Article transportation method, device, computer equipment and storage medium

Abstract

The present application relates to an article transportation method, device, computer equipment, storage medium and computer program product. The method includes: when the automated article conveying system is deployed in the target area, if an article transportation task is obtained, whether the article transportation task is a directly accessible task is determined based on the starting position and the end position of the article; the target area is an area where the track length relative to the length of the operating area is less than a preset value; if the article transportation task is a non-directly accessible task, the position of the target transit cargo position is obtained; the article transportation task is split into a first task and a second task based on the position of the target transit cargo position, the starting position and the end position of the article; the first stacker is controlled to perform the first task; after receiving the first task completion information returned by the first stacker, the second stacker is controlled to perform the second task. The use of this method can improve the working efficiency of the one-track dual-car automated article conveying system and effectively reduce the operation and maintenance risks of the article conveying system.

Description

Technical Field

[0001] The present application relates to the technical field of article transportation, and in particular to an article transportation method, device, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of warehousing and transportation management technology, existing cigarette factories are equipped with automated logistics and transportation systems, and most logistics and transportation systems will choose stackers to transport goods. In order to improve turnover speed and work efficiency, the factory is often equipped with a one-track, two-car automated material conveying system, in which two stackers are set on the same track and run simultaneously. This technology is called "one-track, two-car".

[0003] However, in actual applications, since the size of the factory site will vary according to actual conditions, when the factory site is small, the operation of the one-track, two-car automated material conveying system will be restricted by its deployment site, resulting in certain operating areas that a single stacker cannot directly reach. In the process of running items, it is easy to cause problems with the inability to perform item transportation tasks, thereby reducing the work efficiency of the one-track, two-car automated material conveying system and increasing the operation and maintenance risks of the item conveying system. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for transporting goods, which can improve the working efficiency of a single-track dual-car automated goods transport system when the deployment site is limited, in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides an article transportation method, which is applied to an automated article conveying system with two cars on one track, and the method comprises:

[0006] When the automated object conveying system is deployed in the target area, if an object transport task is obtained, whether the object transport task is a directly accessible task is determined according to the object starting position and the object end position; wherein the object transport task carries the object starting position and the object end position; the target area is an area where the track length relative to the length of the working area is less than a preset value;

[0007] If the item transportation task is a non-directly accessible task, the location of the target transfer cargo location is obtained;

[0008] Splitting the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item, and the final location of the item;

[0009] Controlling the first stacker to perform the first task, transporting the transported items from the starting position of the items to the target transfer location;

[0010] After receiving the first task completion information returned by the first stacker, the second stacker is controlled to execute the second task to transport the transported article from the target transfer location to the article terminal location.

[0011] In a second aspect, the present application further provides an article transport device, the device comprising:

[0012] A task judgment module is used for, when the automated object conveying system is deployed in the target area, if an object transportation task is obtained, determining whether the object transportation task is a directly accessible task according to the object starting position and the object end position; wherein the object transportation task carries the object starting position and the object end position; the target area is an area where the track length relative to the length of the working area is less than a preset value;

[0013] A target transfer cargo location acquisition module is used to acquire the location of the target transfer cargo location if the item transportation task is a non-directly accessible task;

[0014] A task splitting module, used for splitting the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item and the final location of the item;

[0015] A first task execution module, used to control the first stacker to execute the first task, transporting the transported items from the starting position of the items to the target transfer location;

[0016] The second task execution module is used to control the second stacker to execute the second task after receiving the first task completion information returned by the first stacker, so as to transport the transported items from the target transfer location to the item terminal location.

[0017] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0018] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0019] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0020] The above-mentioned article transportation method, device, computer equipment, storage medium and computer program product, when the one-track dual-car automated article conveying system is deployed in an area where the track length is less than a preset value relative to the length of the operating area, it means that the first stacker and the second stacker in the system both have operating areas that they cannot directly reach. At this time, for the acquired article transportation task, it is determined whether the article transportation task is a directly accessible task according to the starting position and the end position of the article in the article transportation task. If the article transportation task is a non-directly accessible task, it means that the transported article needs to be transferred before it can be transported from the starting position of the article to the end position of the article. The position of the target transfer cargo position is obtained, and the article transportation task is divided into a first task and a second task according to the position of the target transfer cargo position, the starting position of the article and the end position of the article. The first stacker is controlled to perform the first task to transport the transported article from the starting position of the article to the target transfer cargo position. After receiving the completion information of the first task, the second stacker is controlled to perform the second task to transport the transported article from the target transfer cargo position to the end position of the article. The method can make the operation of the one-track dual-car system no longer restricted by the size of the deployment area. In a smaller working operation area, the transported items can be transferred through the target transfer cargo position, avoiding the situation where the items cannot be delivered due to the inability of a single stacker to directly transport the transported items from the starting position to the end position of the items. The working efficiency of the one-track dual-car automated item conveying system is improved, and the operation and maintenance risks of the item conveying system are effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A diagram showing an application environment of a method for transporting items in an embodiment;

[0022] Figure 2 A schematic diagram of a flow chart of a method for transporting items in one embodiment;

[0023] Figure 3 This is a diagram of the application environment of a one-track dual-car automated goods transportation system in one embodiment;

[0024] Figure 4 A schematic diagram of a flow chart of a step of obtaining a location of a target transfer cargo location in an embodiment;

[0025] Figure 5 It is a flowchart diagram of controlling the second stacker to execute the second task step when receiving the first task completion information returned by the first stacker in one embodiment;

[0026] Figure 6 It is a flowchart of splitting the item transportation task into the first task and the second task steps according to the location of the target transfer cargo location, the starting location of the item and the end location of the item in one embodiment;

[0027] Figure 7This is a diagram of the application environment of a one-track dual-car automated goods transportation system in another embodiment;

[0028] Figure 8 A schematic diagram of a flow chart of a method for transporting items in another embodiment;

[0029] Fig. 9 is a structural block diagram of an article transport device in one embodiment;

[0030] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] The article transportation method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in the figure, the control system 101 communicates with the management system 102, the first stacker 103 and the second stacker 104 respectively through the communication network. The data storage system can store the data that the management system 102 needs to process. The data storage system can be integrated on the management system 102, or it can be placed on the cloud or other network servers. When the one-track dual-car automated goods transportation system 100 is deployed in a target area where the length of the track relative to the length of the operation area is less than a preset value, if the control system 101 obtains the goods transportation task from the management system 102, it determines whether the goods transportation task is a directly accessible task based on the starting position and the end position of the goods carried in the goods transportation task; if the goods transportation task is a non-directly accessible task, it obtains the position of the target transfer cargo position; splits the goods transportation task into a first task and a second task based on the position of the target transfer cargo position, the starting position of the goods and the end position of the goods; controls the first stacker 103 to perform the first task, and transports the transported goods from the starting position of the goods to the target transfer cargo position; after receiving the first task completion information returned by the first stacker 103, controls the second stacker 104 to perform the second task, and transports the transported goods from the target transfer cargo position to the end position of the goods. Among them, the control system 101 and the management system 102 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0033] In one embodiment, the control system 101 is a warehouse control system (Warehouse Control System, WCS).

[0034] In one embodiment, the management system 102 is a warehouse management system (WMS).

[0035] In one embodiment, Figure 2 As shown, a method for transporting items is provided, which is applied to Figure 1 The control system 101 in the example is used as an example to illustrate, and includes the following steps:

[0036] Step 202, when the automated object conveying system is deployed in the target area, if an object transportation task is obtained, it is determined whether the object transportation task is a directly accessible task based on the object starting position and the object end position; wherein the object transportation task carries the object starting position and the object end position; the target area is an area where the track length relative to the length of the operating area is less than a preset value.

[0037] Among them, the item transportation task is generated by the management system according to the pre-set production tasks or actual production needs. The item transportation task can be an outbound task or an inbound task, or a transportation task to transport materials from the exit of the previous process to the exit of the next process. Specifically, the item transportation task carries the starting position and the end position of the item, as well as the basic information of the transported item, such as the task number, item number, item batch number, etc.

[0038] The track length is the length of the same track on which the two stackers run. In a one-track dual-car automated transportation system, the two stackers run on the same running track, and corresponding stacker maintenance stations are respectively set at the ends of the track. When a stacker fails during operation, the stacker can be moved to the maintenance station on the corresponding side for maintenance. It can be understood that the maintenance station can also serve as a temporary stop for the corresponding stacker to facilitate the other stacker to perform its operating tasks.

[0039] Among them, the operation area is the area where the stacker picks up and puts goods, which is set on both sides of the stacker's operating track. When the stacker performs the transportation task, it transports the transported items from the operation area where the item's starting position belongs to the operation area on the other side where the item's end position belongs. It can be understood that the operation area can be composed of multiple shelves, each shelf is placed in a direction perpendicular to the track setting direction, and each shelf has multiple storage locations. It can also be composed of multiple stations. Optionally, the specific number of shelves, cargo locations and stations can be set according to actual production needs.

[0040] Among them, the preset value is a length threshold set to ensure that any stacker can reach any position in the working area. Specifically, the preset value can be obtained based on the length of the running track and the length of the working area. Among them, the length of the working area is determined by the area on the longest side of the working area. For example, if the length of the working area on one side of the running track is m meters and the other side is n meters, where m>n, then m meters is used as the length of the working area. It can be understood that the length of the working area in this application is the length of the area in the direction parallel to the running track.

[0041] In actual applications, if you want to ensure that any stacker can reach any position in the working area, you must ensure that the length of the running track is longer than the length of the working area by two maintenance stations. That is, when setting the running track, if you want to ensure that any stacker can reach any position in the working area, you must reserve the length of two maintenance stations. Set the preset value according to the length of the maintenance station in actual applications.

[0042] If the track length is shorter than the length of the working area due to actual site limitations, even if any stacker is parked at the maintenance station, the stacker will block a certain working area, making it impossible for another trolley to reach.

[0043] For example, the target area is set in the tobacco production tobacco warehouse roll packing and box outbound area. Figure 3 As shown, the tobacco warehouse roll packing and box turning out area is used to take out the tobacco cached in the cargo area to the box turning platform for box turning and unloading operations. Due to the small area, after the deployment of a one-track double-car automated goods transportation system, even if the stacker is moved to the maintenance station, the stacker will block a certain operation area. For example, if the first stacker is moved to the maintenance station, the first stacker will still block the operation area where the 18th to 26th row shelves are located, so that the second stacker cannot directly reach the operation area where the 1st to 7th row shelves are located. When the second stacker is moved to the maintenance station, the first stacker cannot directly reach the operation area where the 1st to 7th row shelves are located. Therefore, the outbound tasks of the 1st to 7th row shelves in the cargo area and the No. 1 and 2 box turning machines in the box turning area can only be completed by the second stacker; the outbound tasks of the 18th to 26th row shelves in the cargo area and the No. 8 and 9 box turning machines in the box turning area can only be completed by the first stacker. For the outbound tasks of other operation areas, any stacker can directly complete them.

[0044] Specifically, when the automated item transport system is deployed in an area where the track length relative to the length of the working area is less than a preset value, there is an operating area that the stacker cannot reach directly. After the control system obtains the item transport task from the management system, it can determine whether the item transport task is a directly accessible task based on the starting position and the end position of the items carried in the item transport task.

[0045] In one of the embodiments, the control system binds the operating areas that cannot be reached by each stacker with each stacker, and stores the bound information in a database. When the control system obtains the item transportation task from the management system, it can determine whether the item transportation task can be directly completed by a stacker based on the starting position and the end position of the items carried in the item transportation task, thereby determining whether the transportation task is a directly accessible task.

[0046] In one embodiment, before acquiring the item transport task, the control system further includes: receiving a task application instruction sent by the first stacker. Specifically, when the first stacker is in an idle state, the control system sends a task application instruction to the control system, and after receiving the task application instruction, the control system acquires the item transport task from the management system.

[0047] Step 204: If the item transportation task is a non-directly accessible task, the location of the target transfer cargo location is obtained.

[0048] The target transfer cargo location is a cargo location used to provide a transfer site for the transported goods in the goods transport task, and the target transfer cargo location is selected from the public operation area. Specifically, the public operation area is an operation area that can be directly reached by both stackers. Figure 3 Taking the cargo area in the cargo area as an example, the public operation area is the area where the 8th to 17th rows of shelves are located in the cargo area.

[0049] Specifically, after the control system determines that the item transportation task is a non-directly accessible task, it selects a cargo location from a public operation area that can be reached by any stacker as a target transfer cargo location, and obtains the position of the target transfer cargo location.

[0050] In one of the embodiments, cargo locations in a row or multiple rows of shelves can be selected as transferable cargo locations in a public operation area according to actual conditions, and then a target transfer cargo location can be selected from the transferable cargo locations.

[0051] Step 206 , splitting the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item, and the final location of the item.

[0052] Specifically, the item transportation task is split into a first task according to the starting position of the item and the position of the target transit cargo location. The first task includes a first task starting position, a first task target position and a first task number. The first task starting position is the starting position of the item, and the first task target position is the position of the target transit cargo location.

[0053] The second task is obtained according to the position of the target transfer cargo location and the final position of the item. The second task includes a second task starting position, a second task target position and a second task number. The second task starting position is the position of the target transfer cargo location, and the second task target position is the final position of the item.

[0054] It can be understood that, in addition to carrying their corresponding task starting positions and target positions, the first task and the second task also carry basic information of the transported items, such as the task number, item number, item batch number, etc.

[0055] Step 208, controlling the first stacker to perform the first task, transporting the transported items from the starting position of the items to the target transfer location.

[0056] Specifically, the control system controls the first stacker to perform the first task, and according to the first task starting position and the first task target position, transports the transported items from the item starting position to the target transfer cargo position for transfer caching.

[0057] Step 210, after receiving the first task completion information returned by the first stacker, control the second stacker to perform the second task, and transport the transported items from the target transfer location to the final location of the items.

[0058] The first task completion information includes the starting location of the item, the location of the target transfer cargo location and the first task number, as well as basic information of the transported item, such as the task number, item number, item batch number, etc. It is understandable that the first task completion information may also include the first task completion time.

[0059] Specifically, after the first stacker completes the first task, it generates first task completion information based on the first task and returns the first task completion information to the control system. After receiving the first task completion information, the control system controls the second stacker to perform the second task, transporting the transported items from the target transit location to the item terminal location, thereby completing the entire item transportation task.

[0060] In one embodiment, after the item transport task is split into the first task and the second task according to the location of the target transfer cargo position, the starting location of the item and the terminal location of the item, it also includes: setting the first task to an executable state and setting the second task to an unexecutable state, and after receiving the first task completion information returned by the first stacker, the control system sets the second task to an executable state. Specifically, setting the first task to an executable state and the second task to an unexecutable state can ensure that when executing the first task, the control system will not control the second stacker to execute the second task, thereby ensuring the orderly progress of non-direct tasks and avoiding system confusion caused by the simultaneous issuance of the first task and the second task.

[0061] In the above-mentioned article transportation method, when the one-track dual-car automated article conveying system is deployed in an area where the length of the track is less than a preset value relative to the length of the operation area, it means that both the first stacker and the second stacker in the system have operation areas that they cannot directly reach. At this time, for the acquired article transportation task, determine whether the article transportation task is a directly accessible task based on the starting position and the end position of the article in the article transportation task. If the article transportation task is a non-directly accessible task, it means that the transported article needs to be transferred before it can be transported from the starting position of the article to the end position of the article. The position of the target transfer cargo position is obtained, and the article transportation task is divided into a first task and a second task based on the position of the target transfer cargo position, the starting position of the article, and the end position of the article. The first stacker is controlled to perform the first task to transport the transported article from the starting position of the article to the target transfer cargo position. After receiving the completion information of the first task, the second stacker is controlled to perform the second task to transport the transported article from the target transfer cargo position to the end position of the article. The method can make the operation of the one-track dual-car system no longer restricted by the size of the deployment area. In a smaller working operation area, the transported items can be transferred through the target transfer cargo position, avoiding the situation where the items cannot be delivered due to the inability of a single stacker to directly transport the transported items from the starting position to the end position of the items. The working efficiency of the one-track dual-car automated item conveying system is improved, and the operation and maintenance risks of the item conveying system are effectively reduced.

[0062] In one embodiment, Figure 3 As shown, whether the item transportation task is a directly accessible task is determined according to the item starting position and the item ending position, including: determining the task path according to the item starting position and the item ending position; if the task path exceeds the operating range of each stacker, the item transportation task is determined to be a non-directly accessible task.

[0063] Specifically, the control system stores the directly accessible operating range of each stacker in the database in advance. After obtaining the item transportation task, the control system can determine the task path based on the starting position and the end position of the item. If the task path exceeds the operating range of each stacker, it means that the item transportation task cannot be completed directly by a stacker, and the item transportation task is determined to be a non-directly accessible task. By comparing the task path determined based on the starting position and the end position of the item with the operating range of each stacker, when the task path exceeds the operating range of each stacker, the item transportation task can be immediately determined to be a non-directly accessible task, which improves the efficiency of task judgment while also increasing the accuracy of task judgment, providing an operational basis for subsequent task splitting.

[0064] In one embodiment, Figure 4 As shown, the location of the target transfer cargo location is obtained, including:

[0065] Step 402, obtaining the operation status of each transfer cargo location.

[0066] Among them, the transit cargo space is a cargo space in the public operation area, and the transit cargo space is used to provide transit cache services for transport items that need to be transferred. It can be understood that the transit cargo space can have both the transit cache function and the function of the normal storage cargo space. When actually used, the transit cargo space can also be used as a storage cargo space for normal storage of goods. The number of transit cargo spaces and their specific locations in the public operation area can be set according to actual conditions.

[0067] Specifically, the control system obtains the operating status of all transfer cargo locations in the public operation area.

[0068] Step 404: determine the transfer cargo location whose operating status is idle as the candidate transfer cargo location.

[0069] Specifically, the operation status of the transit cargo location is idle, which means that the cargo location is not loaded with cargo at this time, and a transit cache service can be provided for transporting items. The transit cargo location with an idle operation status is determined as a candidate transit cargo location.

[0070] Step 406: Select a target transshipment cargo location from each candidate transshipment cargo location according to a preset condition, and obtain the location of the target transshipment cargo location.

[0071] Among them, the preset conditions are set according to the cargo location.

[0072] Specifically, according to the preset conditions, a target transshipment cargo location is selected from at least one candidate transshipment cargo location, and the position of the target transshipment cargo location is obtained. It can be understood that when there is only one candidate transshipment cargo location, the only candidate transshipment cargo location is determined as the target transshipment cargo location.

[0073] In one embodiment, the preset condition is that there is a minimum moving distance with the first stacker performing the first task.

[0074] In one embodiment, the preset condition is that there is a minimum moving distance from the final position of the object.

[0075] In the above embodiment, by selecting a target transit location from each candidate transit location according to preset conditions and transferring the transported items through the target transit location, it is possible to avoid the situation where the items cannot be delivered due to the inability of a single stacker to directly transport the transported items from the starting location of the items to the final location of the items, thereby improving the working efficiency of the single-track dual-car automated item conveying system and effectively reducing the operation and maintenance risks of the item conveying system.

[0076] In one embodiment, after obtaining the position of the target transit cargo location, it also includes: writing the item transportation task into the target virtual cargo location corresponding to the target transit cargo location, locking the target transit cargo location corresponding to the target virtual cargo location into a working state, wherein the target virtual cargo location is used to store the task information executed by the corresponding target transit station.

[0077] Specifically, when a cargo location in a public operation area is determined as a target transit cargo location, a corresponding target virtual cargo location will be determined. The target virtual cargo location is used to store the task information executed by the corresponding target transit station, such as task number, task starting position, task target position and other information. After obtaining the location of the target transit cargo location, the item transportation task is written into the virtual cargo location corresponding to the target transit cargo location, and the operating status of the target transit cargo location corresponding to the target virtual cargo location can be locked, and its operating status can be updated to the working status. At this time, the target transit cargo location will not be able to accept new storage tasks or transit cache tasks. By writing the item transportation task into the target virtual cargo location and locking the target transit cargo location corresponding to the target virtual cargo location, it can be prevented that the target transit cargo location is selected by other transportation tasks when executing the transit task, causing chaos in the operation of the transportation system.

[0078] In one of the embodiments, after determining the target transit cargo location, the control system directly locks the target transit cargo location and then writes the item transportation task into the target virtual cargo location.

[0079] In one embodiment, controlling the first stacker to perform the first task to transport the transported item from the starting position of the item to the target transfer location includes the following steps:

[0080] The first stacker is controlled to perform the first task.

[0081] Specifically, the first task is bound to the first stacker, and the first stacker is controlled to start executing the first task.

[0082] When the first stacker moves to the area where the target transfer cargo location is located, the first task is verified with the item transportation task in the target virtual cargo location.

[0083] The area where the target transshipment cargo location is located may be a row area where the target transshipment cargo location is located, or may be a specific location area of ​​the target transshipment cargo location.

[0084] Specifically, when the first stacker transports the transport items to the area where the target transit location is located, the control system verifies the transport item information in the first task bound to the first stacker with the transport item information in the item transport task written in the target virtual location to determine whether the items transported by the first stacker at this time are the items to be cached and transferred in the target transit location corresponding to the target virtual location.

[0085] If the verification is successful, the first stacker is controlled to cache the transported article in the target transfer cargo location.

[0086] Specifically, if the verification is successful, it means that the transported items transported by the first stacker are the items that need to be cached and transferred in the target transfer cargo location, and the control system controls the first stacker to cache the transported items in the target transfer cargo location.

[0087] This embodiment can effectively prevent the first stacker from making errors in operation due to other interference factors, thereby preventing the transported items from being stored in a wrong cargo location, thereby improving the accuracy of the system in transporting items.

[0088] In one of the embodiments, when controlling the first stacker to perform the first task, the control system first controls the first stacker to move to the row entrance of the shelf where the target transit location is located, and verifies the first task with the item transportation task written in the target virtual location corresponding to the target transit location. If the verification is successful, the first stacker continues to be controlled to run to the target transit location; before caching the items into the target transit location, the control system performs a second verification on the first task with the item transportation task written in the target virtual location corresponding to the target transit location. If the verification is successful, the control system controls the first stacker to store the transported items in the target transit location for caching.

[0089] The method in this embodiment performs verification when the first stacker runs to the target transfer cargo position. If the first stacker stops running due to its own fault, verification cannot be performed. At this time, it can be determined that the verification is unsuccessful, and the system will call for manual inspection, effectively preventing the first task from being unable to be executed due to the stacker failure. Then, a second task verification is performed at the target transfer cargo position, which can effectively prevent the first stacker from causing errors in operation due to other interference factors, thereby storing the transported items in the wrong cargo position, thereby improving the accuracy of the system's transport of items.

[0090] In one embodiment, Figure 5 As shown, upon receiving the first task completion information returned by the first stacker, controlling the second stacker to perform the second task includes the following steps:

[0091] Step 502: When receiving the first task completion information returned by the first stacker, the first task completion information is updated to the target virtual cargo location.

[0092] Specifically, when the first task information returned by the first stacker is received, it indicates that the first task has been completed, and the first task completion information is updated to the target virtual cargo location.

[0093] In one embodiment, after the control system updates the first task completion information to the target virtual cargo location, it updates the status of the second task to an executable status.

[0094] Step 504: If the second stacker is in an idle state, the second task is verified with the updated first task completion information in the target virtual cargo location.

[0095] Specifically, after determining that the first task is completed, the controller determines the state of the second stacker. If the second stacker is idle, it means that the second task can be executed at this time, and the second task is verified with the updated first task completion information in the target virtual cargo location.

[0096] In one embodiment, the control system verifies the transported item information carried in the second task with the transported item information in the first task completion information to determine whether the items transported in the second task are consistent with the transported items stored in the target virtual cargo space, thereby determining whether the verification is successful.

[0097] Step 506: If the verification is successful, the second task is written into the target virtual cargo location, and the second stacker is controlled to execute the second task.

[0098] Specifically, if the verification is successful, it means that the target transfer cargo location corresponding to the target virtual cargo location stores the transport items required to be transported by the second task, and the second stacker is controlled to obtain the transport items from the target transfer cargo location and transport the transport items to the final location of the items.

[0099] In this embodiment, before executing the second task, the second task is first verified with the first task completion information updated in the target virtual cargo location. The second task is executed only after the verification is successful. This can effectively avoid the occurrence of errors in transporting items during transportation and improve the accuracy of the transportation system.

[0100] In one embodiment, each task has its corresponding priority. If the operation status of the transfer cargo position is not idle, it is determined that the item transportation task cannot be executed temporarily. At this time, the control system will obtain the next priority task from the management system for execution, and the item transportation task will be suspended. If the second stacker is not idle, it is determined that the second task cannot be executed temporarily. The control system will obtain the next priority task from the management system for execution, and the second task will be suspended.

[0101] In one embodiment, Figure 6 As shown, the item transportation task is divided into the first task and the second task according to the location of the target transfer cargo location, the starting location of the item and the final location of the item, including:

[0102] Step 602: Determine the priority of the first task and the second task according to the starting position or the ending position of the item.

[0103] Each task in the system has its corresponding priority, and the priority is determined by the starting position or the end position of the item. It is understandable that the priority of the task can be set according to the moving distance from the starting position or the end position of the item to the working area. The smaller the distance, the higher the priority, so as to avoid the stacker from moving a long distance during operation. The priority of the task can also be set according to the working area where the starting position or the end position of the item is located. For example, Figure 3 In the tobacco warehouse roll packing and box turning and outbound area, the priority of the task can be set according to the warehouse location, and the task of generating cargo spaces from empty boxes and transporting the empty spaces back to the empty storage spaces is given the highest priority by default.

[0104] In one embodiment, the task number of each task can be generated according to the priority level. For example, the task with the highest priority will have the code 100 marked in its task number, while the task with the task number marked with the code 200 will have a lower priority, and so on.

[0105] Specifically, after the control system splits the item transportation task into the first task and the second task, it determines the priority of the first task and the second task according to the starting position and the ending position of the item.

[0106] Step 604: store the first task in the task pool of the first stacker, and store the second task in the task pool of the second stacker.

[0107] Among them, each stacker has its corresponding task pool. When the stacker is idle, it will send a task application instruction to the control system. The control system obtains the task with the highest priority from the task pool corresponding to the stacker according to the task application instruction and controls the stacker to execute.

[0108] Specifically, the control system stores the first task in a task pool corresponding to the first stacker, and stores the second task in a task pool corresponding to the second stacker.

[0109] Step 606, controlling the first stacker to execute the first task, includes: controlling the first stacker to execute tasks in the task pool of the first stacker in sequence according to the priorities of the tasks, wherein the tasks in the task pool of the first stacker include the first task.

[0110] Specifically, when the priority of the first task is the highest priority in the task pool corresponding to the first stacker, the control system will control the first stacker to execute the first task.

[0111] Step 608, controlling the second stacker to execute the second task, includes: controlling the second stacker to execute tasks in the task pool of the second stacker in sequence according to the priorities of the tasks, the tasks in the task pool of the second stacker including the second task.

[0112] Specifically, when the priority of the second task is the highest priority in the task pool corresponding to the first stacker, the control system will control the first stacker to execute the second task.

[0113] In this embodiment, the priority of each task is determined according to the starting position or the ending position of the item, and the corresponding task is executed according to the priority. When there is a more urgent or more convenient task, the stacker can be controlled to execute it with priority, making the automated item conveying system more intelligent in the task execution process and improving the work efficiency of the automated item transportation system.

[0114] In one embodiment, if the first task has been completed, but the priority of the second task is still at a lower level in its corresponding task pool, the system will automatically increase the priority of the second task by one level after a preset time interval until the second task is completed by the second stacker. The specific value of the preset time interval can be set according to actual conditions.

[0115] In one embodiment, the article transportation method further includes: upon receiving the second task completion information returned by the second stacker, unlocking the target transfer cargo location corresponding to the target virtual cargo location to be in an idle state.

[0116] The second task completion information includes the location of the target transfer cargo location, the final location of the item and the second task number, as well as basic information of the transported item, such as the task number, item number, item batch number, etc. It is understandable that the second task completion information may also include the second task completion time.

[0117] Specifically, after the second stacker completes the second task, it generates second task completion information according to the second task, and returns the second task completion information to the control system. After receiving the second task completion information, the control system determines that the item transportation task is completed. The control system clears the task information of the transported items cached in the target virtual cargo location, unlocks the target transfer cargo location corresponding to the target virtual cargo location, and updates the status of the target transfer cargo location to an idle state. By unlocking the target transfer cargo location after the item transportation task is completed, storage cargo locations or transfer cargo locations can continue to be provided for the next item transportation task, so that the entire automated item transportation system can continue to operate.

[0118] In one embodiment, the article transportation method further includes: setting up upper and lower transfer shelves, selecting a target transfer shelf according to a transfer operation path of the transported articles, and then selecting a target transfer cargo position from the target transfer shelf.

[0119] Specifically, Figure 7 As shown in the figure, two layers of transfer racks are set up in the public operation area, and the target transfer rack is selected according to the transfer operation path of the transported items. Figure 7 For example, if the transit path of the transported items is from the first stacker via the target transit cargo position to the second stacker, then the transit path of the items is determined as the first transit path, and the first transit path is bound to the lower transit shelf. When the transit path of the items is determined to be the first transit path, the target transit shelf is selected from the lower transit shelf. Similarly, if the transit path of the transported items is from the second stacker via the target transit cargo position to the first stacker, then the transit path of the items is determined as the second transit path, and the second transit path is bound to the upper transit shelf. When the transit path of the items is determined to be the second transit path, the target transit shelf is selected from the lower transit shelf. By setting up upper and lower transit shelves, the efficiency of the two stackers collaborating to complete tasks that cannot be reached directly can be improved.

[0120] In one embodiment, Figure 8 As shown, a method for transporting articles is provided, the method involving a WCS system, a WMS system, a first stacker and a second stacker, wherein the WCS system communicates with the WMS system, the first stacker and the second stacker via a communication network.

[0121] First, the WCS system selects a platform that can be used for transfer. Specifically, the platform in the public area is set as a transfer platform that can be used for transfer.

[0122] When the first stacker is in an idle state, it sends a task application instruction to the WCS system, and the WCS system obtains the item transportation task with the highest task priority from the first task pool of the WMS system. The task number of the item transportation task is Task1NO100. Among them, 100 in NO100 is the code with the highest task priority. It can be understood that the first task pool is a task pool corresponding to the storage of the first stacker tasks. The starting positions of the items in the tasks in the first task pool are all operating areas that can be directly reached by the first stacker.

[0123] The WCS system determines the task path of the item transportation according to the item starting position Source1 and the item end position Target1 in the item transportation task, and determines whether the item transportation task is a direct-access task according to the task path and the working range of the first stacker. Among them, the item transportation task also carries relevant information about the transported items, such as the brand and batch number of the transported items.

[0124] If the item transportation task is a non-directly accessible task, the WCS system will obtain the operating status of the cargo space in the common operation area of ​​the first stacker and the second stacker, where the common operation area is an operation area that can be directly reached by both the first stacker and the second stacker.

[0125] If all cargo spaces in the public operation area are in working condition, it is determined that the item transportation task cannot be executed temporarily, and the WCS system obtains the second item transportation task with the second highest task priority from the first task pool of the WMS system, and the task number is Task1 NO 200. Repeat the above steps to judge the second item transportation task.

[0126] If there is a cargo location in the public operation area that is idle, this cargo location will be determined as a candidate transit cargo location. The candidate transit cargo location with the smallest moving distance from the first stacker is selected as the target transit cargo location, the position of the target transit cargo location is obtained, and the target transit cargo location Mid1 is locked. Each target transit cargo location corresponds to a target virtual platform, which is used to store the task information of the corresponding transported items, including the task number, the task starting position, the task end position, the transported item information, etc. The WCS system writes the item transport task into the target virtual cargo location corresponding to the locked target transit cargo location.

[0127] The item transport task is split into the first task and the second task according to the task splitting algorithm based on the starting position of the item, the position of the target transfer cargo position, and the final position of the item. Specifically, the task starting position of the first task is the starting position of the item, and the task final position is the target transfer cargo position; the task starting position of the second task is the target transfer cargo position, and the task final position is the item final position. It can be understood that both the first task and the second task carry relevant information of the transported items, such as the brand number and batch number of the transported items.

[0128] The WCS system reassigns the corresponding priorities to the first task and the second task according to their starting positions or end positions. For example, if the corresponding priorities of the first task and the second task are 200, the task number of the first task is Task1-1 NO200, and the task number of the second task is Task1-2 NO200. The execution status of the first task is set to executable, and the execution status of the second task is set to non-executable.

[0129] If there is a task with a priority of 100 in the first task pool of the WMS at this time, that is, a task with a higher priority, the WMS will control the first stacker to execute the task with a priority of 100 first.

[0130] If there is no task with a higher priority than the first task in the first task pool at this time, the WCS system will control the first stacker to perform the first task. Specifically, when the WCS system controls the first stacker to run to the row entrance of the cargo row to which the target transfer cargo location belongs, the first task (task number Task1-1 NO200, starting address Source1, target address Mid1, transported item information) is verified with the item transport task stored in the target virtual cargo location. If the verification is successful, the first stacker will continue to be controlled to run to the target transfer cargo location. Before the first stacker stores the transported items in the target transfer cargo location, the WCS system will also perform a second verification of the first task and the item transport task in the target virtual cargo location. Only when the verification is successful will it be determined to store the transported items.

[0131] After the first stacker completes the first task, it returns the completion information of the first task to the WCS system, and the WCS system writes the completion information of the first task into the item transportation task of the virtual cargo space, and sets the execution status of the second task to executable. At this time, if there is a task with a higher priority than the second task in the second task pool, the second stacker is controlled to execute the task with a higher priority first, but within the preset time interval, the WCS system will automatically increase the priority of the second task by one level.

[0132] When there is no higher priority task in the second task pool, the WCS system verifies the second task with the first task completion information in the target virtual cargo location. If the verification is successful, the WCS system writes the second task (task number Task1-2NO200, starting address Mid1, target address Target1, transported item information) into the target virtual cargo location and controls the second stacker to perform the second task. Specifically, when the WCS system controls the second stacker to run to the target virtual cargo location, it will perform a second verification on the second task with the first task completion information in the target virtual cargo location. When the verification is successful, it will control the second stacker to obtain the transported items from the target transfer cargo location corresponding to the target virtual cargo location and transport the transported items to the final location of the items. After the second stacker completes the second task, it generates the second task completion information according to the second task and returns the second task completion information to the WCS system. After receiving the second task completion information, the WCS system verifies the second task completion information with the first task completion information in the target virtual cargo location. After the verification is successful, it clears the cached information in the target virtual cargo location and releases the locked state of the target virtual cargo location.

[0133] It is understandable that during the execution of the task, a task verification will be performed each time the goods are received and released. If the verification fails, the WCS system can alarm in the system and inform manual processing.

[0134] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0135] Based on the same inventive concept, the embodiment of the present application also provides an article transport device for implementing the article transport method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more article transport device embodiments provided below can refer to the limitations on the article transport method above, and will not be repeated here.

[0136] In one embodiment, Fig. 9 As shown, an article transport device 900 is provided, including: a task determination module 901, a target transfer cargo location acquisition module 902, a task splitting module 903, a first task execution module 904 and a second task execution module 905, wherein:

[0137] The task judgment module 901 is used to determine whether the item transportation task is a directly accessible task based on the item starting position and the item end position if an item transportation task is obtained when the automated item conveying system is deployed in the target area; wherein the item transportation task carries the item starting position and the item end position; and the target area is an area where the track length relative to the length of the operating area is less than a preset value.

[0138] The target transfer cargo location location acquisition module 902 is used to acquire the location of the target transfer cargo location if the item transportation task is a non-directly accessible task.

[0139] The task splitting module 903 is used to split the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item and the final location of the item.

[0140] The first task execution module 904 is used to control the first stacker to execute the first task, and transport the transported items from the starting position of the items to the target transfer location.

[0141] The second task execution module 905 is used to control the second stacker to execute the second task after receiving the first task completion information returned by the first stacker, so as to transport the transported articles from the target transfer location to the final location of the articles.

[0142] For the above-mentioned article transport device, when the one-track dual-car automated article conveying system is deployed in an area where the length of the track is less than a preset value relative to the length of the operating area, it means that both the first stacker and the second stacker in the system have operating areas that they cannot directly reach. At this time, for the acquired article transport task, determine whether the article transport task is a directly accessible task based on the starting position and the end position of the article in the article transport task. If the article transport task is a non-directly accessible task, it means that the transported article needs to be transferred before it can be transported from the starting position of the article to the end position of the article. The position of the target transfer cargo position is obtained, and the article transport task is split into a first task and a second task based on the position of the target transfer cargo position, the starting position of the article, and the end position of the article. The first stacker is controlled to perform the first task to transport the transported article from the starting position of the article to the target transfer cargo position. After receiving the completion information of the first task, the second stacker is controlled to perform the second task to transport the transported article from the target transfer cargo position to the end position of the article. The method can make the operation of the one-track dual-car system no longer restricted by the size of the deployment area. In a smaller working operation area, the transported items can be transferred through the target transfer cargo position, avoiding the situation where the items cannot be delivered due to the inability of a single stacker to directly transport the transported items from the starting position to the end position of the items. The working efficiency of the one-track dual-car automated item conveying system is improved, and the operation and maintenance risks of the item conveying system are effectively reduced.

[0143] In one embodiment, the task determination module includes:

[0144] Determine the task path based on the starting position and the end position of the item;

[0145] If the task path exceeds the operating range of each stacker, the item transportation task is determined to be a non-directly accessible task.

[0146] In one embodiment, the target transit cargo location acquisition module includes:

[0147] Obtain the operating status of each transit cargo location;

[0148] Determine the transfer cargo location whose operation status is idle as the candidate transfer cargo location;

[0149] A target transshipment location is selected from each candidate transshipment location according to preset conditions, and the location of the target transshipment location is obtained.

[0150] In one embodiment, the article transport device further comprises:

[0151] The target transit cargo location locking module is used to write the item transportation task into the target virtual cargo location corresponding to the target transit cargo location, and lock the target transit cargo location corresponding to the target virtual cargo location into a working state, wherein the target virtual cargo location is used to store the task information executed by the corresponding target transit station.

[0152] In one embodiment, the second task execution module includes:

[0153] When receiving the first task completion information returned by the first stacker, updating the first task completion information to the target virtual cargo location;

[0154] If the second stacker is in an idle state, the second task is verified with the updated completion information of the first task in the target virtual cargo location;

[0155] If the verification is successful, the second task is written into the target virtual cargo location, and the second stacker is controlled to execute the second task.

[0156] In one embodiment, the task splitting module includes:

[0157] Determine the priority of the first task and the second task according to the starting position of the item or the ending position of the item;

[0158] The first task is stored in the task pool of the first stacker, and the second task is stored in the task pool of the second stacker;

[0159] Controlling the first stacker to execute the first task includes: controlling the first stacker to execute tasks in the task pool of the first stacker in sequence according to the priority of the tasks, wherein the tasks in the task pool of the first stacker include the first task;

[0160] Controlling the second stacker to execute the second task includes: controlling the second stacker to execute tasks in a task pool of the second stacker in sequence according to the priorities of the tasks, wherein the tasks in the task pool of the second stacker include the second task.

[0161] In one embodiment, the article transport device further comprises:

[0162] The target transfer cargo location unlocking module is used to unlock the target transfer cargo location corresponding to the target virtual cargo location to an idle state when receiving the second task completion information returned by the second stacker.

[0163] Each module in the above-mentioned article transport device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0164] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store public operation area data, execution task data, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for transporting items is implemented.

[0165] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0166] In one embodiment, a computer device is provided, which may be the control system in the present application, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the method for transporting items in the above-mentioned embodiments are implemented.

[0167] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for transporting items in the above-mentioned embodiments are implemented.

[0168] In one embodiment, a computer program product is provided, including a computer program, which implements the steps of the method for transporting items in the above embodiments when executed by a processor.

[0169] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0170] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0171] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for transporting articles, characterized in that: Applied in an automated article conveying system with two cars on one track, the method comprises: When the automated object conveying system is deployed in the target area, if an object transport task is obtained, whether the object transport task is a directly accessible task is determined according to the object starting position and the object end position; wherein the object transport task carries the object starting position and the object end position; the target area is an area where the track length relative to the length of the working area is less than a preset value; If the item transportation task is a non-directly accessible task, the location of the target transfer cargo location is obtained, the item transportation task is written into the target virtual cargo location corresponding to the target transfer cargo location, and the target transfer cargo location corresponding to the target virtual cargo location is locked in a working state, wherein the target virtual cargo location is used to store the task information executed by the corresponding target transfer station; Splitting the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item, and the final location of the item; setting the first task to an executable state, and setting the second task to an unexecutable state; Controlling the first stacker to perform the first task to transport the transported items from the starting position of the items to the target transfer location; After receiving the first task completion information returned by the first stacker, the second task is set to an executable state, and the second stacker is controlled to execute the second task to transport the transported items from the target transit location to the item terminal location; the first task completion information is generated by the first stacker according to the first task after completing the first task.

2. The method according to claim 1, characterized in that The determining whether the item transportation task is a directly accessible task according to the item starting position and the item ending position includes: Determine the task path according to the starting position of the item and the ending position of the item; If the task path exceeds the operating range of each stacker, the article transportation task is determined to be a non-directly accessible task.

3. The method according to claim 1, characterized in that The step of obtaining the location of the target transit cargo location includes: Obtain the operating status of each transit cargo location; Determine the transfer cargo location whose operating status is idle as a candidate transfer cargo location; A target transshipment cargo location is selected from each of the candidate transshipment cargo locations according to preset conditions, and the position of the target transshipment cargo location is obtained.

4. The method according to claim 1, characterized in that The controlling the first stacker to perform the first task to transport the transported item from the starting position of the item to the target transfer location includes: controlling the first stacker to perform the first task; When the first stacker moves to the area where the target transfer cargo location is located, the first task is verified with the item transportation task in the target virtual cargo location; If the verification is successful, controlling the first stacker to cache the transported article in the target transfer cargo location; The method of controlling the second stacker to execute the second task upon receiving the first task completion information returned by the first stacker comprises: When receiving the first task completion information returned by the first stacker, updating the first task completion information to the target virtual cargo location; If the second stacker is in an idle state, verifying the second task with the updated first task completion information in the target virtual cargo location; If the verification is successful, the second task is written into the target virtual cargo location, and the second stacker is controlled to execute the second task.

5. The method according to claim 1, characterized in that The step of splitting the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item, and the final location of the item includes: Determine the priority of the first task and the second task according to the starting position of the item or the ending position of the item; storing the first task in a task pool of the first stacker, and storing the second task in a task pool of the second stacker; The controlling the first stacker to execute the first task comprises: controlling the first stacker to execute tasks in a task pool of the first stacker in sequence according to the priorities of the tasks, wherein the tasks in the task pool of the first stacker include the first task; The controlling the second stacker to execute the second task includes: controlling the second stacker to execute tasks in a task pool of the second stacker in sequence according to the priorities of the tasks, wherein the tasks in the task pool of the second stacker include the second task.

6. The method according to claim 1, characterized in that The method further comprises: When the second task completion information returned by the second stacker is received, the target transfer cargo location corresponding to the target virtual cargo location is unlocked to be in an idle state.

7. An article transport device, characterized in that: The device comprises: A task judgment module is used for, when the automated object conveying system is deployed in the target area, if an object transportation task is obtained, determining whether the object transportation task is a directly accessible task according to the object starting position and the object end position; wherein the object transportation task carries the object starting position and the object end position; the target area is an area where the track length relative to the length of the working area is less than a preset value; The target transfer cargo position acquisition module is used to acquire the position of the target transfer cargo position if the item transportation task is a non-directly accessible task, write the item transportation task into the target virtual cargo position corresponding to the target transfer cargo position, and lock the target transfer cargo position corresponding to the target virtual cargo position into a working state, wherein the target virtual cargo position is used to store the task information executed by the corresponding target transfer station; A task splitting module is used to split the item transportation task into a first task and a second task according to the location of the target transfer cargo location, the starting location of the item and the final location of the item; set the first task to an executable state and set the second task to a non-executable state; A first task execution module, used to control the first stacker to execute the first task, transporting the transported items from the starting position of the items to the target transfer location; The second task execution module is used to set the second task to an executable state after receiving the first task completion information returned by the first stacker, and control the second stacker to execute the second task to transport the transported items from the target transfer location to the item terminal location.

8. The device according to claim 7, characterized in that The task judgment module is used to: determine the task path according to the starting position of the object and the ending position of the object; if the task path exceeds the operating range of each stacker, determine that the object transportation task is a non-directly accessible task.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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