A one-track double-car scheduling method and system based on task priority avoidance driving
By adopting a task priority-based avoidance and driving method, the problems of frequent waiting and cross driving in the single-track dual-vehicle scheduling are solved, the system's processing capacity and running efficiency are improved, and a more efficient logistics system operation is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KUNMING KSEC LOGISTIC INFORMATION IND
- Filing Date
- 2022-11-24
- Publication Date
- 2026-08-04
AI Technical Summary
The existing single-track dual-vehicle scheduling method results in frequent waiting and cross-driving situations in the logistics system, leading to low system processing capacity.
A task priority-based avoidance and chugging method is adopted. By defining high and low priority shuttles, high priority shuttles chug low priority idle shuttles, and low priority shuttles give way to high priority shuttles without affecting their delivery and pick-up. The entire process of task delivery and pick-up is taken into account.
This reduced the number of ineffective driving trips, improved system processing capacity and efficiency, and shortened delivery and pickup times.
Smart Images
Figure CN115994652B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of scheduling technology, and in particular to a single-track dual-vehicle scheduling method and system based on task priority avoidance and driving. Background Technology
[0002] For the material handling subsystems in a logistics system with high traffic volume and limited space, configuring a single straight-line shuttle is insufficient. Configuring a circular shuttle or, in the case of a space-constrained EMS system, configuring two shuttles on one track is the ideal choice. How to schedule two shuttles on one track directly impacts the system's processing capacity.
[0003] The current mainstream single-track dual-vehicle scheduling method is based on the travel process level: during a single pickup or delivery trip, before departure, another obstructing shuttle is detected and driven away in real time. This often results in frequent waiting and cross-driving situations, and the system's processing capacity is relatively low. Summary of the Invention
[0004] In view of this, the present invention provides a single-track dual-vehicle scheduling method and system based on task priority avoidance and driving to solve the above-mentioned technical problems.
[0005] This invention discloses a single-track dual-vehicle scheduling method based on task priority avoidance and driving, which includes the following steps:
[0006] Obtain the vehicle positions and task statuses of the first and second shuttles on the same track, as well as the station positions of each station; wherein, the task status includes no task, picking up goods, and delivering goods;
[0007] Obtain the first task and select the first shuttle to execute the first task; wherein, the first task includes picking up goods at the first pickup address and delivering goods at the first delivery address, and the first pickup address and the first delivery address are the same as their corresponding station locations;
[0008] Based on the current mission status and priority of the first and second shuttles, choose whether to drive away the second shuttle or make the second shuttle give way to the first shuttle.
[0009] Based on the selection result, control the first shuttle to complete the first task.
[0010] Furthermore, the first shuttle and the second shuttle were located at different stations before receiving the task; and the areas where the first shuttle and the second shuttle performed the task overlapped.
[0011] Furthermore, the process for determining the priority is as follows:
[0012] If the first or second shuttle has no task, it is defined as low priority;
[0013] If the first shuttle starts picking up goods, and the second shuttle is found to have no task, the first shuttle is defined as high priority.
[0014] If the first shuttle is performing a task and the second shuttle receives the second task and begins picking up goods, the second shuttle remains at a low priority. When the first shuttle completes delivery, it is defined as a low priority vehicle. If the task status of the second shuttle is detected as either picking up or delivering goods, the second shuttle is defined as a high priority vehicle. Finally, it is checked whether the first shuttle has any subsequent tasks. If it does, it picks up goods; otherwise, it remains idle. The second task includes picking up goods at the second pick-up address and delivering goods at the second delivery address, and the second pick-up address and the second delivery address are the same as their corresponding station locations.
[0015] Furthermore, the step of selecting whether to drive away the second shuttle or make the second shuttle give way to the first shuttle based on the current task status and priority of the first and second shuttles includes:
[0016] When the second shuttle is in a low-priority state and its movement status is idle, if the second shuttle is located within the first safety zone, it will be driven away, i.e., dispatched to the driving point; otherwise, it will not be driven away. The driving point is the station outside the first safety zone that is closest to the second shuttle. The first safety zone is equal to the sum of the first driving area and the safety distance. The first driving area is the route traveled by the first shuttle to perform the first task, i.e., the route traveled by the first shuttle to the first pickup address and from the first pickup address to the first delivery address. The safety distance is greater than the length of the first shuttle.
[0017] Furthermore, the step of selecting whether to drive away the second shuttle or make the second shuttle avoid the first shuttle based on the current task status and priority of the first shuttle and the second shuttle further includes:
[0018] If the first shuttle is performing the first task, and the second shuttle is tasked with picking up goods at the second pickup address or delivering goods to the second delivery address, the system checks whether the area in which the second shuttle is performing the second task will obstruct the first shuttle's movement within the first safe area. If it does, the second shuttle is dispatched to a clearing point; otherwise, there is no need to dispatch the second shuttle to a clearing point. The clearing point is located outside the first safe area and is the closest station to the second shuttle's pickup station when the second shuttle is in pickup mode, or the closest station to the second shuttle's delivery station when the second shuttle is in delivery mode.
[0019] After the first shuttle completes pickup, it checks whether the second shuttle's execution of the second task will obstruct the first shuttle's journey to the delivery address. If not, the second shuttle is controlled to execute the second task. Otherwise, if the second shuttle is detected not at the original avoidance point, the avoidance point is changed in real time, and the second shuttle is dispatched to the changed avoidance point. When the first shuttle completes delivery, the second shuttle is controlled to execute the second task. Specifically, when the second shuttle is in pickup mode, the changed avoidance point is closer to the second shuttle's pickup station than the original avoidance point; or, when the second shuttle is in delivery mode, the changed avoidance point is closer to the second shuttle's delivery station than the original avoidance point.
[0020] This invention also discloses a single-track dual-vehicle scheduling system based on task priority avoidance and driving, which includes:
[0021] The first acquisition module is used to acquire the vehicle positions and task status of the first shuttle and the second shuttle on the same track, as well as the station positions of each station; wherein, the task status includes no task, picking up goods, and delivering goods;
[0022] The second acquisition module is used to acquire the first task and select the first shuttle to execute the first task; wherein, the first task includes picking up goods at the first pickup address and delivering goods at the first delivery address, and the first pickup address and the first delivery address are the same as their corresponding station locations;
[0023] The selection module is used to select whether to drive away the second shuttle or make the second shuttle give way to the first shuttle, based on the current task status and priority of the first shuttle and the second shuttle.
[0024] The control module is used to control the first shuttle to complete the first task based on the selection result.
[0025] Furthermore, the first shuttle and the second shuttle were located at different stations before receiving the task; and the areas where the first shuttle and the second shuttle performed the task overlapped.
[0026] Furthermore, the process for determining the priority is as follows:
[0027] If the first or second shuttle has no task, it is defined as low priority;
[0028] If the first shuttle starts picking up goods, and the second shuttle is found to have no task, the first shuttle is defined as high priority.
[0029] If the first shuttle is performing a task and the second shuttle receives the second task and begins picking up goods, the second shuttle remains at a low priority. When the first shuttle completes delivery, it is defined as a low priority vehicle. If the task status of the second shuttle is detected as either picking up or delivering goods, the second shuttle is defined as a high priority vehicle. Finally, it is checked whether the first shuttle has any subsequent tasks. If it does, it picks up goods; otherwise, it remains idle. The second task includes picking up goods at the second pick-up address and delivering goods at the second delivery address, and the second pick-up address and the second delivery address are the same as their corresponding station locations.
[0030] Furthermore, the selection module includes:
[0031] When the second shuttle is in a low-priority state and its movement status is idle, if the second shuttle is located within the first safety zone, it will be driven away, i.e., dispatched to the driving point; otherwise, it will not be driven away. The driving point is the station outside the first safety zone that is closest to the second shuttle. The first safety zone is equal to the sum of the first driving area and the safety distance. The first driving area is the route traveled by the first shuttle to perform the first task, i.e., the route traveled by the first shuttle to the first pickup address and from the first pickup address to the first delivery address. The safety distance is greater than the length of the first shuttle.
[0032] Furthermore, the selection module also includes:
[0033] If the first shuttle is performing the first task, and the second shuttle is tasked with picking up goods at the second pickup address or delivering goods to the second delivery address, the system checks whether the area in which the second shuttle is performing the second task will obstruct the first shuttle's movement within the first safe area. If it does, the second shuttle is dispatched to a clearing point; otherwise, there is no need to dispatch the second shuttle to a clearing point. The clearing point is located outside the first safe area and is the closest station to the second shuttle's pickup station when the second shuttle is in pickup mode, or the closest station to the second shuttle's delivery station when the second shuttle is in delivery mode.
[0034] After the first shuttle completes pickup, it checks whether the second shuttle's execution of the second task will obstruct the first shuttle's journey to the delivery address. If not, the second shuttle is controlled to execute the second task. Otherwise, if the second shuttle is detected not at the original avoidance point, the avoidance point is changed in real time, and the second shuttle is dispatched to the changed avoidance point. When the first shuttle completes delivery, the second shuttle is controlled to execute the second task. Specifically, when the second shuttle is in pickup mode, the changed avoidance point is closer to the second shuttle's pickup station than the original avoidance point; or, when the second shuttle is in delivery mode, the changed avoidance point is closer to the second shuttle's delivery station than the original avoidance point.
[0035] Due to the adoption of the above technical solution, this invention has the following advantages: This scheduling method is based on the pick-up and delivery task level: high-priority pick-up and delivery shuttles drive away low-priority idle shuttles; low-priority pick-up and delivery shuttles avoid traffic to shorten pick-up and delivery time without affecting the pick-up and delivery of high-priority shuttles. Compared with the scheduling method based on the travel process level, this method comprehensively considers the entire process of task pick-up and delivery, which can minimize the number of ineffective driving traffic, thereby improving the system's processing capacity and travel efficiency; furthermore, the method of defining priorities, driving points, and avoidance points is easy to understand, has a short project implementation cycle, and is easy to maintain. Attached Figure Description
[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in the embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings.
[0037] Figure 1 This is a flowchart illustrating a single-track dual-vehicle scheduling method based on task priority avoidance and driving according to an embodiment of the present invention.
[0038] Figure 2 This is a schematic diagram of a single-track, dual-vehicle configuration according to an embodiment of the present invention. Detailed Implementation
[0039] The present invention will be further described in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art should fall within the protection scope of the present invention.
[0040] See Figure 1 This invention provides an embodiment of a single-track dual-vehicle scheduling method based on task priority avoidance and driving, which includes the following steps:
[0041] S1. Obtain the vehicle positions and task status of the first and second shuttles on the same track, as well as the station positions of each station; where the task status includes no task, picking up goods, and delivering goods.
[0042] S2. Obtain the first task and select the first shuttle to execute the first task; wherein, the first task includes picking up goods at the first pickup address and delivering goods at the first delivery address, and the first pickup address and the first delivery address are the same as their corresponding station locations;
[0043] S3. Based on the current mission status and priority of the first shuttle and the second shuttle, choose whether to drive away the second shuttle or make the second shuttle give way to the first shuttle.
[0044] S4. Based on the selected result, control the first shuttle to complete the first task.
[0045] In this embodiment, the first shuttle and the second shuttle are located at different stations before receiving the task; and the areas traveled by the first shuttle and the second shuttle to perform the task overlap.
[0046] In this embodiment, the priority determination process is as follows:
[0047] If the first or second shuttle has no task, it is defined as low priority;
[0048] If the first shuttle starts picking up goods, and the second shuttle is found to have no task, the first shuttle is defined as high priority.
[0049] If the first shuttle is performing a task and the second shuttle receives the second task and begins picking up goods, the second shuttle remains at a low priority. When the first shuttle completes delivery, it is defined as a low priority vehicle. If the task status of the second shuttle is detected as either picking up or delivering goods, the second shuttle is defined as a high priority vehicle. Finally, it is checked whether the first shuttle has any subsequent tasks. If it does, it picks up goods; otherwise, it remains idle. The second task includes picking up goods at the second pick-up address and delivering goods at the second delivery address, and the second pick-up address and the second delivery address are the same as their corresponding station locations.
[0050] In this embodiment, based on the current task status and priority of the first shuttle and the second shuttle, the selection of whether to drive away the second shuttle or to make the second shuttle give way to the first shuttle includes:
[0051] When the second shuttle is in a low-priority position and its movement status is idle, if the second shuttle is located within the first safety zone, it will be driven away, i.e., dispatched to the driving point; otherwise, it will not be driven away. The driving point is the station outside the first safety zone that is closest to the second shuttle. The first safety zone is equal to the sum of the first driving area and the safety distance. The first driving area is the route traveled by the first shuttle to perform the first task, i.e., the route traveled by the first shuttle to the first pickup address and from the first pickup address to the first delivery address. The safety distance is greater than the length of the first shuttle.
[0052] In this embodiment, the method of selecting whether to drive away the second shuttle or make the second shuttle avoid the first shuttle based on the current task status and priority of the first shuttle and the second shuttle further includes:
[0053] If the first shuttle is performing the first task and the second shuttle is assigned to pick up goods at the second pickup address or deliver goods to the second delivery address, the system checks whether the area in which the second shuttle is performing the second task will obstruct the first shuttle's movement within the first safe area. If it does, the second shuttle is dispatched to a yielding point. Otherwise, there is no need to dispatch the second shuttle to a yielding point. The yielding point is located outside the first safe area and is the closest station to the second shuttle's pickup station when the second shuttle is in pickup mode, or the closest station to the second shuttle's delivery station when the second shuttle is in delivery mode.
[0054] After the first shuttle completes pickup, it checks whether the second shuttle's execution of the second task will obstruct the first shuttle's journey to the delivery address. If not, the second shuttle is controlled to execute the second task. Otherwise, if the second shuttle is detected not at the original avoidance point, the avoidance point is changed in real time, and the second shuttle is dispatched to the changed avoidance point. When the first shuttle completes delivery, the second shuttle is controlled to execute the second task. Specifically, when the second shuttle is in pickup mode, the changed avoidance point is closer to the second shuttle's pickup station than the original avoidance point; or, when the second shuttle is in delivery mode, the changed avoidance point is closer to the second shuttle's delivery station than the original avoidance point.
[0055] The present invention also provides an embodiment of a single-track dual-vehicle scheduling system based on task priority avoidance and driving, which includes:
[0056] The first acquisition module is used to acquire the vehicle positions and task status of the first and second shuttles on the same track, as well as the station positions of each station; wherein, the task status includes no task, picking up goods, and delivering goods.
[0057] The second acquisition module is used to acquire the first task and select the first shuttle to execute the first task; wherein, the first task includes picking up goods at the first pickup address and delivering goods at the first delivery address, and the first pickup address and the first delivery address are the same as their corresponding station locations;
[0058] The selection module is used to select whether to drive away the second shuttle or make the second shuttle give way to the first shuttle, based on the current task status and priority of the first shuttle and the second shuttle.
[0059] The control module is used to control the first shuttle to complete the first task based on the selected result.
[0060] In this embodiment, the first shuttle and the second shuttle are located at different stations before receiving the task; and the areas traveled by the first shuttle and the second shuttle to perform the task overlap.
[0061] In this embodiment, the priority determination process is as follows:
[0062] If the first or second shuttle has no task, it is defined as low priority;
[0063] If the first shuttle starts picking up goods, and the second shuttle is found to have no task, the first shuttle is defined as high priority.
[0064] If the first shuttle is performing a task and the second shuttle receives the second task and begins picking up goods, the second shuttle remains at a low priority. When the first shuttle completes delivery, it is defined as a low priority vehicle. If the task status of the second shuttle is detected as either picking up or delivering goods, the second shuttle is defined as a high priority vehicle. Finally, it is checked whether the first shuttle has any subsequent tasks. If it does, it picks up goods; otherwise, it remains idle. The second task includes picking up goods at the second pick-up address and delivering goods at the second delivery address, and the second pick-up address and the second delivery address are the same as their corresponding station locations.
[0065] In this embodiment, the selection module includes:
[0066] When the second shuttle is in a low-priority position and its movement status is idle, if the second shuttle is located within the first safety zone, it will be driven away, i.e., dispatched to the driving point; otherwise, it will not be driven away. The driving point is the station outside the first safety zone that is closest to the second shuttle. The first safety zone is equal to the sum of the first driving area and the safety distance. The first driving area is the route traveled by the first shuttle to perform the first task, i.e., the route traveled by the first shuttle to the first pickup address and from the first pickup address to the first delivery address. The safety distance is greater than the length of the first shuttle.
[0067] In this embodiment, the selection module further includes:
[0068] If the first shuttle is performing the first task and the second shuttle is assigned to pick up goods at the second pickup address or deliver goods to the second delivery address, the system checks whether the area in which the second shuttle is performing the second task will obstruct the first shuttle's movement within the first safe area. If it does, the second shuttle is dispatched to a yielding point. Otherwise, there is no need to dispatch the second shuttle to a yielding point. The yielding point is located outside the first safe area and is the closest station to the second shuttle's pickup station when the second shuttle is in pickup mode, or the closest station to the second shuttle's delivery station when the second shuttle is in delivery mode.
[0069] After the first shuttle completes pickup, it checks whether the second shuttle's execution of the second task will obstruct the first shuttle's journey to the delivery address. If not, the second shuttle is controlled to execute the second task. Otherwise, if the second shuttle is detected not at the original avoidance point, the avoidance point is changed in real time, and the second shuttle is dispatched to the changed avoidance point. When the first shuttle completes delivery, the second shuttle is controlled to execute the second task. Specifically, when the second shuttle is in pickup mode, the changed avoidance point is closer to the second shuttle's pickup station than the original avoidance point; or, when the second shuttle is in delivery mode, the changed avoidance point is closer to the second shuttle's delivery station than the original avoidance point.
[0070] For ease of understanding, the present invention provides a more specific embodiment:
[0071] 1. Define the moving track coordinate system, stations, and shuttle: Figure 2 This is a schematic diagram of a dual-car configuration. The shuttle car moves along a linear track. A one-dimensional coordinate system is defined, with west to east as the positive direction. Station numbers are defined sequentially, with six stations from 101# to 106#. The corresponding coordinate values are shown below. Figure 2 As shown; the first shuttle is defined as shuttle #1 and the second shuttle as shuttle #2; the operating range of shuttle #1 is stations 101 to 105, and the operating range of shuttle #2 is stations 102 to 106; station 101 is located in the exclusive area of shuttle #1, station 106 is located in the exclusive area of shuttle #2, and stations 102 to 105 are located in the mixed operating area of the two shuttles.
[0072] 2. The shuttle's operating parameters include: travel speed 1m / s; travel acceleration / deceleration 0.5m / s²; and pick-up / delivery cycle time 10s / trip.
[0073] 3. By Figure 2 As can be seen, by combining the shuttle's speed and acceleration / deceleration, the distance and time corresponding to the possible travel length of the shuttle can be calculated, as detailed in Table 1.
[0074] Table 1. Distances and schedules corresponding to the possible travel length of the shuttle.
[0075]
[0076] 4. The material flow is shown in Table 2. Type 1 materials are picked up and delivered by shuttle car #1, and Type 2 materials are picked up and delivered by shuttle car #2.
[0077] Table 2 Material Flow Chart
[0078]
[0079] 5. Define the safe distance as 2.4m (vehicle length 2.1m + minimum distance 0.3m).
[0080] 6. Analysis and calculation process for the single-track dual-car system for receiving and transporting material #1
[0081] Initially, shuttle bus #1 was idle at station #102, and shuttle bus #2 was idle at station #103.
[0082] 1) Time 0s: Material Request 1# for Shuttle 1# to pick up goods. Shuttle 1# is set to high priority and prepared to move before picking up goods. First, calculate the driving point of Shuttle 2#: the critical coordinate value of the driving point of Shuttle 2# = the coordinate value of the current target point 105# of Shuttle 1# (7.5m) + the safety distance (2.4m) = 9.9m; find the nearest station to the critical coordinate value in the forward direction, and determine the driving point of Shuttle 2# as 106#, with a coordinate value of 10m. At this time, the coordinate value of the stopping point 103# of Shuttle 2# is 5m < the coordinate value of the driving point 106# (10m), and the shuttle is scheduled to move forward to the driving point 106#.
[0083] 2) Time 7s: Shuttle #1 arrives at pickup point 105#, and at the same time, shuttle #2 arrives at drive point 106#. Shuttle #1 picks up material type 1_1# and loads it onto the vehicle.
[0084] 3) Time 15s: Material 1 (Type 2) requests material from shuttle #2 for pickup. Since shuttle #1 is currently pickuping with high priority, shuttle #2 maintains low priority and prepares to move before pickup. First, calculate the avoidance point for shuttle #2: Critical coordinates of shuttle #2's avoidance point = Max(Coordinates of shuttle #1's pickup point 105# (7.5m), coordinates of shuttle #1's delivery point 103# (5m)) + safety distance 2.4m = 9.9m; Searching forward for the nearest station to the critical coordinates, we determine shuttle #2's avoidance point to be #106#, with coordinates of 10m. At this point, shuttle #2's current stopping point, #106#, is the avoidance point, and it stops and waits.
[0085] 4) Time 17s: Shuttle #1 completes the pickup process and prepares to move before delivery. The avoidance point for shuttle #2 is recalculated: the critical coordinates of shuttle #2's avoidance point = the coordinates of shuttle #1's delivery point 103# (5m) + safety distance 2.4m = 7.4m; the nearest station to the critical coordinates is found in the forward direction, and shuttle #2's avoidance point changes to 105#, with coordinates of 7.5m. When the coordinates of shuttle #2's current stopping point 106# (10m) > the coordinates of avoidance point 105# (7.5m), and the coordinates of shuttle #2's current pickup point 102# (2.5m) < the coordinates of avoidance point 105# (7.5m), the shuttle moves in the negative direction to avoidance point 105#.
[0086] 5) Time 21.5s: Shuttle #1 arrives at delivery point 103#, and at the same time, shuttle #2 arrives at avoidance point 105#. Shuttle #1 delivers Type 1_1# material off the vehicle, and shuttle #2 waits to avoid the obstacle.
[0087] 6) Time 31.5s: Shuttle #1 completes the delivery process and is reset to low priority. Simultaneously, shuttle #2 is set to high priority and prepared to proceed before picking up goods. First, the driving point for shuttle #1 is calculated: the critical coordinate value of the driving point for shuttle #1 = the coordinate value of shuttle #2's current picking point 102# (2.5m) - the safety distance (2.4m) = 0.1m. A negative search is performed to find the nearest station to the critical coordinate value, determining the driving point for shuttle #1 to be 101#, with a coordinate value of 0m. At this time, the coordinate value of shuttle #1's stopping point 103# (5m) is greater than the coordinate value of driving point 101# (0m), so shuttle #1 travels negatively to driving point 101#.
[0088] 7) Time 38.5s: Shuttle #2 arrives at pickup point 102#, and shuttle #1 arrives at drive point 101# at the same time. Shuttle #2 picks up material type 2_1# and loads it onto the vehicle.
[0089] 8) Time 48.5s: Shuttle #2 completes the pickup process and prepares to move before delivery. First, calculate the driving point for shuttle #1: the critical coordinate value of the driving point for shuttle #1 = the coordinate value of the current delivery point 103# of shuttle #2 (5m) - the safety distance (2.4m) = 2.6m; find the nearest station to the critical coordinate value in the negative direction, and determine the driving point for shuttle #1 as 102#, with a coordinate value of 2.5m. At this time, the coordinate value of the stopping point 101# of shuttle #1 (0m) < the coordinate value of the driving point 102# (2.5m), so shuttle #1 does not need to be driven.
[0090] 9) Time 53s: Shuttle #2 arrives at delivery point 103. Shuttle #2 delivers material type 2_1 to the unloading station, and shuttle #1 is now idle.
[0091] 10) Time 63s: Shuttle #2 completes the delivery process and is reset to low priority.
[0092] In a dual-track system, with both shuttles initially having the same idle stopping point and the material flow conditions (as shown in Table 2) being consistent, two scheduling methods are compared. Table 3 shows that scheduling based on the travel process level requires 4 trips to move the shuttle, totaling 68 seconds; scheduling based on the pick-up / drop-off task level only requires 2 trips to move the shuttle and 1 avoidance trip, totaling 63 seconds. The total time is reduced by 7%.
[0093] Table 3 Comparison of the two scheduling methods
[0094]
[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A single-track dual-vehicle scheduling method based on task priority avoidance and driving, characterized in that, Includes the following steps: Obtain the vehicle positions and task statuses of the first and second shuttles on the same track, as well as the station positions of each station; wherein, the task status includes no task, picking up goods, and delivering goods; Obtain the first task and select the first shuttle to execute the first task; wherein, the first task includes picking up goods at the first pickup address and delivering goods at the first delivery address, and the first pickup address and the first delivery address are the same as their corresponding station locations; Based on the current mission status and priority of the first and second shuttles, choose whether to drive away the second shuttle or make the second shuttle give way to the first shuttle. Based on the selection result, control the first shuttle to complete the first task; The process for determining the priority is as follows: If the first or second shuttle has no task, it is defined as low priority; If the first shuttle starts picking up goods, and the second shuttle is found to have no task, the first shuttle is defined as high priority. If the first shuttle is performing a task and the second shuttle receives the second task and begins picking up goods, the second shuttle remains at a low priority. When the first shuttle completes delivery, it is defined as a low priority vehicle. If the task status of the second shuttle is detected to be either picking up or delivering goods, the second shuttle is defined as a high priority vehicle. Finally, it is checked whether the first shuttle has any subsequent tasks. If it does, it picks up goods; otherwise, it remains idle. The second task includes picking up goods at the second pick-up address and delivering goods at the second delivery address, and the second pick-up address and the second delivery address are the same as their corresponding station locations. The step of selecting whether to drive away the second shuttle or make the second shuttle give way to the first shuttle based on the current mission status and priority of the first and second shuttles includes: When the second shuttle is in a low-priority state and its movement status is idle, if the second shuttle is located within the first safety zone, it will be driven away, i.e., dispatched to the driving point; otherwise, it will not be driven away. The driving point is the station outside the first safety zone that is closest to the second shuttle. The first safety zone is equal to the sum of the first travel area and the safety distance. The first travel area is the route traveled by the first shuttle to perform the first task, i.e., the route traveled by the first shuttle to the first pickup address and from the first pickup address to the first delivery address. The safety distance is greater than the length of the first shuttle. The step of selecting whether to drive away the second shuttle or make the second shuttle give way to the first shuttle based on the current mission status and priority of the first shuttle and the second shuttle further includes: If the first shuttle is performing the first task, and the second shuttle is tasked with picking up goods at the second pickup address or delivering goods to the second delivery address, the system checks whether the area in which the second shuttle is performing the second task will obstruct the first shuttle's movement within the first safe area. If it does, the second shuttle is dispatched to a clearing point; otherwise, there is no need to dispatch the second shuttle to a clearing point. The clearing point is located outside the first safe area and is the closest station to the second shuttle's pickup station when the second shuttle is in pickup mode, or the closest station to the second shuttle's delivery station when the second shuttle is in delivery mode. After the first shuttle completes pickup, it checks whether the second shuttle's execution of the second task will obstruct the first shuttle's journey to the delivery address. If not, the second shuttle is controlled to execute the second task. Otherwise, if the second shuttle is detected not at the original avoidance point, the avoidance point is changed in real time, and the second shuttle is dispatched to the changed avoidance point. When the first shuttle completes delivery, the second shuttle is controlled to execute the second task. Specifically, when the second shuttle is in pickup mode, the changed avoidance point is closer to the second shuttle's pickup station than the original avoidance point; or, when the second shuttle is in delivery mode, the changed avoidance point is closer to the second shuttle's delivery station than the original avoidance point.
2. The method according to claim 1, characterized in that, Before receiving the task, the first shuttle and the second shuttle were located at different stations; and the areas where the first shuttle and the second shuttle performed the task overlapped.
3. A single-track dual-vehicle scheduling system based on task priority avoidance and driving, implementing the method described in claim 1 or 2, characterized in that, include: The first acquisition module is used to acquire the vehicle positions and task status of the first shuttle and the second shuttle on the same track, as well as the station positions of each station; wherein, the task status includes no task, picking up goods, and delivering goods; The second acquisition module is used to acquire the first task and select the first shuttle to execute the first task; wherein, the first task includes picking up goods at the first pickup address and delivering goods at the first delivery address, and the first pickup address and the first delivery address are the same as their corresponding station locations; The selection module is used to select whether to drive away the second shuttle or make the second shuttle give way to the first shuttle, based on the current task status and priority of the first shuttle and the second shuttle. The control module is used to control the first shuttle to complete the first task based on the selection result.