A method, device, electronic device and storage medium for dynamic planning of transport path

Abstract

The present invention provides a method, device, electronic device and storage medium for dynamic planning of a transport path. The method comprises: pre-configuring corresponding routing information and equipment information for each routing point in a warehouse control system; receiving a path planning request for a transport task from a starting point S to a destination point D; determining an optimal transport path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehouse control system, and determining the optimal transport path as the transport path of the transport task; for each routing point passed by the transport path of the transport task, selecting a transport device for executing the transport task in the routing point according to the equipment information corresponding to the routing point; and returning the transport path of the transport task and the transport device information for executing the transport task in each routing point passed by the transport path of the transport task.

Description

Technical Field

[0001] The present invention relates to the field of warehouse control technology, and in particular to a method, device, electronic equipment and storage medium for dynamic planning of a transport path. Background Art

[0002] In current warehouse control systems, when moving a carrier (such as a container or pallet) from a starting point to a destination, it will pass through one or more types of transport equipment. Currently, there are two common methods for selecting and controlling the execution order of transport equipment:

[0003] The first is the hard-coding method, which solidifies the device selection and execution order during the coding process. This method requires coding configuration for each project. The coding implementation is complex and highly coupled with the project and the device.

[0004] The second is the data configuration method, which is to set the device selection and execution order through configuration files or data tables. This method can solve the shortcomings of the hard coding method, but the configuration file method is single and only applicable to the execution scenario of a single device. If a node contains multiple handling devices, each handling device needs to be configured, the data is redundant and the implementation is cumbersome. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a method, device, electronic device and storage medium for dynamic planning of a transport path, which can reduce data redundancy and is simple to implement.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A method for dynamic planning of a transport path, comprising:

[0008] Receive a path planning request for a transport task from a starting point S to a destination point D;

[0009] According to the routing information corresponding to each routing point in the warehouse control system, determine the optimal transportation path from the starting point S to the destination point D, and determine the optimal transportation path as the transportation path of the transportation task; wherein the routing information corresponding to each routing point is pre-set;

[0010] For each routing point that the transport path of the transport task passes through, a transport device for executing the transport task is selected in the routing point according to the device information corresponding to the routing point; wherein the device information corresponding to each routing point is preset;

[0011] Return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point passed by the transport path of the transport task.

[0012] A transport path dynamic planning device, comprising:

[0013] A receiving unit, configured to receive a path planning request for a transport task from a starting point S to a destination point D;

[0014] A path selection unit, used to determine an optimal transport path from a starting point S to a destination point D according to the routing information corresponding to each routing point in the warehouse control system, and determine the optimal transport path as the transport path of the transport task; wherein the routing information corresponding to each routing point is preset;

[0015] An equipment selection unit, for selecting a transport equipment for executing the transport task from each routing point through which the transport path of the transport task passes according to the equipment information corresponding to the routing point; wherein the equipment information corresponding to each routing point is preset;

[0016] The feedback unit is used to return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point passed by the transport path of the transport task.

[0017] An electronic device comprises: at least one processor, and a memory connected to the at least one processor via a bus; the memory stores one or more computer programs executable by the at least one processor; when the at least one processor executes the one or more computer programs, the steps in the above-mentioned transport path dynamic planning method are implemented.

[0018] A computer-readable storage medium stores one or more computer programs, and when the one or more computer programs are executed by a processor, the steps in the above-mentioned transport path dynamic planning method are implemented.

[0019] It can be seen from the above technical solution that in the present invention, the routing information and equipment information corresponding to each routing point in the warehouse control system are pre-configured; after receiving a path planning request for a transport task from the starting point S to the destination point D, the transport path is planned according to the routing information corresponding to each routing point, and the transport equipment in each routing point in the transport path is selected according to the equipment information corresponding to each routing point, thereby completing the path planning and executing equipment selection. Since the present application dynamically plans the transport path for the transport task and selects the execution equipment, there is no need to pre-configure the transport path and the execution equipment, which can effectively reduce data redundancy and is simple to implement, and since the optimal transport path for the transport task can be planned, the transport efficiency of the transport task can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments 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 these drawings without paying creative labor.

[0021] Figure 1 This is a flow chart of a method for dynamic planning of a transport path according to a first embodiment of the present invention;

[0022] Figure 2 This is a flow chart of a method for dynamic planning of a transport path according to a second embodiment of the present invention;

[0023] Figure 3 This is a flow chart of a method for dynamic planning of a transport path according to a third embodiment of the present invention;

[0024] Figure 4 This is a flow chart of a method for dynamic planning of a transport path according to a fourth embodiment of the present invention;

[0025] Figure 5 This is a flow chart of a method for dynamic planning of a transport path according to a fifth embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of a transport path dynamic planning device according to an embodiment of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In the specification and claims of the present invention and the above drawings, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0030] In a warehouse control system, transporting a carrier from a starting point to a destination point may require the participation of multiple transport equipment and go through multiple transport sections. In an embodiment of the present invention, the section through which a carrier is transported by a single transport equipment is referred to as a transport section. For example, to transport a carrier from position A on the first floor to position B on the second floor, at least one transport equipment is required to transport the carrier from position A on the first floor to the elevator on the first floor, transport it to the second floor via the elevator, and then the transport equipment on the second floor transports the carrier from the elevator to position B on the second floor. This transport process uses the transport equipment on the first floor, the elevator, and the transport equipment on the second floor, and goes through three transport sections: position A—elevator entrance on the first floor, elevator on the first floor—elevator on the second floor, elevator on the second floor—position B.

[0031] In the embodiment of the present invention, the position for selecting and / or replacing the handling equipment for performing the handling task is called a routing point. For example, in the execution process of the handling task of transporting a carrier from position A on the first floor to position B on the second floor, the handling equipment for the handling task needs to be selected at position A, and the handling equipment for the handling task needs to be replaced at the elevator entrance on the first floor and the elevator entrance on the second floor. Therefore, position A, the elevator entrance on the first floor, and the elevator entrance on the second floor are all routing points. In addition, since the handling task may also be a handling task from position B to other positions (such as position A), position B is also a routing point in the warehouse control system.

[0032] In an embodiment of the present invention, routing points are divided into central routing points and edge routing points, wherein the central routing points are used to replace the transport equipment (and thus change the transport route) during the execution of the transport task, such as the first floor elevator entrance and the second floor elevator entrance mentioned above, and the edge routing points are usually the starting point and destination point of the transport task and cannot be used to replace the transport equipment, such as the above-mentioned position A and position B.

[0033] The following is a detailed introduction to the transport path dynamic planning method provided by an embodiment of the present invention in conjunction with the accompanying drawings.

[0034] See also Figure 1 , Figure 1 : is a flow chart of a method for dynamic planning of a transport path according to an embodiment of the present invention. Figure 1 As shown, the method mainly includes the following steps:

[0035] Step 101, pre-configure routing point information for each routing point in the warehouse control system; wherein each routing point information includes routing information and device information corresponding to the routing point;

[0036] This step 101 is only executed once at the initial startup, and each time a path planning request is received after startup, only the path planning process from step 102 to step 105 needs to be executed.

[0037] Step 102: receiving a path planning request for a transport task from a starting point S to a destination point D;

[0038] Step 103: Determine the optimal transport path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehouse control system, and determine the optimal transport path as the transport path of the transport task;

[0039] Step 104: for each routing point that the transport path of the transport task passes through, select a transport device for executing the transport task in the routing point according to the device information corresponding to the routing point;

[0040] Step 105: Return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point that the transport path of the transport task passes through.

[0041] from Figure 1 It can be seen from the method shown that in this embodiment, the routing information and equipment information corresponding to each routing point in the warehouse control system are pre-configured; after receiving a path planning request for a transport task from the starting point S to the destination point D, the transport path is planned according to the routing information corresponding to each routing point, and the transport equipment in each routing point in the transport path is selected according to the equipment information corresponding to each routing point, thereby completing the path planning and executing equipment selection. Since the transport path is dynamically planned for the transport task and the execution equipment is selected in the present application, there is no need to configure the transport path and the execution equipment in advance, which can effectively reduce data redundancy and is simple to implement, and since the optimal transport path of the transport task can be planned, the transport efficiency of the transport task can also be improved.

[0042] See also Figure 2 , Figure 2 : is a flow chart of a method for dynamic planning of a transport path according to a second embodiment of the present invention. Figure 2 As shown, the method mainly includes the following steps:

[0043] Step 201, pre-configure routing point information for each routing point in the warehouse control system; wherein each routing point information includes routing information and device information corresponding to the routing point;

[0044] In this embodiment, the routing information corresponding to each routing point includes: routing link information with the routing point as the only intermediate node, and the use status of each routing link; the use status includes available and unavailable.

[0045] In this embodiment, the availability of the routing link can be dynamically set by the staff according to the specific situation, and can also be set by the warehouse control system according to the operating status of the routing link. For example, when a certain transport equipment stops traveling on the routing link due to a malfunction, it will affect the travel of other transport equipment on the routing link. At this time, the usage status of the routing link can be set to unavailable, so that when planning the transport path of subsequent transport tasks, the transport path containing the routing link will no longer be considered.

[0046] Step 202: receiving a path planning request for a transport task from a starting point S to a destination point D;

[0047] In this embodiment, when a new transport task is generated or received in the warehouse control system, a path planning request for the new transport task can be issued, and the starting point S and destination point D of the new transport task are the starting point and destination point of the transport path to be planned.

[0048] Step 2031, searching for a routing link with an available status in the routing information corresponding to each routing point;

[0049] In this embodiment, when performing path planning, only routing links that are in an available state are considered, so that all routing links included in the transport path finally planned are available, thereby ensuring smooth execution of subsequent transport tasks.

[0050] Step 2032: Determine all transport paths from the starting point S to the destination point D according to the routing link information whose usage status is available;

[0051] Step 2033: Filter out the optimal transport path from the starting point S to the destination point D from the determined transport paths.

[0052] In practical applications, there may be multiple transport paths from the starting point S to the destination point D. Selecting the optimal transport path from these transport paths as the transport path for the transport task can improve the transport efficiency of subsequent transport tasks.

[0053] The above steps 2031 to 2033 are Figure 1 The specific refinement of step 103 is shown.

[0054] Step 204: for each routing point that the transport path of the transport task passes through, select a transport device for executing the transport task in the routing point according to the device information corresponding to the routing point;

[0055] Step 205: Return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point that the transport path of the transport task passes through.

[0056] In this embodiment, the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task may be returned to the warehouse control system as the path planning result of the transport task.

[0057] from Figure 2 It can be seen from the method shown that in this embodiment, the routing information and equipment information corresponding to each routing point in the warehouse control system are pre-configured; after receiving a path planning request for a transport task from the starting point S to the destination point D, the transport path is planned according to the routing links and the usage status of the routing links included in the routing information corresponding to each routing point, and the transport equipment in each routing point in the transport path is selected according to the equipment information corresponding to each routing point, thereby completing the path planning and executing equipment selection. Since the transport path is dynamically planned for the transport task and the execution equipment is selected in advance, there is no need to configure the transport path and the execution equipment in advance, which can effectively reduce data redundancy and is simple to implement. Moreover, since the optimal transport path of the transport task can be planned and the unavailable routing links can be excluded, the transport efficiency of the transport task can also be effectively improved.

[0058] See also Figure 3 , Figure 3 : is a flow chart of a method for dynamic planning of a transport path according to a third embodiment of the present invention. Figure 3 As shown, the method mainly includes the following steps:

[0059] Step 301, pre-configure routing point information for each routing point in the warehouse control system; wherein each routing point information includes routing information and device information corresponding to the routing point;

[0060] In this embodiment, the routing information corresponding to each routing point includes: routing link information with the routing point as the only intermediate node, and the usage status of each routing link; the usage status includes available and unavailable, where 0 can be used to represent available and 1 can be used to represent unavailable.

[0061] In this embodiment, the availability of the routing link can be dynamically set by the staff according to the specific situation, and can also be set by the warehouse control system according to the operating status of the routing link. For example, when a certain transport equipment stops traveling on the routing link due to a malfunction, it will affect the travel of other transport equipment on the routing link. At this time, the usage status of the routing link can be set to unavailable, so that when planning the transport path of subsequent transport tasks, the transport path containing the routing link will no longer be considered.

[0062] In this embodiment, the routing link information includes: the starting node and the ending node of the routing link. Since each routing link of each routing point uses the routing point as the only intermediate node, it can be known that the routing link is: starting node-the routing point-ending node, and the routing link includes 3 routing points in total.

[0063] Table 1 is an example of routing link information for multiple routing points in a warehouse control system:

[0064] Routing link number Routing point (intermediate node) Start Node End Node Use Status 1 R01 A R02 0 2 R01 A R04 0 3 R02 R01 R03 0 4 R03 R02 B 0 5 R03 R04 B 0 6 R04 R01 R03 0 7 R04 R01 C 0

[0065] Table 1

[0066] As can be seen from Table 1 above, the warehouse control system includes 7 routing points in total, A, B, and C are edge routing points, and R01, R02, R03, and R04 are central routing points. Among them, there is no corresponding routing link information for edge routing points A, B, and C; there are 2 routing link information corresponding to the central routing point R01, which are routing link 1 and routing link 2; there is 1 routing link information corresponding to the central routing point R02, which is routing link 3; there are 2 routing link information corresponding to the central routing point R03, which are routing link 4 and routing link 5; there are 2 routing link information corresponding to the central routing point R04, which are routing link 6 and routing link 7.

[0067] Step 302: receiving a path planning request for a transport task from a starting point S to a destination point D;

[0068] In this embodiment, when a new transport task is generated or received in the warehouse control system, a path planning request for the new transport task can be issued, and the starting point S and destination point D of the new transport task are the starting point and destination point of the transport path to be planned.

[0069] Step 3031: Search the routing information corresponding to each routing point for a routing link with an available status;

[0070] In this embodiment, when performing path planning, only routing links that are in an available state are considered, so that all routing links included in the transport path finally planned are available, thereby ensuring smooth execution of subsequent transport tasks.

[0071] Step 3032a, record the starting point S as the first node, and loop through the following iterative operation steps 3032b to 3032f until all iterative branches are completed:

[0072] Step 3032b: searching for a routing link whose starting node is the first node among the routing links whose usage status is available;

[0073] Step 3032c: For each routing link found, perform the following steps 3032d to 3032f:

[0074] Step 3032d, determine whether the end node of the routing link is the destination point D, if yes, execute step 3032e, otherwise, execute step 3032f;

[0075] Step 3032e: determine all the routing links through which the routing link is found and the transport path determined by the routing link as a transport path from the starting point S to the destination point D, and end the iteration branch;

[0076] Step 3032f, determine whether the end node of the routing link is an intermediate routing point, if yes, execute step 3032g, otherwise, execute step 3032h;

[0077] Step 3032g, determining the end node of the routing link as the first node;

[0078] Step 3032h, end the iteration branch.

[0079] The above steps 3032a to 3032f are Figure 2 The specific refinement of step 2032 is shown.

[0080] The following uses Table 1 as an example to illustrate the functions implemented by the above steps 3032a to 3032f in combination with specific examples.

[0081] Assuming that the starting point of the transport task is A and the destination is B, to plan the transport path from the starting point A to the destination B, the specific process is as follows:

[0082] First, it is determined that all the routing link information in Table 1 is available, so all of them participate in path planning.

[0083] Secondly, the starting point A is determined as the first node, and the first loop iteration is performed to find routing links with the first node as the starting point: routing link 1 and routing link 2.

[0084] Next, step 3032d to step 3032f are performed for routing link 1 and routing link 2 respectively:

[0085] 1. Execute steps 3032d to 3032f for routing link 1:

[0086] 1) The end node of routing link 1 is R02, which is an intermediate routing point. Therefore, R02 is determined as the first node, and the loop iteration is performed again: a routing link with the first node R02 as the starting point is found: routing link 3;

[0087] 2) Execute steps 3032d to 3032f for routing link 3: the end node of routing link 3 is R03, which is an intermediate routing point, so R03 is determined as the first node, and the loop iteration is performed again: find the routing link with the first node R03 as the starting point: routing link 4;

[0088] 3) Execute steps 3032d to 3032f for routing link 4: the end node of routing link 3 is B, and B is the destination point, so a transportation path from A to B can be determined: A-R01-R02-R03-B, ending the iterative branch.

[0089] 2. Execute steps 3032d to 3032f for routing link 2:

[0090] 1) The end node of routing link 2 is R04, which is an intermediate routing point. Therefore, R04 is determined as the first node, and the loop iteration is performed again: a routing link with the first node R04 as the starting point is found: routing link 5;

[0091] 2) Execute steps 3032d to 3032f for routing link 5: the end node of routing link 5 is B, and B is the destination point, so a transportation path from A to B can be determined: A-R01-R04-R03-B, ending the iterative branch.

[0092] At this point, all iterative branches have ended. During this iterative process, two transport paths from A to B were found: A-R01-R02-R03-B and A-R01-R04-R03-B.

[0093] Step 3033: Filter out the optimal transport path from the starting point S to the destination point D from the determined transport paths.

[0094] In practical applications, there may be multiple transport paths from the starting point S to the destination point D. Selecting the optimal transport path from these transport paths as the transport path for the transport task can improve the transport efficiency of subsequent transport tasks.

[0095] The above steps 3031 to 3033 are Figure 1 The specific refinement of step 103 is shown.

[0096] Step 304: for each routing point that the transport path of the transport task passes through, select a transport device for executing the transport task in the routing point according to the device information corresponding to the routing point;

[0097] Step 305: Return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point that the transport path of the transport task passes through.

[0098] In this embodiment, the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task may be returned to the warehouse control system as the path planning result of the transport task.

[0099] from Figure 3 It can be seen from the method shown that in this embodiment, the routing information and equipment information corresponding to each routing point in the warehouse control system are pre-configured; after receiving a path planning request for a transport task from the starting point S to the destination point D, multiple transport paths are determined based on the routing links and the usage status of the routing links included in the routing information corresponding to each routing point, and the optimal transport path is selected from them, and the transport equipment in each routing point in the optimal transport path is selected based on the equipment information corresponding to each routing point, thereby completing the path planning and executing equipment selection. Since the transport path is dynamically planned for the transport task and the execution equipment is selected in advance, there is no need to configure the transport path and the execution equipment in advance, which can effectively reduce data redundancy and is simple to implement. Moreover, since the optimal transport path of the transport task can be planned and unavailable routing links can be excluded, the transport efficiency of the transport task can also be effectively improved.

[0100] See also Figure 4 , Figure 4 4 is a flow chart of a method for dynamic planning of a transport path according to a fourth embodiment of the present invention. Figure 4 As shown, the method mainly includes the following steps:

[0101] Step 401, pre-configure routing point information for each routing point in the warehouse control system; wherein each routing point information includes routing information, equipment information, and remaining carrying capacity of the routing point corresponding to the routing point;

[0102] In this embodiment, the remaining carrying capacity of each routing point can be initialized to the maximum carrying capacity of the routing point. Thereafter, when the routing point is included in the transport path planned for the transport task, the remaining carrying capacity of the routing point can be reduced. After the transport task is completed, the remaining carrying capacity of the routing point can be increased.

[0103] In this embodiment, the routing information corresponding to each routing point includes: routing link information with the routing point as the only intermediate node, and the use status of each routing link; the use status includes available and unavailable.

[0104] In this embodiment, whether the routing link is available or not can be dynamically set by the staff according to the specific situation, or can be set by the warehouse control system according to the operating status of the routing link. For example, when a certain handling equipment stops driving on the routing link due to a fault, it will affect the driving of other handling equipment on the routing link. At this time, the use status of the routing link can be set to unavailable, so that when planning the handling path of subsequent handling tasks, the handling path containing the routing link will no longer be considered. In addition, when the remaining carrying capacity of a certain routing point is less than or equal to 0, the use status of all routing links with the routing point as the only intermediate node can be set to unavailable. If the above situation is not met, the use status of the routing link can be set to available.

[0105] Step 402: receiving a path planning request for a transport task from a starting point S to a destination point D;

[0106] In this embodiment, when a new transport task is generated or received in the warehouse control system, a path planning request for the new transport task can be issued, and the starting point S and destination point D of the new transport task are the starting point and destination point of the transport path to be planned.

[0107] Step 4031: Search the routing information corresponding to each routing point for a routing link with an available status;

[0108] In this embodiment, when performing path planning, only routing links that are in an available state are considered, so that all routing links included in the transport path finally planned are available, thereby ensuring smooth execution of subsequent transport tasks.

[0109] Step 4032: Determine all transport paths from the starting point S to the destination point D according to the routing link information whose usage status is available;

[0110] Step 4033a, finding a transport path from the determined transport paths that does not conflict with the transport path of the transport task being executed in the warehouse control system;

[0111] In this embodiment, the transport path of the transport task being executed in the warehouse control system may be first obtained, and then a transport path that does not conflict with the transport path of the transport task being executed in the warehouse control system may be found from the determined transport paths.

[0112] Step 4033b, finding a transport path with the least routing points among transport paths that do not conflict with the transport path of the transport task being executed in the warehouse control system;

[0113] In this embodiment, the shortest transportation path from the starting point S to the destination point D can be found by searching for a transportation path that includes the least routing points.

[0114] In this embodiment, each routing point information also includes the working mode of the routing point, and the working mode includes one-way transportation and two-way transportation. In the case of two-way transportation, if the transportation paths of two transportation tasks contain the same routing point, and the transportation directions of the transportation paths of the two transportation tasks at the routing point are different, then the transportation paths of the two transportation tasks conflict, and the two transportation tasks cannot be executed at the same time, otherwise there is a risk of collision of the transportation equipment.

[0115] In this embodiment, finding a transport path from the determined transport paths that does not conflict with the transport path of the transport task being executed in the warehouse control system may specifically include:

[0116] For each determined transport path, determine the routing points in the transport path that are included in the transport path of the transport task being executed in the warehouse control system; if there is no routing point that meets the preset conditions among the determined routing points, determine that the transport path does not conflict with the transport path of the transport task being executed in the warehouse control system; wherein the routing points that meet the preset conditions are: the working mode is two-way transport and the transport direction of the transport path at the routing point is different from the transport direction of the transport path of the transport task being executed in the warehouse control system at the routing point.

[0117] Step 4033c: if only one transport path is found, the transport path is determined as the optimal transport path from the starting point S to the destination point D, and the remaining carrying capacity of each routing point included in the optimal transport path is reduced by a first preset value, and then the process goes to step 404;

[0118] Step 4033d: if multiple transport paths are found, the sum of the residual carrying capacities of the routing points included in each transport path is calculated, and the transport path with the highest sum of the residual carrying capacities of the routing points included is determined as the optimal transport path from the starting point S to the destination point D, and the residual carrying capacity of each routing point included in the optimal transport path is reduced by a first preset value, and then the process goes to step 404;

[0119] In practical applications, there may be multiple transport paths from the starting point S to the destination point D. Selecting the transport path with the highest comprehensive score of carrying capacity from these transport paths as the optimal transport path for the transport task can effectively improve the transport efficiency of subsequent transport tasks. In this embodiment, the sum of the remaining carrying capacities of all routing points in the transport path is used as the comprehensive score of the carrying capacity of the transport path.

[0120] The above steps 4033a to 4033d are Figure 2 The specific refinement of step 2033 is shown.

[0121] The above steps 4031 to 4033d are Figure 1 The specific refinement of step 103 is shown.

[0122] Step 404: for each routing point that the transport path of the transport task passes through, select a transport device for executing the transport task in the routing point according to the device information corresponding to the routing point;

[0123] Step 405: Return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point that the transport path of the transport task passes through.

[0124] Step 406: Receive a notification of completion of the transport task, and increase the remaining carrying capacity of each routing point included in the transport path of the transport task by a first preset value.

[0125] In this embodiment, the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task may be returned to the warehouse control system as the path planning result of the transport task.

[0126] from Figure 4 It can be seen from the method shown that in this embodiment, the routing information and equipment information corresponding to each routing point in the warehouse control system are pre-configured; after receiving a path planning request for a transport task from the starting point S to the destination point D, the transport path is determined according to the routing links and the usage status of the routing links included in the routing information corresponding to each routing point, and then the optimal transport path is found according to the three factors of whether the path conflicts, whether the number of routing points included is the least, and whether the sum of the remaining carrying capacity of the routing points is the highest. The transport equipment in each routing point in the optimal transport path is selected according to the equipment information corresponding to each routing point, thereby completing the path planning and executing equipment selection. Since the transport path is dynamically planned for the transport task and the execution equipment is selected in advance in the present application, it is not necessary to configure the transport path and the execution equipment in advance, which can effectively reduce data redundancy and is simple to implement. Moreover, since the optimal transport path of the transport task can be planned and the conflicting and unavailable routing links can be excluded, the transport efficiency of the transport task can also be effectively improved.

[0127] See also Figure 5 , Figure 5 : is a flow chart of a method for dynamic planning of a transport path according to a fifth embodiment of the present invention. Figure 5 As shown, the method mainly includes the following steps:

[0128] Step 501, pre-configure routing point information for each routing point in the warehouse control system; wherein each routing point information includes routing information and device information corresponding to the routing point;

[0129] In this embodiment, the equipment information corresponding to each routing point includes: the use status and remaining carrying capacity of each transport equipment in the routing point; the use status includes available and unavailable.

[0130] In this embodiment, the use status of the transport equipment can be set according to actual conditions. For example, when the transport equipment fails or the remaining carrying capacity of the transport equipment is less than or equal to 0, the use status of the transport equipment can be set to unavailable. Otherwise, it can be set to available.

[0131] Step 502: receiving a path planning request for a transport task from a starting point S to a destination point D;

[0132] Step 503: determine the optimal transport path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehouse control system, and determine the optimal transport path as the transport path of the transport task;

[0133] Step 5041: for each routing point that the transport path of the transport task passes through, perform the following steps 5042 to 5043:

[0134] Step 5042: Determine the transport equipment in the routing point that is in an available state;

[0135] Step 5043: Select a transport device with the highest remaining carrying capacity from the transport devices in the available state, determine the transport device as the transport device for performing the transport task, and reduce the remaining carrying capacity of the transport device by a second preset value;

[0136] The above steps 5041 to 5043 are Figure 1 The specific refinement of step 104 is shown, wherein steps 5042 to 5043 are Figure 1 The step 104 shown is a specific refinement of "selecting a transport device for executing the transport task in the routing point according to the device information corresponding to the routing point".

[0137] Step 505: Return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point that the transport path of the transport task passes through.

[0138] Step 506: Receive a notification of completion of the transport task, and increase the remaining carrying capacity of the transport equipment used to perform the transport task in each routing point included in the transport path of the transport task by a second preset value.

[0139] from Figure 5It can be seen from the method shown that in this embodiment, the routing information and equipment information corresponding to each routing point in the warehouse control system are pre-configured; after receiving a path planning request for a transport task from the starting point S to the destination point D, the transport path is planned according to the routing information corresponding to each routing point, and the transport equipment in each routing point in the transport path is selected according to the remaining carrying capacity of the transport equipment in each routing point, thereby completing the path planning and execution equipment selection. Since the transport path is dynamically planned for the transport task and the execution equipment is selected in advance, there is no need to configure the transport path and the execution equipment in advance, which can effectively reduce data redundancy and is simple to implement. In addition, since the optimal transport path of the transport task can be planned and the transport equipment with the highest remaining carrying capacity in each routing point of the optimal transport path is selected as the execution equipment, the transport efficiency of the transport task can also be improved.

[0140] The above is a detailed description of the method for dynamic planning of a transport path according to an embodiment of the present invention. The present invention also provides a device for dynamic planning of a transport path. Figure 6 For detailed explanation:

[0141] See also Figure 6 , Figure 6 Schematic diagram of the structure of the dynamic planning device for transport path according to an embodiment of the present invention. Figure 6 As shown, the device comprises:

[0142] The receiving unit 601 is used to receive a path planning request for a transport task from a starting point S to a destination point D;

[0143] The path selection unit 602 is used to determine the optimal transport path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehouse control system, and determine the optimal transport path as the transport path of the transport task; wherein the routing information corresponding to each routing point is pre-set;

[0144] The equipment selection unit 603 is used to select a transport equipment for executing the transport task in each routing point passed by the transport path of the transport task according to the equipment information corresponding to the routing point; wherein the equipment information corresponding to each routing point is preset;

[0145] The feedback unit 604 is used to return the transport path of the transport task and the transport equipment information for executing the transport task in each routing point passed by the transport path of the transport task.

[0146] Figure 6 In the device shown,

[0147] The routing information corresponding to each routing point includes: routing link information with the routing point as the only intermediate node, and the use status of each routing link; the use status includes available and unavailable;

[0148] The path selection unit 602 determines the optimal transport path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehouse control system, including:

[0149] Searching for a routing link with an available status in the routing information corresponding to each routing point;

[0150] Determine all transport paths from the starting point S to the destination point D based on the routing link information in the use state;

[0151] The optimal transport path from the starting point S to the destination point D is screened out from the determined transport paths.

[0152] Figure 6 In the device shown,

[0153] The routing link information includes: the starting node and the ending node of the routing link;

[0154] The path selection unit 602 determines all transport paths from the starting point S to the destination point D according to the information of the routing link whose use status is available, including:

[0155] The starting point S is recorded as the first node, and the following iterative operations are performed repeatedly until all iterative branches are completed:

[0156] Searching for a routing link whose starting node is the first node among the routing links whose use status is available,

[0157] For each routing link found, do the following:

[0158] If the end node of the routing link is the destination point D, all the routing links through which the routing link is found and the transportation path determined by the routing link are determined as a transportation path from the starting point S to the destination point D, and the iteration branch is terminated;

[0159] If the end node of the routing link is not the destination point D, when the end node of the routing link is a central routing point, the end node of the routing link is determined as the first node; when the end node of the routing link is an edge routing point, the iterative branch is terminated.

[0160] Figure 6 In the device shown,

[0161] The path selection unit 602 selects and obtains the optimal transport path from the starting point S to the destination point D from the determined transport paths, including:

[0162] Finding a transport path from the determined transport paths that does not conflict with a transport path of a transport task being executed in the warehouse control system;

[0163] Finding a transport path with the least routing points among transport paths that do not conflict with the transport path of the transport task being executed in the warehouse control system;

[0164] If only one transport path is found, the transport path is determined as the optimal transport path from the starting point S to the destination point D, and the remaining carrying capacity of each routing point included in the optimal transport path is reduced by a first preset value;

[0165] If multiple transport paths are found, the sum of the residual carrying capacities of the routing points included in each transport path is calculated, and the transport path with the highest sum of the residual carrying capacities of the routing points included is determined as the optimal transport path from the starting point S to the destination point D, and the residual carrying capacity of each routing point included in the optimal transport path is reduced by a first preset value;

[0166] The remaining carrying capacity of each routing point is pre-initialized to the maximum carrying capacity of the routing point;

[0167] The receiving unit 601, after the feedback unit 604 returns the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task, further comprises:

[0168] The transport task execution completion notification is received, and a path selection unit is notified to increase the remaining carrying capacity of each routing point included in the transport path of the transport task by a first preset value.

[0169] Figure 6 In the device shown,

[0170] The path selection unit 602 finds a transport path from the determined transport paths that does not conflict with the transport path of the transport task being executed in the warehouse control system, including:

[0171] For each determined transport path, determine the routing points in the transport path included in the transport path of the transport task being executed in the warehouse control system, and if there is no routing point that meets the preset conditions in the determined routing points, determine that the transport path does not conflict with the transport path of the transport task being executed in the warehouse control system;

[0172] Among them, the routing points that meet the preset conditions are: the working mode is bidirectional transportation and the transportation direction of the transportation path at the routing point is different from the transportation direction of the transportation path of the transportation task being executed in the warehouse control system at the routing point; the working mode of each routing point is pre-set, and the working mode includes unidirectional transportation and bidirectional transportation.

[0173] Figure 6 In the device shown,

[0174] The equipment information corresponding to each routing point includes: the use status and remaining carrying capacity of each transport equipment in the routing point; the use status includes available and unavailable;

[0175] The equipment selection unit 603 selects a transport equipment for performing the transport task in the routing point according to the equipment information corresponding to the routing point, including:

[0176] Determine the handling equipment in the routing point that is in an available state;

[0177] Selecting a transport device with the highest remaining carrying capacity from the transport devices in the available use state, determining the transport device as the transport device for performing the transport task, and reducing the remaining carrying capacity of the transport device by a second preset value;

[0178] The receiving unit 601, after the feedback unit 604 returns the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task, further comprises:

[0179] The transport task execution completion notification is received, and the equipment selection unit 603 is notified to increase the remaining carrying capacity of the transport equipment for executing the transport task in each routing point included in the transport path of the transport task by a second preset value.

[0180] The embodiment of the present invention further provides an electronic device, such as Figure 7 As shown, the electronic device includes: at least one processor 701, and a memory 702 connected to the at least one processor 702 via a bus; the memory stores one or more computer programs that can be executed by the at least one processor 701; when the at least one processor 701 executes the one or more computer programs, Figure 1-5 The steps in the method shown in any of the flow charts.

[0181] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more computer programs, and when the one or more computer programs are executed by a processor, Figure 1-5 The steps in the method shown in any of the flow charts.

[0182] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for dynamic planning of a transport path, characterized in that: The method includes: Receive a path planning request for a transport task from a starting point S to a destination point D; According to the routing information corresponding to each routing point in the warehouse control system, determine the optimal transportation path from the starting point S to the destination point D, and determine the optimal transportation path as the transportation path of the transportation task; wherein the routing information corresponding to each routing point is pre-set; For each routing point that the transport path of the transport task passes through, a transport device for executing the transport task is selected in the routing point according to the device information corresponding to the routing point; wherein the device information corresponding to each routing point is preset; Returning the transport path of the transport task and the transport equipment information for executing the transport task at each routing point that the transport path of the transport task passes through; in, The routing information corresponding to each routing point includes: routing link information with the routing point as the only intermediate node, and the use status of each routing link; the use status includes available and unavailable; According to the routing information corresponding to each routing point in the warehouse control system, the optimal transportation path from the starting point S to the destination point D is determined, including: Searching for a routing link with an available status in the routing information corresponding to each routing point; Determine all transport paths from the starting point S to the destination point D based on the routing link information in the use state; Finding a transport path from the determined transport paths that does not conflict with a transport path of a transport task being executed in the warehouse control system; Find a transport path with the least routing points among the transport paths that do not conflict with the transport paths of the transport tasks being executed in the warehouse control system; determine it as the optimal transport path from the starting point S to the destination point D; in, Find out from the determined transport paths a transport path that does not conflict with the transport path of the transport task being executed in the warehouse control system, including: For each determined transport path, determine the routing points in the transport path included in the transport path of the transport task being executed in the warehouse control system, and if there is no routing point that meets the preset conditions in the determined routing points, determine that the transport path does not conflict with the transport path of the transport task being executed in the warehouse control system; Among them, the routing points that meet the preset conditions are: the working mode is bidirectional transportation and the transportation direction of the transportation path at the routing point is different from the transportation direction of the transportation path of the transportation task being executed in the warehouse control system at the routing point; the working mode of each routing point is pre-set, and the working mode includes unidirectional transportation and bidirectional transportation.

2. The method according to claim 1, characterized in that The routing link information includes: the starting node and the ending node of the routing link; According to the information of the available routing links, all transport paths from the starting point S to the destination point D are determined, including: The starting point S is recorded as the first node, and the following iterative operations are performed repeatedly until all iterative branches are completed: Searching for a routing link whose starting node is the first node among the routing links whose use status is available, For each routing link found, do the following: If the end node of the routing link is the destination point D, all the routing links through which the routing link is found and the transportation path determined by the routing link are determined as a transportation path from the starting point S to the destination point D, and the iteration branch is terminated; If the end node of the routing link is not the destination point D, when the end node of the routing link is a central routing point, the end node of the routing link is determined as the first node; when the end node of the routing link is an edge routing point, the iterative branch is terminated.

3. The method according to claim 1, characterized in that The method further comprises: If only one transport path is found, the transport path is determined as the optimal transport path from the starting point S to the destination point D, and the remaining carrying capacity of each routing point included in the optimal transport path is reduced by a first preset value; If multiple transport paths are found, the sum of the residual carrying capacities of the routing points included in each transport path is calculated, and the transport path with the highest sum of the residual carrying capacities of the routing points included is determined as the optimal transport path from the starting point S to the destination point D, and the residual carrying capacity of each routing point included in the optimal transport path is reduced by a first preset value; The remaining carrying capacity of each routing point is pre-initialized to the maximum carrying capacity of the routing point; After returning the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task, the method further includes: A notification of completion of the transport task is received, and a remaining carrying capacity of each routing point included in the transport path of the transport task is increased by a first preset value.

4. The method according to claim 1, characterized in that: The equipment information corresponding to each routing point includes: the use status and remaining carrying capacity of each transport equipment in the routing point; the use status includes available and unavailable; Selecting a transport device for performing the transport task in the routing point according to the device information corresponding to the routing point, including: Determine the handling equipment in the routing point that is in an available state; Selecting a transport device with the highest remaining carrying capacity from the transport devices in the available use state, determining the transport device as the transport device for performing the transport task, and reducing the remaining carrying capacity of the transport device by a second preset value; After returning the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task, the method further includes: A notification of completion of the transport task is received, and a remaining carrying capacity of a transport device for performing the transport task in each routing point included in the transport path of the transport task is increased by a second preset value.

5. A transport path dynamic planning device, characterized in that: The device includes: A receiving unit, configured to receive a path planning request for a transport task from a starting point S to a destination point D; A path selection unit, used to determine an optimal transport path from a starting point S to a destination point D according to the routing information corresponding to each routing point in the warehouse control system, and determine the optimal transport path as the transport path of the transport task; wherein the routing information corresponding to each routing point is preset; An equipment selection unit, for selecting a transport equipment for executing the transport task from each routing point through which the transport path of the transport task passes according to the equipment information corresponding to the routing point; wherein the equipment information corresponding to each routing point is preset; A feedback unit, used to return the transport path of the transport task and the transport equipment information for executing the transport task at each routing point passed by the transport path of the transport task; in, The routing information corresponding to each routing point includes: routing link information with the routing point as the only intermediate node, and the use status of each routing link; the use status includes available and unavailable; The path selection unit determines the optimal transport path from the starting point S to the destination point D according to the routing information corresponding to each routing point in the warehouse control system, including: Searching for a routing link with an available status in the routing information corresponding to each routing point; Determine all transport paths from the starting point S to the destination point D based on the routing link information in the use state; Finding a transport path from the determined transport paths that does not conflict with a transport path of a transport task being executed in the warehouse control system; Find a transport path with the least routing points among the transport paths that do not conflict with the transport paths of the transport tasks being executed in the warehouse control system; determine it as the optimal transport path from the starting point S to the destination point D; in, The path selection unit is specifically used to find a transport path that does not conflict with the transport path of the transport task being executed in the warehouse control system from the determined transport paths. For each determined transport path, determine the routing points in the transport path that are included in the transport path of the transport task being executed in the warehouse control system. If there is no routing point that meets the preset conditions among the determined routing points, determine that the transport path does not conflict with the transport path of the transport task being executed in the warehouse control system; wherein the routing points that meet the preset conditions are: the working mode is two-way transport and the transport direction of the transport path at the routing point is different from the transport direction of the transport path of the transport task being executed in the warehouse control system at the routing point; the working mode of each routing point is pre-set, and the working mode includes one-way transport and two-way transport.

6. An electronic device comprising: at least one processor, and a memory connected to the at least one processor via a bus; The memory stores one or more computer programs that can be executed by the at least one processor; it is characterized in that when the at least one processor executes the one or more computer programs, the steps in the method described in any one of claims 1-4 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more computer programs, and when the one or more computer programs are executed by a processor, the steps in the method described in any one of claims 1 to 4 are implemented.

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