Scheduling Method, System, RGV, Electronic Device and Computer Medium

Abstract

The present invention relates to the technical field of vehicle scheduling, and provides a scheduling method, system, RGV, electronic device and computer medium. The method is applied to two small vehicles traveling on the same track, and the preset allowable travel intervals of the two small vehicles overlap, and includes: obtaining a task list; based on the preset allowable travel intervals, respectively allocating executable tasks to the two small vehicles; respectively sorting the executable tasks of the two small vehicles based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the corresponding small vehicles on the track, to obtain an executable task list; respectively controlling the two small vehicles to execute the executable tasks according to the executable task list. The present invention is used to solve or improve the defect of low utilization rate of the RGV caused by the existing scheduling method for the RGV with one track and two vehicles, and realizes the reasonable allocation of tasks for the RGV with one track and two vehicles, thereby improving the utilization rate of the RGV.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle scheduling, and particularly to a scheduling method, system, RGV, electronic device and computer medium. Background Art

[0002] A Rail Guided Vehicle (RGV), also known as a rail shuttle car, can be used in scenarios such as warehouses with various high-density storage methods that require automatic transportation. One track with two vehicles means there are two RGVs on one track. Therefore, the rationality of the scheduling of the two RGVs is directly related to the safety and efficiency of using RGVs for transportation.

[0003] Currently, the scheduling methods for one track with two vehicles mainly include the following three:

[0004] The first one is to preset a demarcation line on the track, and then let the two RGVs be responsible for the transportation tasks on each section of the track respectively. This method is simple to use, but in actual use, it is very difficult to always ensure that the task ratios at both ends of the demarcation line are relatively balanced, so one RGV will have a long idle time, reducing the utilization rate of the RGV. The second one is to set a dynamic demarcation line on the track, that is, when the first RGV is working, the demarcation line is the boundary of the working area of this RGV, and if the task of the second RGV interferes with the first one, it will give up execution. This method saves the trouble of presetting the demarcation line, but because the second RGV may give up executing tasks, it still affects the utilization rate of the RGV. The third one is to allocate the tasks to be executed by the two RGVs through time-consuming calculation and overall planning. This method makes the task allocation more reasonable and improves the utilization rate of the RGV, but it is only suitable for the situation where tasks to be executed appear in batches. When the tasks to be executed appear sporadically over time, the rationality of task allocation cannot be guaranteed, so it will also affect the utilization rate of the RGV. Summary of the Invention

[0005] The present invention provides a scheduling method, system, RGV, electronic device and computer medium to solve or improve the defect of low utilization rate of RGVs caused by using the existing scheduling methods for RGVs with one track and two vehicles, and to achieve reasonable allocation of tasks for RGVs with one track and two vehicles, thereby improving the utilization rate of RGVs.

[0006] The present invention provides a scheduling method, which is applied to two small vehicles traveling on the same track, and the preset allowable driving intervals of the two small vehicles overlap. The scheduling method includes:

[0007] Obtain a task list;

[0008] Based on the preset allowable driving intervals, allocate executable tasks to the two small vehicles respectively;

[0009] Based on the distances between the respective first reference positions of the two cars on the track and the optimal positions of the corresponding cars on the track, sort the executable tasks of the two cars to obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the car determined based on the historical driving trajectory of the car;

[0010] Control the two cars to execute the executable tasks according to the executable task list respectively.

[0011] According to the scheduling method of the present invention, the step of allocating executable tasks to the two cars respectively based on the preset allowable driving interval includes:

[0012] Obtain the task paths of the tasks in the to-be-allocated task list;

[0013] Based on the task paths, determine the first task and the second task in the tasks. The first task is the task whose task path is simultaneously covered by the preset allowable driving intervals of the two cars, and the second task is the task whose task path is only covered by the preset allowable driving interval of any one of the two cars;

[0014] Allocate the first task to the two cars based on a preset allocation rule;

[0015] Allocate the second task to the corresponding car respectively based on the preset allowable driving interval adapted to the task path.

[0016] According to the scheduling method of the present invention, the step of allocating the first task to the two cars based on a preset allocation rule includes:

[0017] Determine whether the working states of the two cars are idle;

[0018] If the working state of only one of the two cars is idle and the number of the first tasks is one, allocate the first task to the car whose working state is idle;

[0019] If the working states of the two trolleys are both idle and / or the number of the first tasks is not less than two, then based on the second reference positions of the two trolleys on the track and the preset position priorities of the corresponding trolleys, determine the priorities of the two trolleys corresponding to the first tasks, and allocate the first tasks based on the determined priorities. The second reference position is the midpoint position of the first task determined based on the starting position and the ending position of the first task. The preset position priorities of the two trolleys are set in opposite directions along the extending direction of the track.

[0020] According to the scheduling method of the present invention, the allocating the first tasks based on the determined priorities further includes:

[0021] When the priorities of the two trolleys corresponding to the first tasks are the same, regard the corresponding first tasks as special tasks, and respectively determine the distances between the optimal positions of the two trolleys and the second reference positions corresponding to the special tasks;

[0022] Allocate the special tasks based on the determined distances.

[0023] According to the scheduling method of the present invention, it further includes:

[0024] Determine the types of the two trolleys. The types include working trolleys and idle trolleys. The working trolley is a trolley that is executing the executable task, and the idle state is a trolley with a working state of idle;

[0025] If the two trolleys are respectively the working trolley and the idle trolley, then obtain the staying position of the idle trolley, and the starting position and the ending position of the executable task that the working trolley is executing, and when the staying position of the idle trolley is between the starting position and the ending position of the executable task that the working trolley is executing, control the idle trolley to give way to the working trolley.

[0026] According to the scheduling method of the present invention, it further includes:

[0027] When any one of the two trolleys breaks down, adjust the preset allowed driving interval of the trolley without breakdown to cover the track;

[0028] When the to-be-allocated task list includes a third task, control a predetermined trolley among the two trolleys to execute the third task. The third task is a task whose task path exceeds the preset allowed driving interval.

[0029] The present invention also provides a scheduling system, which is applied to two small vehicles traveling on the same track, and the preset allowable driving intervals of the two small vehicles overlap. The scheduling system includes:

[0030] A task acquisition module, configured to acquire a task list;

[0031] A task allocation module, configured to respectively allocate executable tasks to the two small vehicles based on the preset allowable driving intervals;

[0032] A task sorting module, configured to respectively sort the executable tasks of the two small vehicles based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the corresponding small vehicles on the track, to obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the small vehicle determined based on the historical driving trajectory of the small vehicle;

[0033] A task execution module, configured to respectively control the two small vehicles to execute the executable tasks according to the executable task list.

[0034] The present invention also provides an RGV, which includes two that perform transportation tasks on the same track, and is scheduled by using any one of the above scheduling methods, or includes the above scheduling system.

[0035] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above scheduling method is implemented.

[0036] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above scheduling method is implemented.

[0037] A scheduling method, system, RGV, electronic device, and computer medium provided by the present invention, after obtaining a task list, based on the preset allowable driving intervals of two trolleys, allocate executable tasks to the two trolleys respectively, and then sort the executable tasks of each trolley according to the distance between the midpoint position representing each executable task and the optimal staying position of the trolley on the track, and control the trolley to execute each executable task based on the rearranged order. On the one hand, by setting the preset allowable driving intervals of the two trolleys to overlap, the scheduling of the trolleys is made more flexible, and the utilization rate of the trolleys is improved; on the other hand, by sorting the executable tasks based on the optimal staying position of the trolley on the track and executing each executable task in order, the execution efficiency of the trolley for the executable tasks is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 is a flowchart of a scheduling method provided by an embodiment of the present invention;

[0040] Figure 2 is a schematic structural principle diagram of an RGV transportation system with one track and two trolleys provided by an embodiment of the present invention;

[0041] Figure 3 is the flowchart of scheduling the RGV as shown in Figure 2 using the scheduling method provided by the embodiment of the present invention;

[0042] Figure 4 is a schematic structural diagram of a scheduling system provided by an embodiment of the present invention;

[0043] Figure 5 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0045] The following will be combined with Figures 1 to 3A scheduling method of the present invention can be executed by software and / or hardware in electronic devices such as computers, tablets, and mobile phones.

[0046] It should be noted that the scheduling method provided by the embodiments of the present invention is applied to two small vehicles traveling on the same track, and the preset allowed traveling intervals of the two small vehicles overlap. It can be understood that the two small vehicles traveling on the same track can be an RGV transportation system with two vehicles on one track. Taking the RGV transportation system with two vehicles on one track as an example, by setting two overlapping preset allowed traveling intervals, the traveling interval ranges of the two RGVs are larger, thereby increasing the flexibility of scheduling and improving the utilization rate of the RGVs.

[0047] Specifically, as Figure 1 shown, the scheduling method provided by the embodiments of the present invention includes the following steps:

[0048] 101. Obtain a task list;

[0049] It can be understood that in the RGV transportation system with two vehicles on one track, as Figure 2 shown, the RGV with two vehicles on one track includes a 1#RGV and a 2#RGV that can travel on the track, and several conveyor lines are docked on both sides of the track. Among them, the conveyor lines marked with one-way arrows are one-way conveyor lines and the conveyor lines marked with two-way arrows are two-way conveyor lines. The working intervals of the 1#RGV and the 2#RGV are the preset allowed traveling intervals of the two RGVs respectively, and they overlap. The two RGVs are responsible for the handling work between all conveyor line platforms.

[0050] Specifically, the task list includes the handling tasks between each conveyor line on both sides of the track. For example: it can be a handling task input by the user through electronic devices such as computers, tablets, and mobile phones.

[0051] 102. Based on the preset allowed traveling intervals, allocate executable tasks to the two small vehicles respectively;

[0052] It can be understood that each handling task should at least include the handling start position and the end position, because only by obtaining the task start and end points can the movement of the RGV be controlled to execute the handling task.

[0053] Specifically, after obtaining the start position and the end position of each task, by comparing with the preset allowed traveling intervals of the two small vehicles respectively, the small vehicle suitable for executing each task can be determined, that is, the small vehicle whose preset allowed traveling interval covers the start and end points of the task is used as the small vehicle to execute the task.

[0054] It should be noted that the preset allowed traveling intervals of the two small vehicles can be flexibly set according to the actual handling requirements, so as to ensure the handling requirements and improve the utilization rate of the small vehicles.

[0055] 103. Sort the executable tasks of the two vehicles based on the distances between each first reference position of the two vehicles on the track and the corresponding optimal position of the vehicle on the track to obtain an executable task list, wherein the first reference position is the midpoint position of the executable task determined based on the starting position and the end position of each executable task, and the optimal position is the average stop position of the vehicle determined based on the historical driving trajectory of the vehicle;

[0056] It is understandable that Figure 2 Taking the one-track dual-car RGV system shown in the figure as an example, assuming that from the left side of the track to the right side of the track, and the conveyor lines on the upper side of the track in the figure are conveyor lines 1 to 10, and the conveyor lines on the lower side are conveyor lines 11 and 12, then corresponding to each conveyor line, there are also positions 1 to 12 corresponding to conveyor lines 1 to 12 on the track. Furthermore, the executable tasks of the RGV can be described as from position x to position y, for example: position 1 to position 3, position 1 to position 5, etc.

[0057] Specifically, the average position of the car is the mean of the car's positions obtained by analyzing the car's historical driving trajectory, that is, the midpoint position of each historical task performed by the car. Figure 2 Taking the one-track dual-car RGV system shown as an example, assuming that the historical stop positions of 1#RGV include position 1, position 3, position 4 and position 7, the average position of 1#RGV determined by the historical stop positions of 1#RGV is (1+3+4+7) / 4=3.75, that is, the midpoint position of each executable task of 1#RGV is most likely to be position 3.75 on the track. Because it is known that the historical stop positions of 1#RGV are only included in positions 1 to 12 on the track, if the optimal position of the trolley on the track is determined by the proportion of historical stop positions, it is possible to determine the most frequently occurring end position or starting position of each executable task as the optimal position of the trolley on the track. At this time, if the subsequent executable tasks are sorted by the distance from the optimal position, it is possible that the trolley will preferentially execute the executable task whose starting position is farthest from its current position, which reduces the working efficiency of the trolley.

[0058] Furthermore, Figure 2 Taking the one-track two-car RGV system shown as an example, if the starting position or the end position of each executable task is used as the first reference position to represent the position of the executable task, because the starting position or the end position only includes 12 positions on the track, the probability of duplication of the first reference position will be greatly increased, and the meaning of using the first reference position to represent each executable task will be lost.

[0059] More specifically, in the scheduling method provided by the embodiments of the present invention, by using the average position of the trolley determined based on the historical driving trajectory of the trolley as the optimal position of the trolley on the track, and using the midpoint position of the executable task determined based on the starting position and the ending position of each of the executable tasks as the first reference positions of the trolley on the track, and sorting the executable tasks according to the distances between the first reference positions and the optimal position, the trolley can be made to preferentially execute the executable task closest to the optimal position, and then sequentially execute the executable tasks farther from the optimal position, thereby improving the execution efficiency of the executable tasks, that is, improving the working efficiency of the trolley.

[0060] 104. Control the two trolleys respectively to execute the executable tasks according to the executable task list.

[0061] In the scheduling method provided by the embodiments of the present invention, after obtaining the task list, based on the preset allowable driving intervals of the two trolleys, executable tasks are respectively allocated to the two trolleys, and then after sorting the executable tasks of each trolley according to the distances between the midpoint positions representing each execution task and the best staying positions of the trolleys on the track, the trolleys are controlled to execute each executable task based on the rearranged order. On the one hand, by setting the preset allowable driving intervals of the two trolleys to have an overlap, the scheduling of the trolleys is made more flexible, improving the utilization rate of the trolleys; on the other hand, by sorting each executable task based on the best staying positions of the trolleys on the track and executing each executable task in sequence, the execution efficiency of the trolleys for the executable tasks is effectively improved.

[0062] Based on the content of the above embodiments, the step of respectively allocating executable tasks to the two trolleys based on the preset allowable driving intervals includes:

[0063] Obtain the task paths of each task in the task list to be allocated;

[0064] Based on the task paths, determine the first task and the second task in the tasks. The first task is the task whose task path is simultaneously covered by the preset allowable driving intervals of the two trolleys, and the second task is the task whose task path is only covered by the preset allowable driving interval of any one of the trolleys;

[0065] Based on a preset allocation rule, allocate the first task to the two trolleys;

[0066] Based on the preset allowable driving interval adapted to the task path, allocate the second task to the corresponding trolley respectively.

[0067] It can be understood that since the preset allowable driving ranges of the two small vehicles overlap, there are tasks whose task paths are simultaneously covered by the preset allowable driving ranges of the two small vehicles. For example Figure 2 Positions 4 to 7 in

[0068] Specifically, by obtaining the task paths of each task in the task list to be assigned, and then determining the first task and the second task in the task list based on the task paths, the first task that can be executed by both small vehicles can be assigned based on the preset assignment rules, thus avoiding the problem that the first task cannot be assigned.

[0069] In one embodiment, the preset assignment rule can be random rotation assignment. For example, when encountering the first first task, it is randomly assigned to 1#RGV, and then when encountering the second first task, it is assigned to 2#RGV, and so on; it can also be that the user specifies the small vehicle. For example, if the user specifies 1#RGV to execute the first task, then when encountering the first task, it is all assigned to 1#RGV; it can also be idle first. For example, when encountering the first task, it is assigned to the small vehicle that is in the idle state to execute, and so on.

[0070] Based on the content of the above embodiment, the step of assigning the first task to the two small vehicles based on the preset assignment rule includes:

[0071] Determine whether the working states of the two small vehicles are idle;

[0072] If only the working state of one of the two small vehicles is idle and the number of the first tasks is one, then assign the first task to the small vehicle whose working state is idle;

[0073] If the working states of the two small vehicles are both idle and / or the number of the first tasks is not less than two, then respectively determine the priorities of the two small vehicles corresponding to the first task based on the respective second reference positions of the two small vehicles on the track and the preset position priorities of the corresponding small vehicles. The second reference position is the midpoint position of the first task determined based on the starting position and the ending position of the first task. The preset position priorities of the two small vehicles are set in opposite directions along the extending direction of the track.

[0074] Specifically, by assigning the first task to the idle small vehicle when it is determined that only one of the two small vehicles is in the idle state and there is only one first task, the utilization efficiency of the small vehicle can be improved.

[0075] It can be understood that when the working states of both trolleys are idle, the execution efficiency of executable tasks can be improved by reasonably allocating the first task, that is, improving the working efficiency of the trolleys. When the number of the first tasks is not less than two, through the reasonable allocation of multiple first tasks, not only can the execution efficiency of executable tasks be improved, that is, improving the working efficiency of the trolleys, but also when the two trolleys execute different first tasks simultaneously, the probability of path conflicts can be reduced, thereby further improving the working efficiency of the trolleys.

[0076] More specifically, by setting the preset position priorities of the two trolleys to be opposite along the extending direction of the track. For example: as Figure 2 shown, the position priority of the 1# RGV is that the closer it is to the left edge of the track, the higher the priority, while the position priority of the 2# RGV is that the closer it is to the right edge of the track, the lower the priority. Then, based on the midpoint position of the first task relative to the preset position priorities of the two trolleys, the first task is assigned to the trolley with a higher priority, thereby reducing the situation where the execution of tasks is abandoned due to route conflicts between the two trolleys and making the task allocation more reasonable.

[0077] Based on the content of the above embodiments, the allocating the first task based on the determined priority further includes:

[0078] When the priorities of the two trolleys corresponding to the first task are the same, the corresponding first task is regarded as a special task, and the distances between the optimal positions of the two trolleys and the second reference position corresponding to the special task are respectively determined;

[0079] Based on the determined distances, the special task is allocated.

[0080] Specifically, assume that as Figure 2 shown, the 1# RGV is executing task A and the 2# RGV is idle. At this time, there are overlapping area tasks, that is, the first tasks B and C are to be allocated. According to the opposite position priorities, the priorities of B and C are the same. Then, the distances between B and the optimal position x2 of the 2# RGV, and between C and x2 are further determined. By comparison, the distance between C and x2 is shorter, so the first task C is allocated to the 2# RGV, and the first task B is allocated to the 1# RGV, so that the first task B and the first task C can be carried out simultaneously without interference, improving the task execution efficiency.

[0081] The scheduling method provided by the embodiment of the present invention realizes the reasonable allocation of the first task by using the opposite position priorities as the main judgment principle for task allocation when the working states of both trolleys are idle or there are multiple first tasks, and using the distance determined based on the optimal position as the secondary priority, effectively reducing the probability of cross tasks and improving the working efficiency of the trolleys.

[0082] Based on the content of the above embodiments, the scheduling method provided by the embodiments of the present invention further includes:

[0083] Determine the types of the two trolleys, where the types include working trolleys and idle trolleys. The working trolley is the trolley that is executing the executable task, and the idle trolley is the trolley with an idle working state;

[0084] If the two trolleys are respectively the working trolley and the idle trolley, obtain the stopping position of the idle trolley, and the starting position and ending position of the executable task that the working trolley is executing. When the stopping position of the idle trolley is between the starting position and the ending position of the executable task that the working trolley is executing, control the idle trolley to yield to the working trolley.

[0085] Specifically, by making the idle trolley yield to the working trolley when it is determined that the stopping position of the idle trolley is between the starting position and the ending position of the executable task that the working trolley is executing, the active yielding of the idle trolley is realized. Compared with the current common passive yielding method in which the working trolley controls the idle trolley to yield after encountering the idle trolley during driving, the driving speed and task execution efficiency of the working trolley are not affected, effectively improving the work efficiency.

[0086] In one embodiment, the yielding manner of the idle trolley to the working trolley can be further controlled. For example, when it is determined that the stopping position of the idle trolley is far from the working trolley, control the idle trolley to move to a position outside the ending position of the executable task executed by the working trolley at a normal speed to achieve the active yielding to the working trolley; when it is determined that the stopping position of the idle trolley is close to the working trolley and will affect the driving speed of the working trolley, control the idle trolley to move in the direction of the ending position of the executable task executed by the working trolley at a speed set higher than the normal speed, so as to avoid affecting the driving speed of the working trolley and ensure the work efficiency.

[0087] Based on the content of the above embodiments, the scheduling method provided by the embodiments of the present invention further includes:

[0088] When any one of the two trolleys fails, adjust the preset allowable driving range of the trolley without failure to cover the track;

[0089] When the to-be-allocated task list includes a third task, control a predetermined trolley among the two trolleys to execute the third task, where the third task is a task whose task path exceeds the preset allowable driving range.

[0090] Specifically, when a trolley breaks down, the preset allowable driving range of another trolley is controlled to cover the entire track, so that the other trolley can continue to ensure the handling work, thereby reducing the impact on work efficiency.

[0091] More specifically, when there is a third task in the task list that exceeds the preset allowable driving range of the two trolleys, by specifying a predetermined trolley, the allowable driving range of the predetermined trolley can be automatically adjusted when such a third task appears, so as to ensure the smooth execution of the tasks in the task list.

[0092] In summary, when using the scheduling method provided in the above embodiments of the present invention for the scheduling of two RGVs on one track and two cars, as shown in Figure 2 For the scheduling of the two RGVs, the scheduling processes for the 1# RGV and the 2# RGV are the same. Taking the scheduling of the 1# RGV as an example, the specific process is as shown in Figure 3 shown, mainly including the following steps:

[0093] 301. Determine whether the working state is idle; if so, jump to step 306; if not, execute step 302;

[0094] 302. Determine whether to actively yield; if so, jump to step 308; if not, execute step 303;

[0095] 303. Screen the tasks in the task list whose task paths are covered by the preset allowable driving range;

[0096] 304. Determine the executable tasks of the 1# RGV among the tasks covered by the preset allowable driving range;

[0097] 305. Sort the executable tasks of the 1# RGV based on the optimal position of the 1# RGV;

[0098] 306. Determine whether there are executable tasks to be executed; if so, enter step 307; if not, return to step 301;

[0099] 307. Execute the executable tasks;

[0100] 308. Actively yield.

[0101] When using the scheduling method provided in the embodiments of the present invention for the scheduling of two RGVs on one track and two cars, the scheduling processes for the two RGVs are basically the same. First, the active yield judgment is made to improve the task execution efficiency. Then, based on the working state of the RGV, the number of the first tasks, and the opposite position priority, the optimal position, etc., the executable tasks of itself are screened, so as to reduce the situation where the trolley abandons the task, make the task allocation more reasonable, and solve the unpredictable problem of discrete tasks over time, making the task allocation more intelligent, more efficient and more stable.

[0102] A scheduling system provided by the present invention will be described below. The scheduling system described below can be correspondingly referred to the scheduling method described above.

[0103] As Figure 4 shown, a scheduling system provided by an embodiment of the present invention is applied to two small vehicles traveling on the same track, and the preset allowable driving intervals of the two small vehicles overlap. The scheduling system includes: a task acquisition module 410, a task allocation module 420, a task sorting module 430, and a task execution module 440; wherein,

[0104] The task acquisition module 410 is used to acquire a task list;

[0105] The task allocation module 420 is used to respectively allocate executable tasks to the two small vehicles based on the preset allowable driving intervals;

[0106] The task sorting module 430 is used to respectively sort the executable tasks of the two small vehicles based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the corresponding small vehicles on the track, and obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the small vehicle determined based on the historical driving trajectory of the small vehicle;

[0107] The task execution module 440 is used to respectively control the two small vehicles to execute the executable tasks according to the executable task list.

[0108] The scheduling system provided by the embodiment of the present invention, after acquiring the task list, based on the preset allowable driving intervals of the two small vehicles, respectively allocates executable tasks to the two small vehicles, and then after sorting the executable tasks of each small vehicle according to the distance between the midpoint position representing each execution task and the best staying position of the small vehicle on the track, controls the small vehicle to execute each executable task based on the rearranged order. On the one hand, by setting the preset allowable driving intervals of the two small vehicles to overlap, the scheduling of the small vehicles is made more flexible, and the utilization rate of the small vehicles is improved; on the other hand, by sorting each executable task based on the best staying position of the small vehicle on the track and executing each executable task in order, the execution efficiency of the small vehicle for the executable tasks is effectively improved.

[0109] Optionally, the task allocation module 420 is specifically used for:

[0110] acquire the task paths of the tasks in the task list to be allocated;

[0111] Based on the task path, determine the first task and the second task in the task. The first task is the task where the task path is simultaneously covered by the preset allowable driving intervals of two of the trolleys, and the second task is the task where the task path is only covered by the preset allowable driving interval of any one of the trolleys;

[0112] Based on a preset allocation rule, allocate the first task to two of the trolleys;

[0113] Based on the preset allowable driving interval adapted to the task path, allocate the second task to the corresponding trolley respectively.

[0114] Optionally, the task allocation module 420 is more specifically configured to:

[0115] Determine whether the working states of two of the trolleys are idle;

[0116] If the working state of only one of the trolleys is idle and the number of the first tasks is one, allocate the first task to the trolley with the idle working state;

[0117] If the working states of two of the trolleys are both idle and / or the number of the first tasks is not less than two, respectively determine the priorities of two of the trolleys corresponding to the first task based on the respective second reference positions of two of the trolleys on the track and the preset position priorities of the corresponding trolleys. The second reference position is the midpoint position of the first task determined based on the starting position and the ending position of the first task, and the preset position priorities of two of the trolleys are set in opposite directions along the extending direction of the track. Allocate the first task based on the determined priorities.

[0118] Optionally, the task allocation module 420 is further specifically configured to:

[0119] When the priorities of two of the trolleys corresponding to the first task are the same, regard the corresponding first task as a special task, and respectively determine the distances between the optimal positions of two of the trolleys and the second reference position corresponding to the special task;

[0120] Allocate the special task based on the determined distances.

[0121] Optionally, the scheduling system provided by an embodiment of the present invention further includes: a yielding control module;

[0122] The yielding control module is configured to:

[0123] Determine the types of two of the trolleys, where the types include working trolleys and idle trolleys. The working trolleys are the trolleys that are executing the executable tasks, and the idle state is the trolley with an idle working state;

[0124] If the two small vehicles are the working small vehicle and the idle small vehicle respectively, obtain the staying position of the idle small vehicle, and the starting position and the ending position of the executable task being executed by the working small vehicle, and when the staying position of the idle small vehicle is between the starting position and the ending position of the executable task being executed by the working small vehicle, control the idle small vehicle to yield to the working small vehicle.

[0125] Optionally, the scheduling system provided by an embodiment of the present invention further includes: a regulation module;

[0126] The regulation module is used for:

[0127] When any one of the two small vehicles breaks down, adjust the preset allowed driving interval of the small vehicle without breakdown to cover the track;

[0128] When a third task is included in the task list to be assigned, control a predetermined small vehicle among the two small vehicles to execute the third task, where the third task is a task whose task path exceeds the preset allowed driving interval.

[0129] An embodiment of the present invention further provides an RGV, which includes two vehicles performing transportation tasks on the same track, and is scheduled by using the scheduling method described in any one of the above embodiments, or includes the scheduling system described in any one of the above embodiments.

[0130] It can be understood that the RGV scheduled by using the scheduling method described in any one of the above embodiments, or including the scheduling system described in any one of the above embodiments, has all the advantages and technical effects of the scheduling method or the scheduling system described in any one of the above embodiments, which will not be elaborated here.

[0131] Figure 5 Illustrates a schematic physical structure diagram of an electronic device, such as Figure 5As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logical instructions in the memory 530 to execute a scheduling method, which is applied to two cars traveling on the same track, and the preset allowable travel intervals of the two cars overlap. The scheduling method includes: obtaining a task list; based on the preset allowable travel intervals, respectively allocating executable tasks to the two cars; respectively sorting the executable tasks of the two cars based on the distances between the respective first reference positions of the two cars on the track and the optimal positions of the respective cars on the track, to obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the car determined based on the historical travel trajectory of the car; respectively controlling the two cars to execute the executable tasks according to the executable task list.

[0132] In addition, when the logical instructions in the above-mentioned memory 530 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0133] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a scheduling method provided by each of the above methods. The scheduling method is applied to two small vehicles traveling on the same track, and the preset allowable travel intervals of the two small vehicles overlap. The scheduling method includes: obtaining a task list; based on the preset allowable travel intervals, respectively allocating executable tasks to the two small vehicles; respectively sorting the executable tasks of the two small vehicles based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the corresponding small vehicles on the track to obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the small vehicle determined based on the historical travel trajectory of the small vehicle; respectively controlling the two small vehicles to execute the executable tasks according to the executable task list.

[0134] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a scheduling method is implemented. The scheduling method is applied to two small vehicles traveling on the same track, and the preset allowable travel intervals of the two small vehicles overlap. The scheduling method includes: obtaining a task list; based on the preset allowable travel intervals, respectively allocating executable tasks to the two small vehicles; respectively sorting the executable tasks of the two small vehicles based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the corresponding small vehicles on the track to obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the small vehicle determined based on the historical travel trajectory of the small vehicle; respectively controlling the two small vehicles to execute the executable tasks according to the executable task list.

[0135] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0136] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A scheduling method, characterized in that, Applied to two small vehicles traveling on the same track, and the preset allowed travel intervals of the two small vehicles overlap. The scheduling method includes: Obtain a task list; Based on the preset allowed travel intervals, allocate executable tasks to the two small vehicles respectively; The step of allocating executable tasks to the two small vehicles respectively based on the preset allowed travel intervals includes: Obtain the task paths of the tasks in the task list to be allocated; Based on the task paths, determine the first task and the second task in the tasks. The first task is the task whose task path is simultaneously covered by the preset allowed travel intervals of the two small vehicles, and the second task is the task whose task path is only covered by the preset allowed travel interval of any one of the two small vehicles; Allocate the first task to the two small vehicles based on a preset allocation rule; Based on the preset allowed travel interval adapted to the task path, allocate the second task to the corresponding small vehicle respectively; Based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the corresponding small vehicles on the track, sort the executable tasks of the two small vehicles to obtain an executable task list. The first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the small vehicle determined based on the historical travel trajectory of the small vehicle; Control the two small vehicles to execute the executable tasks according to the executable task list respectively.

2. The scheduling method according to claim 1, wherein The step of allocating the first task to the two small vehicles based on the preset allocation rule includes: Determine whether the working states of the two small vehicles are idle; If the working state of only one of the two small vehicles is idle and the number of the first tasks is one, then allocate the first task to the small vehicle whose working state is idle; If the working states of the two small vehicles are both idle and / or the number of the first tasks is not less than two, then respectively determine the priorities of the two small vehicles corresponding to the first task based on the respective second reference positions of the two small vehicles on the track and the preset position priorities of the corresponding small vehicles. Allocate the first task based on the determined priorities. The second reference position is the midpoint position of the first task determined based on the starting position and the ending position of the first task, and the preset position priorities of the two small vehicles are set in opposite directions along the extension direction of the track.

3. The scheduling method according to claim 2, wherein The step of allocating the first task based on the determined priorities further includes: When the priorities of the two small vehicles corresponding to the first task are the same, regard the corresponding first task as a special task, and respectively determine the distances between the optimal positions of the two small vehicles and the second reference position corresponding to the special task; Allocate the special task based on the determined distances.

4. The scheduling method according to claim 1, wherein It further includes: Determine the types of the two small vehicles. The types include working small vehicles and idle small vehicles. The working small vehicle is the small vehicle that is executing the executable task, and the idle small vehicle is the small vehicle whose working state is idle; If two of the small vehicles are the working small vehicle and the idle small vehicle respectively, obtain the stopping position of the idle small vehicle, and the starting position and the ending position of the executable task being executed by the working small vehicle, and when the stopping position of the idle small vehicle is between the starting position and the ending position of the executable task being executed by the working small vehicle, control the idle small vehicle to yield to the working small vehicle.

5. The scheduling method according to claim 1, wherein Further included: When any one of the two small vehicles breaks down, adjust the preset allowed driving interval of the small vehicle without breakdown to cover the track; When a third task is included in the to-be-allocated task list, control a predetermined small vehicle among the two small vehicles to execute the third task, where the third task is a task whose task path exceeds the preset allowed driving interval.

6. A scheduling system, characterized in that, Applied to two small vehicles traveling on the same track, and the preset allowed driving intervals of the two small vehicles overlap. The scheduling system includes: A task acquisition module, configured to acquire a task list; A task allocation module, configured to respectively allocate executable tasks to the two small vehicles based on the preset allowed driving interval; the respectively allocating executable tasks to the two small vehicles based on the preset allowed driving interval includes: acquiring the task paths of the tasks in the to-be-allocated task list; based on the task paths, determining a first task and a second task in the tasks, where the first task is a task whose task path is simultaneously covered by the preset allowed driving intervals of the two small vehicles, and the second task is a task whose task path is only covered by the preset allowed driving interval of any one of the two small vehicles; based on a preset allocation rule, allocating the first task to the two small vehicles; and based on the preset allowed driving interval adapted to the task path, respectively allocating the second task to the corresponding small vehicle; A task sorting module, configured to respectively sort the executable tasks of the two small vehicles based on the distances between the respective first reference positions of the two small vehicles on the track and the optimal positions of the respective small vehicles on the track, to obtain an executable task list, where the first reference position is the midpoint position of the executable task determined based on the starting position and the ending position of each executable task, and the optimal position is the average position of the small vehicle determined based on the historical driving trajectory of the small vehicle; A task execution module, configured to respectively control the two small vehicles to execute the executable tasks according to the executable task list.

7. An RGV, comprising two that perform transportation tasks on the same track, characterized in that, Adopt the scheduling method according to any one of claims 1 to 5 for scheduling, or include the scheduling system according to claim 6.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the scheduling method according to any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the scheduling method according to any one of claims 1 to 5 is implemented.

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