-cache positions on each floor of the warehouse. The in-cache position is the cache position for entering the elevator, and the out-cache position is the cache position for exiting the elevator. The transport vehicle scheduling method of the embodiment of the present application mainly completes the layer change of the transport vehicle in a multi-layer warehouse, that is, the transport vehicle is vertically transported from the starting layer to the destination layer by the elevator. Therefore, the basic condition for the transport vehicle to change layers in a multi-layer warehouse is that there is an idle transport vehicle on the starting layer, and the same elevator has an available in-cache position on the starting layer and an available out-cache position on the destination layer.

[0076] Specifically, based on the transport vehicle resource information and the elevator resource information, a set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer is determined, including:

[0077] Initialize the replaceable layer relationship set, or clear the replaceable layer relationship set.

[0078] Based on the elevator resource information, the first elevator with both available inbound and outbound cache slots is searched for in the inbound and outbound cache slots of the elevators on each warehouse floor. The warehouse floor corresponding to the available inbound cache slot is designated as the first starting floor, and the warehouse floor corresponding to the available outbound cache slot is designated as the first destination floor. The floor-swappable relationship corresponding to the first elevator is designated as the first floor-swappable relationship. The initial value of the first floor-swappable parameter of the first floor-swappable relationship is set to zero.

[0079] The first layer-changeable relationship including the elements of the first layer number, the first starting layer, the first destination layer and the first layer-change parameter is written into the layer-changeable relationship set.

[0080] Invalid swappable relationships in the swappable relationship set are filtered based on the transporter resource information. Specifically, for each swappable relationship in the swappable relationship set, the total number of transporters in the starting layer is compared with a preset minimum transporter configuration parameter for each layer. This preset minimum transporter configuration parameter for each layer can be set in advance based on user needs.

[0081] If the total number of transport vehicles in the starting layer is less than or equal to the preset minimum transport vehicle configuration parameter per layer, the layer-swappable relationship corresponding to the starting layer is filtered from the layer-swappable relationship set. In addition, the layer-swappable relationship corresponding to the starting layer without idle transport vehicles is filtered from the layer-swappable relationship set.

[0082] In step S203, it is determined whether the layer-changeable relationship set is empty. If the layer-changeable relationship set is empty, the current inter-layer scheduling is terminated. If the layer-changeable relationship set is not empty, step S204 is executed.

[0083] In this step, it is determined whether the layer-swappable relationship set is empty. If the layer-swappable relationship set is empty, the current inter-layer scheduling is terminated. If the layer-swappable relationship set is not empty, step S204 is executed.

[0084] In step 204, the layer switching parameters of each layer switching relationship in the layer switching relationship set are calculated according to the distribution status of the freight tasks and the real-time resource information.

[0085] In this step, the layer switching parameters for each layer-swappable relationship in the layer-swappable relationship set are calculated based on the freight task allocation and real-time resource information. First, the layer switching parameters for the starting layer of each layer-swappable relationship are calculated based on the freight task allocation and the set of idle transport vehicles on each layer. Then, the layer switching parameters for the destination layer of each layer-swappable relationship are calculated based on the freight task allocation, the destination layer outbound task priority parameters, and the set of idle transport vehicles on each layer. Secondly, the layer switching parameters for the corresponding layer-swappable relationship are calculated based on the layer switching parameters of the starting layer and the destination layer. Finally, the layer switching parameters are updated in the corresponding layer-swappable relationship.

[0086] Specifically, based on the distribution of freight tasks and the set of idle transport vehicles on each layer, the calculation formula for the layer switching parameter of the starting layer of each layer switching relationship is:

[0087] The layer change parameter of the starting layer = the task parameter of the starting layer - the idle transport vehicle parameter of the starting layer (1)

[0088] Among them, the task parameters of the starting layer = the inbound task parameters of the starting layer + the outbound task parameters of the starting layer + the inventory task parameters of the starting layer + the outbound task parameters of the starting layer near the cut-off time; the inbound task parameters of the starting layer = the number of inbound tasks of the starting layer × the inbound task parameter weight; the outbound task parameters of the starting layer = the number of outbound tasks of the starting layer × the outbound task parameter weight; the inventory task parameters of the starting layer = the number of inventory tasks of the starting layer × the inventory task parameter weight; the outbound task parameters of the starting layer near the cut-off time = the number of outbound tasks of the starting layer near the cut-off time × the outbound task parameter weight near the cut-off time; the idle transport vehicle parameters of the starting layer = the number of idle transport vehicles of the starting layer × the idle transport vehicle parameter weight.

[0089] According to the distribution of freight tasks, the priority parameters of the outbound tasks at the destination layer, and the set of idle transport vehicles at each layer, the calculation formula for the layer switching parameters of each destination layer with a layer switching relationship is as follows:

[0090] The layer change parameter of the destination layer = the task parameter of the destination layer + the priority parameter of the outbound task of the destination layer - the idle transport vehicle parameter of the destination layer (2)

[0091] The task parameter of the destination layer = the destination layer's inbound task parameter + the destination layer's outbound task parameter + the destination layer's inventory task parameter + the destination layer's outbound task parameter near the cutoff time. The destination layer's inbound task parameter = the destination layer's number of inbound tasks × the inbound task parameter weight. The destination layer's outbound task parameter = the destination layer's number of outbound tasks × the outbound task parameter weight. The destination layer's inventory task parameter = the destination layer's number of inventory tasks × the inventory task parameter weight. The destination layer's outbound task parameter near the cutoff time = the destination layer's number of outbound tasks near the cutoff time × the outbound task parameter weight near the cutoff time. If the priority of all outbound tasks in the destination layer is greater than the priority of all outbound tasks in the starting layer, the destination layer's outbound task priority parameter = the outbound task priority parameter weight. If the priority of all outbound tasks in the destination layer is less than or equal to the priority of all outbound tasks in the starting layer, the destination layer's outbound task priority parameter is zero. The destination layer's idle transport vehicle parameter = the destination layer's number of idle transport vehicles × the idle transport vehicle parameter weight.

[0092] According to the layer switching parameters of the starting layer and the target layer, the layer switching parameters of the corresponding layer switching relationship are calculated as follows:

[0093] The layer-changing parameter of the layer-changing relationship = the layer-changing parameter of the target layer - the layer-changing parameter of the starting layer (3).

[0094] The parameter weights of the incoming task, outgoing task, inventory task, outgoing task nearing the cut-off time, idle transport vehicle, and outgoing task priority can be set in advance according to user needs.

[0095] In step 205, it is determined whether the maximum layer switching parameter is greater than or equal to the preset layer switching configuration parameter. If the maximum layer switching parameter is less than the preset layer switching configuration parameter, the current inter-layer scheduling is terminated. If the maximum layer switching parameter is greater than or equal to the preset layer switching configuration parameter, step 206 is executed.

[0096] In this step, the maximum layer switching parameter is found from the layer switching parameters of each layer switching relationship in the calculated set of layer switching relationships. A determination is then made as to whether the maximum layer switching parameter is greater than or equal to the preset layer switching configuration parameters. The preset layer switching configuration parameters can be pre-set based on user needs. If the maximum layer switching parameter is less than the preset layer switching configuration parameters, the current inter-layer scheduling is terminated. If the maximum layer switching parameter is greater than or equal to the preset layer switching configuration parameters, step 206 is executed.

[0097] In step 206, at the starting layer in the layer-changing relationship corresponding to the largest layer-changing parameter, an idle transport vehicle closest to the available cache position of the elevator is selected to issue an inter-layer scheduling instruction. According to the inter-layer scheduling instruction, the elevator is controlled to perform inter-layer scheduling on the idle transport vehicle. After updating the real-time resource information, step S202 is re-executed, that is, based on the transport vehicle resource information and the elevator resource information, the set of layer-changing relationships for transporting the transport vehicle from the starting layer to the destination layer is re-determined.

[0098] In this step, at the starting level of the swappable layer relationship corresponding to the maximum layer swap parameter, an idle transport vehicle closest to the elevator's buffer slot corresponding to the elevator number in the swappable layer relationship is selected to issue an inter-layer scheduling instruction. Based on the inter-layer scheduling instruction, the corresponding elevator is controlled to perform inter-layer scheduling on the idle transport vehicle.

[0099] Updating real-time resource information includes updating vehicle resource information. This can involve removing vehicles currently changing levels from the total vehicle set and idle vehicle set of the starting level. Alternatively, vehicles currently changing levels can be removed from the total vehicle set and idle vehicle set of the starting level and recorded in the total vehicle set of the destination level.

[0100] Updating real-time resource information includes updating elevator resource information. This may involve marking the in-cache position of the elevator currently performing a floor change task as unavailable in the in-cache position set of the starting floor, and marking the out-cache position of the elevator currently performing a floor change task as unavailable in the out-cache position set of the destination floor. After the elevator completes the floor change task, the in-cache position of the elevator currently performing the floor change task is marked as available in the in-cache position set of the starting floor, and the out-cache position of the elevator currently performing the floor change task is marked as available in the out-cache position set of the destination floor.

[0101] After the real-time resource information is updated, step S202 is executed again, that is, based on the transport vehicle resource information and the elevator resource information, a set of interchangeable layer relationships for transporting the transport vehicle from the starting layer to the destination layer is re-determined.

[0102] According to an embodiment of the present invention, a set of interchangeable relationships for transporting a transport vehicle from a starting level to a destination level is determined based on transport vehicle resource information and elevator resource information. Based on the distribution of freight tasks and real-time resource information, the level-changing parameters for each interchangeable relationship in the set are calculated. The maximum level-changing parameter is found from the calculated level-changing parameters for each interchangeable relationship in the set. A determination is then made as to whether the maximum level-changing parameter is greater than or equal to a preset level-changing configuration parameter. If the maximum level-changing parameter is greater than or equal to the preset level-changing configuration parameter, an idle transport vehicle closest to the elevator cache corresponding to the elevator number in the interchangeable relationship is selected for the starting level in the interchangeable relationship corresponding to the maximum level-changing parameter, and an inter-level scheduling instruction is issued. Based on the inter-level scheduling instruction, the corresponding elevator is controlled to perform inter-level scheduling for the idle transport vehicle. This further improves the balanced allocation of transport vehicle resources in a multi-layer warehouse.

[0103] The calculation process of the layer-changing parameters of each layer-changing relationship in the layer-changing relationship set is as follows: first, based on the distribution of freight tasks and the set of idle transport vehicles on each layer, the layer-changing parameters of the starting layer of each layer-changing relationship are calculated. Then, based on the distribution of freight tasks, the priority parameters of the outbound tasks on the destination layer and the set of idle transport vehicles on each layer, the layer-changing parameters of the destination layer of each layer-changing relationship are calculated. Secondly, based on the layer-changing parameters of the starting layer and the layer-changing parameters of the destination layer, the layer-changing parameters of the corresponding layer-changing relationship are calculated. Finally, the layer-changing parameters are updated to the corresponding layer-changing relationship. Combined with the task priority of freight tasks in the multi-layer warehouse, transport vehicle resources are scheduled between layers, so that freight tasks with high task priority have priority in having transport vehicle resources available, thereby improving the working efficiency of transport vehicles.

[0104] Figure 4 FIG. 1 is a schematic diagram of the structure of a dispatching device for a transport vehicle according to an embodiment of the present invention. Figure 4 As shown, the transport vehicle scheduling device includes: an acquisition unit 401 and a scheduling unit 402.

[0105] The acquisition unit 401 is configured to acquire the distribution status of freight tasks and real-time resource information, wherein the real-time resource information includes: transport vehicle resource information and elevator resource information.

[0106] This unit is configured to obtain the distribution status of freight tasks and real-time resource information. Real-time resource information includes: transport vehicle resource information and elevator resource information. Freight tasks are divided into inbound tasks, outbound tasks, outbound tasks near the cut-off time, and inventory tasks. The distribution status of freight tasks includes: the inbound task set, outbound task set, outbound task set near the cut-off time, and inventory task set for each warehouse floor. Transport vehicle resources are divided into working transport vehicles and idle transport vehicles. The transport vehicle resource information for each warehouse floor includes: the total transport vehicle set and the idle transport vehicle set for each warehouse floor.

[0107] Each elevator floor has two buffer slots: inbound and outbound. The inbound buffer is for elevators entering the elevator, while the outbound buffer is for elevators exiting the elevator. All elevator buffers are divided into inbound and outbound buffers based on their buffer type. Elevator resource information for each floor includes the set of inbound and outbound buffer slots for each elevator floor.

[0108] The scheduling unit 402 is configured to use an elevator to move the transport vehicle from the starting layer to the destination layer of the multi-layer warehouse according to the distribution status of the freight task and real-time resource information, so as to realize the inter-layer resource allocation of the transport vehicle.

[0109] The unit is configured to determine the elevator used to move the transport vehicle from the starting floor to the destination floor based on the distribution of freight tasks and real-time resource information, control the elevator, and schedule the transport vehicle between floors. This unit can determine the elevator used to move the transport vehicle from the starting floor to the destination floor based on the distribution of freight tasks, transport vehicle resource information, and elevator resource information on each floor of the multi-story warehouse. Dynamic scheduling of transport vehicles on each floor of the warehouse can be performed to achieve floor-switching of transport vehicles, allowing idle transport vehicles on warehouse floors with less freight tasks to be transferred to warehouse floors with more freight tasks, ensuring that more transport vehicle resources are available on warehouse floors with more freight tasks.

[0110] In an optional embodiment of the present application, acquisition unit 401 is configured to obtain the distribution of freight tasks and real-time resource information. The real-time resource information includes transport vehicle resource information and elevator resource information. The transport vehicle here can be an automated guided vehicle. A timer can be set to periodically query the distribution of freight tasks, transport vehicle resource information, and elevator resource information in the multi-story warehouse.

[0111] Specifically, all freight tasks in multi-layer warehouses are periodically queried and categorized by task type for each warehouse floor. This results in a distribution of freight tasks for each warehouse floor, including: an inbound task set, an outbound task set, an outbound task set with a near-cutoff time, and an inventory task set. The near-cutoff time determination condition is: if the difference in minutes between the outbound task's cutoff time and the current time is less than or equal to the preset number of minutes near the cutoff time, the outbound task is considered a near-cutoff time outbound task. The preset number of minutes near the cutoff time can be set in advance based on user needs.

[0112] The working status of all transport vehicles in the multi-layer warehouse is queried regularly, and the transport vehicles in each layer of the warehouse are classified according to the working status to obtain the transport vehicle resource information of each layer of the warehouse, including: the set of all transport vehicles and the set of idle transport vehicles in each layer of the warehouse.

[0113] Regularly query all elevator information in the multi-layer warehouse, and classify the cache bits of all elevators in each layer of the warehouse according to the cache bit type to obtain the elevator resource information of each layer of the warehouse, including: the cache bit set and cache bit set of the elevators in each layer of the warehouse.

[0114] In an optional embodiment of the present application, the scheduling unit 402 is configured to determine a set of interchangeable layer relationships for transporting a transport vehicle from a starting layer to a destination layer based on transport vehicle resource information and elevator resource information. Each element of an interchangeable layer relationship in the interchangeable layer relationship set includes an elevator number, a starting layer, a destination layer, and a layer change parameter. The layer corresponding to the available in-cache position of the elevator corresponding to the elevator number is the starting layer, and the layer corresponding to the available out-cache position of the elevator corresponding to the elevator number is the destination layer. The elevators herein have in-cache and out-cache positions on each floor of the warehouse. The in-cache position is the cache position for entering the elevator, and the out-cache position is the cache position for exiting the elevator. The transport vehicle scheduling method of the embodiment of the present application primarily completes the layer change of transport vehicles in a multi-layer warehouse, that is, vertically transporting the transport vehicle from the starting layer to the destination layer via the elevator. Therefore, the basic condition for a transport vehicle to change layers in a multi-layer warehouse is that there are idle transport vehicles on the starting layer, and the same elevator has available in-cache positions on the starting layer and available out-cache positions on the destination layer.

[0115] Specifically, based on the transport vehicle resource information and the elevator resource information, a set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer is determined, including:

[0116] Initialize the replaceable layer relationship set, or clear the replaceable layer relationship set.

[0117] Based on the elevator resource information, the first elevator with both available inbound and outbound cache slots is searched for in the inbound and outbound cache slots of the elevators on each warehouse floor. The warehouse floor corresponding to the available inbound cache slot is designated as the first starting floor, and the warehouse floor corresponding to the available outbound cache slot is designated as the first destination floor. The floor-swappable relationship corresponding to the first elevator is designated as the first floor-swappable relationship. The initial value of the first floor-swappable parameter of the first floor-swappable relationship is set to zero.

[0118] The first layer-changeable relationship including the elements of the first layer number, the first starting layer, the first destination layer and the first layer-change parameter is written into the layer-changeable relationship set.

[0119] Invalid swappable relationships in the swappable relationship set are filtered based on the transporter resource information. Specifically, for each swappable relationship in the swappable relationship set, the total number of transporters in the starting layer is compared with a preset minimum transporter configuration parameter for each layer. This preset minimum transporter configuration parameter for each layer can be set in advance based on user needs.

[0120] If the total number of transport vehicles in the starting layer is less than or equal to the preset minimum transport vehicle configuration parameter per layer, the layer-swappable relationship corresponding to the starting layer is filtered from the layer-swappable relationship set. In addition, the layer-swappable relationship corresponding to the starting layer without idle transport vehicles is filtered from the layer-swappable relationship set.

[0121] Determine whether the set of interchangeable layer relationships is empty. If the set of interchangeable layer relationships is empty, end this inter-layer scheduling. If the set of interchangeable layer relationships is not empty, calculate the layer-changing parameters of each interchangeable layer relationship in the set of interchangeable layer relationships based on the distribution of freight tasks and real-time resource information. First, calculate the layer-changing parameters of the starting layer of each interchangeable layer relationship based on the distribution of freight tasks and the set of idle transport vehicles on each layer. Then, calculate the layer-changing parameters of the destination layer of each interchangeable layer relationship based on the distribution of freight tasks, the priority parameters of the outbound tasks of the destination layer, and the set of idle transport vehicles on each layer. Secondly, calculate the layer-changing parameters of the corresponding interchangeable layer relationship based on the layer-changing parameters of the starting layer and the layer-changing parameters of the destination layer. Finally, update the layer-changing parameters to the corresponding interchangeable layer relationship.

[0122] Specifically, based on the distribution of freight tasks and the set of idle transport vehicles on each layer, the calculation formula for the layer switching parameter of the starting layer of each layer switching relationship is:

[0123] The layer change parameter of the starting layer = the task parameter of the starting layer - the idle transport vehicle parameter of the starting layer (1)

[0124] Among them, the task parameters of the starting layer = the inbound task parameters of the starting layer + the outbound task parameters of the starting layer + the inventory task parameters of the starting layer + the outbound task parameters of the starting layer near the cut-off time; the inbound task parameters of the starting layer = the number of inbound tasks of the starting layer × the inbound task parameter weight; the outbound task parameters of the starting layer = the number of outbound tasks of the starting layer × the outbound task parameter weight; the inventory task parameters of the starting layer = the number of inventory tasks of the starting layer × the inventory task parameter weight; the outbound task parameters of the starting layer near the cut-off time = the number of outbound tasks of the starting layer near the cut-off time × the outbound task parameter weight near the cut-off time; the idle transport vehicle parameters of the starting layer = the number of idle transport vehicles of the starting layer × the idle transport vehicle parameter weight.

[0125] According to the distribution of freight tasks, the priority parameters of the outbound tasks at the destination layer, and the set of idle transport vehicles at each layer, the calculation formula for the layer switching parameters of each destination layer with a layer switching relationship is as follows:

[0126] The layer change parameter of the destination layer = the task parameter of the destination layer + the priority parameter of the outbound task of the destination layer - the idle transport vehicle parameter of the destination layer (2)

[0127] The task parameter of the destination layer = the destination layer's inbound task parameter + the destination layer's outbound task parameter + the destination layer's inventory task parameter + the destination layer's outbound task parameter near the cutoff time. The destination layer's inbound task parameter = the destination layer's number of inbound tasks × the inbound task parameter weight. The destination layer's outbound task parameter = the destination layer's number of outbound tasks × the outbound task parameter weight. The destination layer's inventory task parameter = the destination layer's number of inventory tasks × the inventory task parameter weight. The destination layer's outbound task parameter near the cutoff time = the destination layer's number of outbound tasks near the cutoff time × the outbound task parameter weight near the cutoff time. If the priority of all outbound tasks in the destination layer is greater than the priority of all outbound tasks in the starting layer, the destination layer's outbound task priority parameter = the outbound task priority parameter weight. If the priority of all outbound tasks in the destination layer is less than or equal to the priority of all outbound tasks in the starting layer, the destination layer's outbound task priority parameter is zero. The destination layer's idle transport vehicle parameter = the destination layer's number of idle transport vehicles × the idle transport vehicle parameter weight.

[0128] According to the layer switching parameters of the starting layer and the target layer, the layer switching parameters of the corresponding layer switching relationship are calculated as follows:

[0129] The layer-changing parameter of the layer-changing relationship = the layer-changing parameter of the target layer - the layer-changing parameter of the starting layer (3).

[0130] The parameter weights of the incoming task, outgoing task, inventory task, outgoing task nearing the cut-off time, idle transport vehicle, and outgoing task priority can be set in advance according to user needs.

[0131] From the layer-changing parameters of each layer-changing relationship in the calculated set of layer-changing relationships, find the maximum layer-changing parameter. Determine whether the maximum layer-changing parameter is greater than or equal to the preset layer-changing configuration parameter. The preset layer-changing configuration parameter can be set in advance according to user needs. If the maximum layer-changing parameter is less than the preset layer-changing configuration parameter, then end this inter-layer scheduling. If the maximum layer-changing parameter is greater than or equal to the preset layer-changing configuration parameter, then at the starting layer of the layer-changing relationship corresponding to the maximum layer-changing parameter, select the idle transport vehicle closest to the cache position of the elevator corresponding to the elevator number in the layer-changing relationship to issue an inter-layer scheduling instruction. According to the inter-layer scheduling instruction, control the corresponding elevator and perform inter-layer scheduling on the idle transport vehicle.

[0132] Updating real-time resource information includes updating vehicle resource information. This can involve removing vehicles currently changing levels from the total vehicle set and idle vehicle set of the starting level. Alternatively, vehicles currently changing levels can be removed from the total vehicle set and idle vehicle set of the starting level and recorded in the total vehicle set of the destination level.

[0133] Updating real-time resource information includes updating elevator resource information. This may involve marking the in-cache position of the elevator currently performing a floor change task as unavailable in the in-cache position set of the starting floor, and marking the out-cache position of the elevator currently performing a floor change task as unavailable in the out-cache position set of the destination floor. After the elevator completes the floor change task, the in-cache position of the elevator currently performing the floor change task is marked as available in the in-cache position set of the starting floor, and the out-cache position of the elevator currently performing the floor change task is marked as available in the out-cache position set of the destination floor.

[0134] After the real-time resource information is updated, the set of layer-changeable relationships for moving the transport vehicle from the starting layer to the destination layer is re-determined based on the transport vehicle resource information and the elevator resource information.

[0135] Figure 5 A structural diagram of a dispatching control device for a transport vehicle according to an embodiment of the present invention. Figure 5 The device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0136] refer to Figure 5The device includes a processor 501, a memory 502, and input / output devices 503 connected via a bus. Memory 502 includes read-only memory (ROM) and random access memory (RAM). Memory 502 stores various computer instructions and data required to execute system functions. Processor 501 reads various computer instructions from memory 502 to execute various appropriate actions and processes. Input / output devices include input components such as a keyboard and mouse; output components such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; storage components such as a hard disk; and communication components such as a network interface card (NIC) such as a LAN card and a modem. Memory 502 also stores the following computer instructions to perform the operations specified in the transport vehicle scheduling method of an embodiment of the present invention: obtaining freight task allocation and real-time resource information, the real-time resource information including transport vehicle resource information and elevator resource information; and using an elevator to move a transport vehicle from the starting floor of the multi-story warehouse to the destination floor based on the freight task allocation and real-time resource information to achieve inter-floor resource allocation for the transport vehicle.

[0137] Accordingly, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed, the operations specified by the above-mentioned transportation vehicle scheduling method are implemented.

[0138] Accordingly, an embodiment of the present invention further provides a computer program product, including a computer program product, wherein the computer program includes program instructions, and when the program instructions are executed by a mobile terminal, the mobile terminal executes the steps of the above-mentioned transport vehicle scheduling method.

[0139] The flowcharts and block diagrams in the accompanying drawings illustrate the possible system frameworks, functions, and operations of the systems, methods, and devices of the embodiments of the present invention. The boxes in the flowcharts and block diagrams can represent a module, a program segment, or simply a piece of code. The modules, program segments, and codes are all executable instructions for implementing the specified logical functions. It should also be noted that the executable instructions for implementing the specified logical functions can be recombined to generate new modules and program segments. Therefore, the boxes and the order of the boxes in the accompanying drawings are only used to better illustrate the processes and steps of the embodiments and should not be used as a limitation of the invention itself.

[0140] The foregoing description is merely a few embodiments of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for dispatching transport vehicles for a multi-storey warehouse, characterized in that: include: Obtaining the distribution status of freight tasks and real-time resource information, the real-time resource information including: transport vehicle resource information and elevator resource information; According to the distribution of the freight tasks and real-time resource information, a hoist is used to move the transport vehicle from the starting floor of the multi-story warehouse to the destination floor to achieve inter-floor resource allocation of the transport vehicle. A set of interchangeable layer relationships for transporting a transport vehicle from a starting layer to a destination layer is determined based on the transport vehicle resource information and the elevator resource information. The elements of the interchangeable layer relationship include: an elevator number, a starting layer, a destination layer, and a layer change parameter. The elevator number is the number of an elevator with both available in-cache and out-cache positions. The starting layer is the warehouse layer corresponding to the available in-cache position of the elevator, and the destination layer is the warehouse layer corresponding to the available out-cache position of the elevator. The layer change parameter is calculated based on the distribution of freight tasks and real-time resource information. The layer change parameter is positively correlated with the outbound task priority parameter of the destination layer. If the largest layer change parameter in the set of interchangeable layer relationships is greater than or equal to a preset interchangeable layer configuration parameter, an idle transport vehicle closest to the in-cache position of the elevator corresponding to the elevator number in the interchangeable layer relationship, in the starting layer of the interchangeable layer relationship corresponding to the largest layer change parameter, is selected and an inter-layer scheduling instruction is issued to transport the transport vehicle from the starting layer to the destination layer.

2. The method for dispatching transport vehicles according to claim 1, characterized in that: The transport vehicle resource information includes: a set of all transport vehicles and a set of idle transport vehicles on each layer; The elevator resource information includes: an in-cache bit set and an out-cache bit set of the elevators on each layer.

3. The method for dispatching transport vehicles according to claim 2, characterized in that: The method of using a hoist to transport the transport vehicle from the starting floor of the multi-story warehouse to the destination floor according to the distribution of the freight tasks and the real-time resource information to achieve inter-floor resource allocation of the transport vehicle includes: Determine whether the layer-changeable relationship set is empty; If the set of layer-changeable relationships is empty, then the current inter-layer scheduling is terminated; If the layer-swappable relationship set is not empty, the layer-swappable parameter of each layer-swappable relationship in the layer-swappable relationship set is calculated according to the distribution of the freight tasks and the real-time resource information.

4. The method for dispatching transport vehicles according to claim 3, characterized in that: The method further comprises: using a hoist to move the transport vehicle from the starting floor of the multi-story warehouse to the destination floor according to the distribution status of the freight task and the real-time resource information, so as to realize the inter-floor resource distribution of the transport vehicle; Determining whether the maximum layer-changing parameter is greater than or equal to a preset layer-changing configuration parameter; If the maximum layer switching parameter is less than the preset layer switching configuration parameter, then the current inter-layer scheduling is terminated; According to the inter-layer scheduling instruction, the hoist is controlled to perform inter-layer scheduling on the idle transport vehicle. After the real-time resource information is updated, a set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer is re-determined based on the transport vehicle resource information and the elevator resource information.

5. The method for dispatching transport vehicles according to claim 4, characterized in that: The step of determining a set of layer-changeable relationships for transporting the transport vehicle from the starting layer to the destination layer based on the transport vehicle resource information and the elevator resource information includes: Initializing the layer-changeable relationship set; According to the elevator resource information, searching for a first elevator having both available in-cache bits and available out-cache bits in the in-cache bit set and the out-cache bit set of the elevators on each layer, wherein the layer corresponding to the available in-cache bits is the first starting layer, and the layer corresponding to the available out-cache bits is the first destination layer, the layer switchable relationship corresponding to the first elevator is used as the first layer switchable relationship, and the initial value of a first layer switch parameter of the first layer switchable relationship is set to zero; Writing the first layer-swappable relationship into the layer-swappable relationship set; and Invalid layer-swappable relationships are filtered out according to the transport vehicle resource information.

6. The method for dispatching transport vehicles according to claim 5, characterized in that: The filtering of invalid layer-swappable relationships according to the transport vehicle resource information includes: In each of the layer-swappable relationships in the layer-swappable relationship set, the number of all transport vehicles in the starting layer is compared with a preset minimum transport vehicle configuration parameter per layer; If the number of all transport vehicles in the starting layer is less than or equal to the preset minimum transport vehicle configuration parameter per layer, filtering the layer-swappable relationship corresponding to the starting layer from the layer-swappable relationship set; The layer-changing relationships corresponding to the starting layer without an idle transport vehicle are filtered from the layer-changing relationship set.

7. The method for dispatching transport vehicles according to claim 6, characterized in that: The calculating, based on the distribution of the freight tasks and the real-time resource information, the layer switching parameter of each layer switching relationship in the layer switching relationship set includes: Calculating the layer switching parameters of the starting layer of each layer-swappable relationship according to the distribution of the freight tasks and the set of idle transport vehicles on each layer; Calculate the layer switching parameter of the destination layer of each layer-swappable relationship according to the distribution of the freight tasks, the priority parameter of the destination layer outbound tasks, and the set of idle transport vehicles on each layer; The layer switching parameters of the corresponding layer-switchable relationship are calculated according to the layer switching parameters of the starting layer and the layer switching parameters of the target layer, and the layer switching parameters are updated into the corresponding layer-switchable relationship.

8. The method for dispatching transport vehicles according to claim 7, characterized in that: The distribution of freight tasks at each level includes: inbound task set, outbound task set, outbound task set close to the order cut-off time, and inventory task set. The calculation formula for calculating the layer switching parameter of the starting layer of each layer-swappable relationship based on the distribution of the freight tasks and the set of idle transport vehicles on each layer is: The calculation formula for calculating the layer switching parameter of the destination layer of each layer-swappable relationship based on the distribution of the freight tasks, the priority parameter of the destination layer outbound tasks, and the set of idle transport vehicles on each layer is: The layer switching parameter of the corresponding layer-switchable relationship is calculated according to the layer switching parameter of the starting layer and the layer switching parameter of the target layer as follows:

9. A dispatching device for transport vehicles in a multi-storey warehouse, characterized in that: include: An acquisition unit is configured to acquire the distribution status of freight tasks and real-time resource information, wherein the real-time resource information includes: transport vehicle resource information and elevator resource information; The dispatching unit is configured to use a hoist to move the transport vehicle from the starting floor to the destination floor of the multi-story warehouse according to the distribution of the freight task and real-time resource information, so as to realize the inter-floor resource allocation of the transport vehicle. A set of interchangeable layer relationships for transporting a transport vehicle from a starting layer to a destination layer is determined based on the transport vehicle resource information and the elevator resource information. The elements of the interchangeable layer relationship include: an elevator number, a starting layer, a destination layer, and a layer change parameter. The elevator number is the number of an elevator with both available in-cache and out-cache positions. The starting layer is the warehouse layer corresponding to the available in-cache position of the elevator, and the destination layer is the warehouse layer corresponding to the available out-cache position of the elevator. The layer change parameter is calculated based on the distribution of freight tasks and real-time resource information. The layer change parameter is positively correlated with the outbound task priority parameter of the destination layer. If the largest layer change parameter in the set of interchangeable layer relationships is greater than or equal to a preset interchangeable layer configuration parameter, an idle transport vehicle closest to the in-cache position of the elevator corresponding to the elevator number in the interchangeable layer relationship, in the starting layer of the interchangeable layer relationship corresponding to the largest layer change parameter, is selected and an inter-layer scheduling instruction is issued to transport the transport vehicle from the starting layer to the destination layer.

10. A dispatching control device for a transport vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the transport vehicle scheduling method described in any one of claims 1 to 8 above.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the method for dispatching transport vehicles according to any one of claims 1 to 8 is implemented.

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